Cleaning control method and apparatus, computer-readable storage medium, and electronic device

Abstract

This invention provides a method for controlling the cleaning of a cleaning assembly in a cleaning device. [Solution] A cleaning control method for a cleaning assembly of a cleaning device includes, after the cleaning device enters the charging pile in a first position, controlling the cleaning assembly on the charging pile to perform a cleaning task on the cleaning assembly on the cleaning device (S12), and, if the cleaning task is the last cleaning task in the cleaning process, after the cleaning task is completed, controlling the cleaning device to exit the charging pile and controlling the cleaning device to enter the charging pile in a second position different from the first position, so that the cleaning device can automatically clean its cleaning assembly.

Description

Technical Field

[0001] (Related Application) This application claims the priority of Chinese Patent Application No. 202011461107.8 filed on December 11, 2020 and Chinese Patent Application No. 202110948745.0 filed on August 18, 2021, and all the disclosure contents of these Chinese patent applications are incorporated herein by reference.

[0002] This disclosure relates to the field of smart control technology, and specifically, to a cleaning control method and apparatus for a cleaning device or a cleaning system, a computer-readable storage medium, and an electronic device.

Background Art

[0003] With the development of smart homes, smart home appliances have gradually entered people's daily home lives, and various automatic cleaning devices such as automatic sweeping robots and automatic mopping robots have emerged. As a smart cleaning device that can automatically complete cleaning operations such as sweeping, vacuuming, and mopping, a sweeping robot has become an essential item in many households.

[0004] However, most existing sweeping robots are only responsible for cleaning the house, but after the cleaning is completed, the cleaning of the sweeping robot itself is ignored. Usually, the user needs to manually clean devices such as the mop and sweeping brush of the sweeping robot, which is cumbersome to operate and brings a lot of inconvenience to the user.

[0005] It should be noted that the information disclosed in the above background art items is only used to deepen the understanding of the background of this disclosure, and may include information that does not form prior art already known to those skilled in the art.

Summary of the Invention

[0006] The purpose of this disclosure is to provide a cleaning control method and apparatus for cleaning assemblies in cleaning equipment, a computer-readable storage medium, and electronic equipment, and further to overcome, at least to some extent, the problem that cleaning equipment is inconvenient to use because it cannot automatically clean its cleaning assemblies due to limitations and shortcomings of the related technology.

[0007] According to one aspect of the present disclosure, a cleaning control method for a cleaning assembly of a cleaning device is provided, the method comprising: controlling the cleaning assembly on a charging pile to perform a cleaning task on the cleaning assembly on the cleaning device after the cleaning device has entered the charging pile in a first orientation; if the cleaning task is the last cleaning task in a cleaning process, controlling the cleaning device to exit the charging pile after the cleaning task is completed, and controlling the cleaning device to enter the charging pile in a second orientation different from the first orientation.

[0008] Another aspect of this disclosure provides a cleaning control device for a cleaning assembly of a cleaning device, including a first attitude control module and a second attitude control module.

[0009] Specifically, the first attitude control module is used to control the cleaning assembly on the charging pile to perform a cleaning task on the cleaning assembly after the cleaning device has entered the charging pile in a first attitude, and the second attitude control module is used to control the cleaning device to exit the charging pile after the cleaning task is completed, if the cleaning task is the last cleaning task in the cleaning process, and to control the cleaning device to enter the charging pile in a second attitude different from the first attitude.

[0010] According to another aspect of the present disclosure, a method for controlling a cleaning system is provided, the cleaning system comprising a cleaning device and a charging pile, the method comprising: obtaining the current working state of the cleaning device; determining the relative position between the cleaning device and the charging pile if it is determined that the cleaning device is in a preset working state; controlling the cleaning device to move relative to or hold on the charging pile; and applying driving force to the drive wheels of the cleaning device based on the relative position.

[0011] According to another aspect of the present disclosure, a control device for a cleaning system is provided, the cleaning system comprising a cleaning device and a charging pile, the device comprising: an acquisition module configured to acquire the current working state of the cleaning device; a determination module configured to determine the relative position between the cleaning device and the charging pile when it is determined that the cleaning device is in a preset working state; and a drive module configured to apply driving force to the drive wheels of the cleaning device based on the relative position to control the cleaning device to move relative to or hold on the charging pile.

[0012] According to another aspect of this disclosure, a storage medium is provided, a computer program is stored in it, and when the computer program is executed by a processor, a method for controlling the cleaning assembly of any one of the cleaning devices described above, or a method for controlling any one of the cleaning systems described above, is realized.

[0013] According to another aspect of this disclosure, an electronic device is provided, comprising a processor and memory in which instructions that the processor can execute are stored, wherein the processor is configured to perform a cleaning control method for a cleaning assembly of any one of the cleaning devices described above by executing the instructions.

[0014] The above general explanation and the following detailed explanation are illustrative and interpretive and do not limit this disclosure.

[0015] The accompanying drawings incorporated herein and constituting part thereof illustrate embodiments consistent with the present disclosure and are used together with the specification to interpret the principles of the present disclosure. Clearly, the drawings described below represent only a few embodiments of the present disclosure, and those skilled in the art can, without creative work, derive other drawings based on these. [Brief explanation of the drawing]

[0016] [Figure 1] A flowchart illustrating a cleaning control method for a cleaning assembly of a cleaning device according to an exemplary embodiment of the present disclosure. [Figure 2] A schematic diagram illustrating the shape of a cleaning device according to an exemplary embodiment of the present disclosure. [Figure 3] A schematic diagram illustrating the shape of a charging pile in an exemplary embodiment of the present disclosure. [Figure 4] A schematic diagram illustrating the cleaning device of an exemplary embodiment of the present disclosure in a first position within a charging pile. [Figure 5] A schematic diagram illustrating the water level monitoring of the washing tank in this disclosure. [Figure 6] A schematic diagram illustrating the water level monitoring of the washing tank in this disclosure. [Figure 7] A schematic diagram illustrating the state in which the cleaning device of this disclosure enters the charging pile in a second position. [Figure 8] A schematic diagram illustrating the charging of the cleaning device of this disclosure. [Figure 9] A schematic diagram illustrating the charge elastic sheet on the charge pile of this disclosure. [Figure 10] Side view illustrating a cleaning device according to an exemplary embodiment of the present disclosure. [Figure 11] Block diagram illustrating a cleaning control device for a cleaning assembly of a cleaning device according to an exemplary embodiment of the present disclosure. [Figure 12] Block diagram illustrating an electronic device according to an exemplary embodiment of the present disclosure. [Figure 13] A schematic diagram illustrating an application scenario of the cleaning system according to an embodiment of this disclosure. [Figure 14] Flowchart showing a method for controlling a cleaning system according to an embodiment of the present disclosure [Figure 15] Schematic diagram showing control of positioning of a cleaning device at a designated position on a charging pile according to an embodiment of the present disclosure [Figure 16A] Schematic diagram showing control of a cleaning device when deviating from a designated position on a charging pile according to an embodiment of the present disclosure [Figure 16B] Schematic diagram showing control of a cleaning device when deviating from a designated position on a charging pile according to an embodiment of the present disclosure [Figure 17] Schematic diagram showing repositioning of the position of a charging pile according to an embodiment of the present disclosure [Figure 18] Schematic diagram showing control when a cleaning device leaves a charging pile according to an embodiment of the present disclosure [Figure 19] Block diagram showing a control device for a cleaning system according to an embodiment of the present disclosure [Figure 20] Block diagram showing an electronic device for implementing the method of an embodiment of the present disclosure

Embodiments for Carrying out the Invention

[0017] Hereinafter, exemplary embodiments will be described with reference to the accompanying drawings. However, the exemplary embodiments can be implemented in many forms and should not be understood as being limited to the examples described herein. On the contrary, these provided embodiments are used to more thoroughly and completely explain the present disclosure and to fully convey the idea of the exemplary embodiments to those skilled in the art. The features, structures, or characteristics described can be combined arbitrarily in one or more of the embodiments. In the following description, many specific details are provided to fully understand the embodiments of the present disclosure. However, it should be noted that those skilled in the art can omit one or more of the specific details or implement the technical solutions of the present disclosure using other methods, components, devices, steps, etc. In other cases, well-known technical solutions are appropriately omitted to avoid obscuring each aspect of the present disclosure.

[0018] Furthermore, the attached drawings are schematic diagrams of this disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings indicate the same or similar parts and do not repeat their descriptions. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically separated entities. These functional entities are implemented by software, by one or more hardware modules or integrated circuits, or by different networks and / or processor devices and / or microcontroller devices.

[0019] The flowchart shown in the diagram is merely an illustrative explanation and does not necessarily include all steps. For example, some steps can be broken down, but other steps can be combined or parts of combined, so the actual execution order can be changed depending on the situation.

[0020] As people's living standards improve, cleaning robots are gradually being introduced into ordinary homes and are becoming increasingly popular. In the near future, cleaning robots will become indispensable cleaning helpers in every household, just like ordinary home appliances such as televisions and air conditioners. Products will also evolve from the current basic smart models to highly smart models, gradually replacing manual cleaning. While cleaning robots can clean dust and dirt with brushes or mops, the brushes or mops need to be manually cleaned after use, which is inconvenient and wastes a lot of time.

[0021] Figure 1 is an illustrative flowchart showing a cleaning control method for a cleaning assembly of a cleaning device according to an exemplary embodiment of the present disclosure. Referring to Figure 1, the cleaning control method for a cleaning assembly of a cleaning device includes the following steps:

[0022] S12. After the cleaning device enters the charging pile in the first position, the cleaning assembly on the charging pile is controlled to perform a cleaning task on the cleaning assembly on the cleaning device.

[0023] In exemplary embodiments of the present disclosure, the cleaning device is a device for completing a house cleaning task, such as a cleaning robot or a vacuum cleaner, and the cleaning device may be an integrated cleaning and mopping robot, and may perform the cleaning function or the mopping function separately, or may perform both cleaning and mopping functions simultaneously, and the first posture refers to a posture in which the front of the robot faces the charging pile, and after the robot enters the charging pile in the first posture, a cleaning member having a mopping function can enter a cleaning tank provided in the charging pile and clean the cleaning member.

[0024] Referring to Figure 2, Figure 2 is a schematic diagram illustrating the shape of a cleaning device of an exemplary embodiment of the present disclosure. As shown in Figure 2, the front surface 21 of the cleaning device is the surface that faces the charging pile when entering the charging pile in the first position, and the back surface 22 of the cleaning device is the surface that faces the charging pile when entering the charging pile in the second position. The cleaning device in this disclosure may have other shapes besides those shown in Figure 2, such as circular or elliptical shapes, and is not particularly limited in this disclosure.

[0025] A charging pile refers to a device that has functions such as charging a cleaning device and cleaning the cleaning device. Referring to Figure 3, Figure 3 is a schematic diagram illustrating the shape of a charging pile in an exemplary embodiment of the present disclosure. As shown in Figure 3, the charging pile includes a pile body 31 and an inlet 32. A cleaning assembly is provided on the pile body 31, and the inlet 32 ​​is the entrance for the cleaning device to enter the charging pile. In this disclosure, the shape of the charging pile may be other shapes besides the shape shown in Figure 3, such as a rectangular parallelepiped, cube, or ellipsoid, and is not limited in this disclosure. A cleaning assembly is provided on the charging pile and refers to one or more modules for cleaning the cleaning device, including a clean water pump, a clean water tank, a wastewater pump, a wastewater tank, a cleaning tank, etc. A cleaning assembly is provided on the cleaning device and refers to cleaning brushes, mop rollers, etc., used when the cleaning device cleans indoors or outdoors.

[0026] Referring to Figure 4, Figure 4 is a schematic diagram illustrating an exemplary embodiment of the cleaning device of the present disclosure when it enters a charging pile in a first position. As shown in Figure 4, after the cleaning device body 43 enters the charging pile from the entrance of the charging pile body 41 in the first position, the back surface 45 of the cleaning device body 43 faces the outside of the entrance of the charging pile. After the cleaning device enters the charging pile in the first position, it controls the cleaning assembly on the charging pile to clean the cleaning assembly such as the cleaning brush and mop on the cleaning device. Communication between the cleaning device and the charging pile is wireless communication, which may be communication by an infrared communication module or data interaction by Wi-Fi®.

[0027] In exemplary embodiments of this disclosure, the cleaning device is in a non-charging state after it enters the charging pile in a first position. When the cleaning device cleans a house, it may return to the charging pile after cleaning a certain area to wash the mop once, but cleaning this area only takes two or three minutes. For example, if the cleaning device is set to clean only floors, and after the floor cleaning task is completed, the power consumption of the cleaning device is not very high, i.e., the power of the cleaning device is 80% or more, and at this time there is no need to charge the cleaning device, and only the cleaning assembly such as the mop and cleaning brush of the cleaning device needs to be washed. In this way, battery loss can be reduced to some extent and the lifespan of the cleaning device battery can be extended. Of course, when cleaning a carpeted area, in order to avoid wetting the carpet, the cleaning device is set to execute the cleaning mode only when it enters the carpeted area. Depending on the flooring material, the cleaning device can detect the flooring material through various detection modes, and based on the detection results, the control system can implement different cleaning strategies for different flooring materials by controlling the cleaning device. For example, detection of flooring material and / or media boundaries can be achieved by using a gyroscope, ultrasonic sensor, or rolling brush current / rotation speed on the cleaning device.

[0028] In exemplary embodiments of the present disclosure, a method for controlling a cleaning device to enter a charging pile in a first orientation includes detecting a preset highlight pattern on the charging pile by laser forming technology on the cleaning device, or automatically navigating in front of the charging pile according to the location of the charging pile in a preset map; adjusting the angle of the cleaning device so that it moves to the charging pile in a first orientation based on the preset pattern on the charging pile detected; during the process of moving to the charging pile, the cleaning device detects its travel position by sensors on its body, and after the cleaning device reaches a preset position, controlling the mopping rollers of the cleaning device to position them in a water tank on the charging pile.

[0029] In exemplary embodiments of the present disclosure, the step of controlling a cleaning assembly on a charging pile to perform a cleaning task on a cleaning device may be implemented by a controller on the cleaning device or by a controller on the charging pile.

[0030] In an exemplary embodiment of the present disclosure, when implemented by a controller on the cleaning device, after the cleaning device has entered the charging pile in a first position, the controller on the cleaning device transmits a cleaning signal to control the charging pile and clean the cleaning assembly of the cleaning device, such as the cleaning brushes and mops.

[0031] In another exemplary embodiment of the present disclosure, when implemented by a controller on a charging pile, after the cleaning device enters the charging pile in a first position, the controller on the charging pile controls the cleaning assembly on the charging pile to perform the cleaning of the cleaning device.

[0032] Furthermore, all operations relating to controlling the charging pile or cleaning device to perform a certain action in this disclosure can be controlled by a controller on the cleaning device or a controller on the charging pile, or by a combination of both, to control the charging pile or cleaning device to perform a certain action, and the specific implementation method is the same as the operation method described above. The specific control method in actual applications is not limited in this disclosure.

[0033] In exemplary embodiments of the present disclosure, a method for a cleaning device to enter a charging pile in a first orientation includes, when a sensor on the cleaning device detects an indicator mark on the charging pile, controlling the cleaning device to move to a target position on the charging pile in a first orientation based on the indicator mark.

[0034] Specifically, before controlling the cleaning device to enter the charging pile in a first orientation, the cleaning device is first controlled to move to the charging pile in the first orientation, that is, to move its front towards the charging pile. After the cleaning device locks onto the charging pile, the cleaning device first determines the distance and position between itself and the charging pile and then initiates long-range alignment. Here, the locking of the charging pile position, distance determination, and alignment operations can be achieved by an infrared ranging sensor, and the long-range alignment operation is performed when the distance between the cleaning device and the charging pile is 30 cm to 50 cm.

[0035] After alignment, the cleaning device is controlled to move at a set speed, e.g., 10 cm / s, to a certain distance, e.g., 25 cm to 30 cm, from the front of the charging pile, and then to the charging pile at a constant speed, e.g., 20 cm / s. During the process of entering the charging pile, after the groove on the charging pile side baffle is identified by the wall sensor, the device decelerates to a constant speed, e.g., 10 cm / s, and when the mop roller on the cleaning device is positioned directly above the cleaning tank on the charging pile, the movement of the cleaning device is stopped, the cleaning assembly is activated, and the normal cleaning process begins. Of course, the method of guiding the cleaning device to move to the charging pile may be other methods, such as LDS or infrared communication, and is not particularly limited thereto.

[0036] If the cleaning device receives a failure signal indicating it cannot return to the charging pile, it is controlled to move backward a certain distance, for example 30cm to 50cm, and then return to the charging pile at a constant speed, for example 20cm / s. If the connection signal received after returning to the charging pile is unstable 3 to 5 times, the cleaning device is controlled to power off, clean the charging contact area, or report an error.

[0037] Specifically, if the total time it takes for the cleaning device to lock onto the charging pile and then return to the charging pile exceeds a preset pile return time, the current return operation to the charging pile will be canceled. The cleaning device will then be controlled to move back 30 cm, lock onto the charging pile again, and then return to the charging pile. If the device is unable to return to the charging pile 3 to 5 times in a row, an audio announcement will be made to the user prompting them to remove any obstacles near the charging pile.

[0038] In exemplary embodiments of the present disclosure, the sensor may be a wall sensor which, after detecting a groove on a charging pile side baffle, can sense a change in distance based on this groove, the indicator mark may be a groove on the charging pile which is used to indicate the position of the cleaning device on the charging pile, the target position is a position set to which the cleaning device will arrive and complete cleaning at that position.

[0039] In exemplary embodiments of the present disclosure, controlling a cleaning assembly on a charging pile to perform a cleaning task on a cleaning device includes controlling the cleaning assembly to perform a water discharge operation, controlling the cleaning assembly to perform a cleaning process, controlling the cleaning device to perform a dewatering process on the cleaning assembly, controlling the cleaning assembly to perform a pumping operation, and pumping up wastewater, where the wastewater is generated after the cleaning process on the cleaning assembly.

[0040] Specifically, the water discharge operation refers to controlling the clean water pump in the charging pile to release water from the clean water tank into the cleaning tank on the charging pile to clean the cleaning assembly on the cleaning device; the dewatering process refers to operations such as spin drying and pressure dewatering with a scraper on the cleaning assembly on the cleaning device, and the aim is not to completely dry the cleaning assembly of the cleaning device, but to prevent water from spilling everywhere during the house cleaning process by ensuring that there is not too much water in the cleaning assembly of the cleaning device after cleaning; the pumping operation refers to using the wastewater pump on the charging pile to collect the wastewater in the cleaning tank and auxiliary water tank into the wastewater tank; the above cleaning tank is a containment cavity for cleaning the mopping members of the cleaning device, and the auxiliary water tank is a cavity arranged parallel to the cleaning tank to contain the water produced during the cleaning spin drying process of the mopping members, and the installation of the auxiliary water tank prevents water from flowing to the ground along the sloping surface at the bottom of the charging pile.

[0041] In an exemplary embodiment of the present disclosure, a clean water pump on a charging pile is controlled to inject water from a clean water tank into a cleaning tank to clean the cleaning assembly of the cleaning device, spin-dry the cleaning assembly after cleaning is complete, and then a dirty water pump on a charging pile is used to collect the dirty water in the cleaning tank and auxiliary water tank into a dirty water tank.

[0042] In exemplary embodiments of the present disclosure, before controlling the cleaning assembly to perform a water discharge operation, the charging pile is controlled to perform a water injection operation into a clean water tank, the water level monitoring module monitors the water level in the clean water tank, and controls the charging pile to stop the water injection operation when it is detected that the water level in the clean water tank has reached a preset water level. Here, the water level detection module may be a water level sensor, and when it is detected that the water level in the clean water tank has reached a preset water level in the clean water tank, it stops the injection of water into the clean water tank.

[0043] In an exemplary embodiment of the present disclosure, after the cleaning device enters the charging pile and reaches the target position, the clean water tank is controlled to perform a water discharge operation to clean the cleaning assembly on the cleaning device. During the water discharge process, the mop roller on the cleaning device is controlled to rotate at a set speed, for example, 60 rpm / min (60 revolutions per minute), to wet the mop roller. After the cleaning tank on the charging pile is filled with water, the discharge of the clean water tank is controlled to control the mop roller and initiate an automatic cleaning process.

[0044] This automatic cleaning process involves rotating the mop roller in the cleaning tank at a set rotation speed, for example, 350 rpm / min (350 revolutions per minute), or by first rotating it clockwise for a set period of time, for example, 15 seconds, and then rotating it counterclockwise for a set period of time, for example, 15 seconds, or by setting the automatic cleaning process time to, for example, 30 seconds. After cleaning, the dirty water in the cleaning tank is pumped out.

[0045] In exemplary embodiments of the present disclosure, the cleaning assembly includes a clean water tank, a cleaning tank, and a water level monitoring module, and controlling the cleaning assembly to perform a water discharge operation includes controlling the clean water tank in the cleaning assembly to perform a water discharge operation and inject water into the cleaning tank, monitoring the water level in the cleaning tank with the water level monitoring module, and stopping the water discharge operation when it is monitored that the water level in the cleaning tank has reached a preset water level.

[0046] Specifically, a method for determining whether the cleaning tank on the charging pile is filled with water can be implemented using a float ball and light-blocking sensors. Referring to Figure 5, Figure 5 illustrates a schematic diagram of the cleaning tank water level monitoring of the present disclosure. As shown in Figure 5, when there is no water in the cleaning tank 51, the float ball 53 is in a naturally hanging position, and the light signal between the light-blocking sensors 55 is blocked by the rocker 57 at the tip of the float ball 53. Referring to Figure 6, Figure 6 illustrates a schematic diagram of the cleaning tank water level monitoring of the present disclosure. As shown in Figure 6, after water is injected into the clean water tank 61, the float ball 63 begins to rise, and at this time the rocker 67 at the tip of the float ball 63 moves downward, so that the light signal between the light-blocking sensors 65 is not blocked, and the water injection state is maintained. After the float ball 63 rises to a preset position, the rocker 67 at the tip of the float ball blocks the light signal between the light-blocking sensors 65 again, indicating that the clean water tank 61 is filled with water.

[0047] Specifically, the water level may fluctuate during the water injection process. This fluctuation causes the float to sway up and down, which can lead to a problem where the rocker at the tip of the float blocks the light signal between the light-blocking sensors before the actual water level in the cleaning tank reaches the target level, causing the water injection to stop prematurely. This problem can be solved by setting a fixed time interval, for example 0.1 seconds, and stopping the water injection into the cleaning tank if the light-blocking time exceeds 0.1 seconds.

[0048] In exemplary embodiments of the present disclosure, controlling the cleaning device to dewater the cleaning assembly includes controlling it to raise the cleaning assembly to a preset height so that the cleaning assembly moves away from the washing assembly, and controlling it to rotate the cleaning assembly at a preset rotational speed to dewater it. Specifically, the mop roller of the cleaning device is controlled to rotate at a constant rotational speed, for example, 1100 rpm / min (1100 revolutions per minute), while simultaneously dewatering the mop roller with a scraper. Of course, after the wastewater in the washing tank has been discharged, the cleaning assembly is directly controlled to rotate interferentially with the scraper for a certain period of time, and then raised to perform a spin-drying treatment at a higher rotational speed.

[0049] In exemplary embodiments of the present disclosure, controlling a cleaning assembly to perform a pumping operation and pumping and treating wastewater includes pumping and treating wastewater and storing the wastewater in a wastewater tank.

[0050] In exemplary embodiments of this disclosure, after the cleaning task is completed, the clean water tank in the cleaning assembly is controlled to perform a water discharge operation to rinse the cleaning tank. After the cleaning task of the cleaning device is completed, the cleaning tank performs a self-cleaning operation, specifically by pouring water from the clean water tank into the cleaning tank, rinsing the dirt on the bottom and side walls of the cleaning tank with the water flow, and then pumping up and treating the wastewater generated by the self-cleaning of the cleaning tank and storing it in a wastewater tank. At the same time, a water outlet is provided in the wastewater tank located at the front of the cleaning tank, and liquid can be discharged at high speed from this outlet to form a swirling flow in the wastewater tank. Possible methods for rinsing and pumping up wastewater include pumping up wastewater while rinsing, or pumping up wastewater after rinsing for a certain period of time, and the specific self-cleaning method of the cleaning tank is not particularly limited in this disclosure. The self-cleaning method of the cleaning tank can further improve the degree of automation of the cleaning device, reduce manual operation, and improve the user comfort of the cleaning device.

[0051] S14. If the cleaning task is the last cleaning task in the cleaning process, after the cleaning task is completed and the dewatering process is performed, the cleaning device is controlled to exit the charging pile and to enter the charging pile in a second position different from the first position.

[0052] In exemplary embodiments of the present disclosure, if a cleaning task is not the last cleaning task in the cleaning process, the cleaning device is controlled to perform the next house cleaning task after the cleaning task is completed.

[0053] Here, the cleaning task refers to the process of cleaning the cleaning assembly of the cleaning device with the cleaning assembly on the charging pile, and the single-pass cleaning process refers to the process by which the cleaning device completely cleans a predetermined area. For example, if the robot is instructed to clean the living room, the single-pass cleaning process is the process by which the cleaning device completely cleans the entire living room, and if the cleaning device is instructed to clean the entire room, the single-pass cleaning process is the process by which the cleaning device cleans the entire room.

[0054] The final cleaning task refers to the last cleaning of the cleaning device's cleaning assembly in a single cleaning process. After this cleaning is complete, the cleaning device will no longer perform room cleaning tasks. The next house cleaning task refers to the task of the cleaning device continuing to clean areas that were not cleaned during the single cleaning process. If the cleaning of the cleaning device's cleaning assembly is not the final cleaning, it means that the single cleaning process is not complete, and some designated areas have not been cleaned. In this case, after the cleaning of the cleaning device's cleaning assembly is complete, the cleaning device is controlled to continue performing the next house cleaning task, i.e., to clean the areas that have not been cleaned.

[0055] In exemplary embodiments of this disclosure, if the cleaning task is the final cleaning task in a single-pass cleaning process, after the cleaning task is completed, the cleaning device is controlled to exit the charging pile and then controlled to enter the charging pile in a second orientation. A special example of controlling the cleaning device to exit the charging pile will be described later. The contents of the cleaning task, single-pass cleaning process, and final cleaning task are the same as described above, and the second orientation refers to the orientation in which the back surface of the cleaning device faces forward; in other words, the second orientation is the orientation after the first orientation has been rotated 180 degrees.

[0056] In an exemplary embodiment of the present disclosure, after the cleaning task is completed, the cleaning device switches to a cleaning state. When the cleaning device leaves the charging pile, the main wheel odometer detects that the main wheel has moved back a certain distance, and then a laser rangefinder located on the cleaning device determines whether the cleaning robot has completely left the charging pile.

[0057] Referring to Figure 7, Figure 7 is a schematic diagram illustrating how the cleaning device of this disclosure enters a charging pile in a second posture. As shown in Figure 7, after the cleaning device body 73 enters the charging pile from the entrance of the charging pile body 71 in the second posture, the front surface 75 of the cleaning device body 73 faces outward from the entrance of the charging pile. Note that the second posture may be any other posture different from the first posture. That is, the posture in which the device enters the charging pile may not be one in which the front surface faces the charging pile. Examples include postures in which a certain angle has changed. For example, the second posture may be the posture after the front surface of the cleaning device has been rotated 30 or 60 degrees to the left or right. All methods of entering the charging pile in this posture, or in any other posture different from the first posture, are included within the scope of this method.

[0058] In exemplary embodiments of the present disclosure, the cleaning device is controlled to move to the front of the charging pile in a first position, where the front of the charging pile is the surface in the direction in which the cleaning device enters the entrance to the charging pile, and when the distance between the cleaning device and the charging pile is less than a preset distance, the cleaning device is controlled to move to the front of the charging pile in a second position and enter the charging pile.

[0059] In exemplary embodiments of this disclosure, before the cleaning device enters the charging pile in a second orientation, the front of the cleaning device first moves toward the charging pile, i.e., moves toward the charging pile in a first orientation. During this time, the side brushes and main brushes of the cleaning device maintain a return charge rotation speed, i.e., a preset fixed rotation speed.

[0060] After the cleaning device locks onto the charging pile, it first determines its distance and position relative to the charging pile and then initiates long-range alignment. Here, the position locking, distance determination, and alignment operations of the charging pile are performed by an infrared distance sensor. For long-range alignment, the alignment operation is performed when the cleaning device is a certain distance away from the charging pile, for example, 30cm to 50cm. After alignment, the cleaning device is controlled to move at a set speed, for example, 10cm / s, to a certain distance from the front of the charging pile, for example, 25cm to 30cm, and then to rotate 180 degrees so that the back of the cleaning device faces the charging pile. After turning, it moves towards the charging pile at a set speed, for example, 20cm / s.

[0061] During the process of entering the charging pile, after the groove on the side baffle of the charging pile is identified by the wall sensor, the device moves at a constant speed, for example, 10 cm / s. When it receives a signal indicating that the rechargeable elastic sheet on the charging pile and the rechargeable elastic sheets on both sides of the cleaning device are connected, the cleaning device is controlled to stop moving and wait for the next command.

[0062] When a signal is received indicating that the rechargeable elastic sheet on the charging pile and the rechargeable elastic sheets on both sides of the cleaning device are stably connected, the charging module is started and the normal charging flow begins. When a signal is received indicating that the rechargeable elastic sheet on the charging pile and the rechargeable elastic sheets on both sides of the cleaning device are stably connected, the cleaning device is controlled to move forward a certain distance, for example 30cm to 50cm, and then return to the charging pile at a constant speed, for example 20cm / s, that is, to ensure that the cleaning device leaves the charging pile and then re-enters it to achieve a valid connection of the rechargeable elastic sheet. If the connection signal received after returning to the charging pile is unstable 3 to 5 times in a row, the cleaning device is controlled to power off and either clean the charging contact area or perform error handling.

[0063] In an exemplary embodiment of the present disclosure, if the cleaning device fails to enter the charging pile within a preset time, the cleaning device is controlled to perform an audible error operation. If it is determined that the total time taken for the cleaning device to return to the charging pile after it has locked onto the charging pile exceeds a preset pile return time, the cleaning device is controlled to abandon the current charging pile return operation, move forward a certain distance, for example 30 cm, then lock onto the charging pile again and attempt the charging pile return operation again. If the charging pile return fails 3 to 5 times in a row, an audible broadcast is made instructing the user to remove any obstacles near the charging pile.

[0064] In exemplary embodiments of the present disclosure, the charging pile includes a charging module, which controls the cleaning device to move toward the front of the charging pile in a second orientation, enter the charging pile, and then acquires power information of the cleaning device. If the power information is less than a preset power threshold, it controls the charging module to perform a charging operation on the cleaning device. Referring to Figure 8, which is a schematic diagram illustrating the charging of the cleaning device of the present disclosure. As shown in Figure 8, after the cleaning device enters the charging pile in a second orientation, the charging elastic sheet of the cleaning device and the charging elastic sheet of the charging pile come into contact, and the cleaning device begins charging, as shown in 81 and 83 in the figure.

[0065] In exemplary embodiments of this disclosure, if the cleaning device's power is detected to be low, for example, below 10% or 20%, before the cleaning task is completed, the cleaning device is controlled to enter a charging pile in a second position to recharge. Here, the power threshold at which the device needs to return to the charging pile to recharge is set according to the actual situation, so as to avoid a situation where the cleaning device runs out of power while cleaning a house or other location and is unable to continue working or return to the charging pile. Of course, before recharging, the cleaning device may clean the cleaning assembly and then enter the charging pile in a second position to recharge after the cleaning is complete, so as to avoid the accumulation of uncleaned debris on the cleaning assembly that would make subsequent cleaning difficult.

[0066] In exemplary embodiments of this disclosure, after the cleaning device enters the charging pile in a second orientation, the remaining battery level of the cleaning device is read, and if this value is below a preset power threshold, the charging pile is controlled to charge. For example, if the cleaning device returns to the charging pile in a second orientation after completing a house cleaning task, it will not charge if the remaining battery level is 90% or higher, but will charge if the remaining battery level is 90% or lower. This protects the battery of the cleaning device and further extends its lifespan. During the charging process, the control system estimates and calculates the power demand of the cleaning device based on a stored map and the remaining cleaning area, and if it determines that the charge level is sufficient to guarantee cleaning of the remaining area, it can exit the pile and perform the cleaning task, thereby improving cleaning efficiency.

[0067] In one embodiment, the user manually sets the operation of the cleaning device via a mobile terminal, which communicates with the cleaning device via wireless communication. This mobile terminal may be a control program installed on a remote control or a smart handheld device. Specifically, the mobile terminal can manually set, for example, the timing of the cleaning device, such as the cleaning time, pile return charging timing, cleaning start timing, pile return water replenishment timing, pile return assembly cleaning and cleaning timing.

[0068] Generally, during the cleaning process of a cleaning device, the controller monitors the battery power of the cleaning device and, according to preset parameters, controls it to stop cleaning and return to the charging pile to recharge if the power falls below a certain percentage (e.g., 10%), and to exit the pile and return to the previous cleaning stop position and orientation to continue the previous cleaning when the power rises to a certain percentage (e.g., 95%). Of course, in smarter devices, the controller calculates the cleaned area and the remaining cleaning area based on map information, calculates the approximate power required for the remaining cleaning area, and then calculates the power required for the remaining cleaning area and the power required for the next return to the charging pile during the current charging process, enabling smart interruption points and continuous cleaning functions.

[0069] However, to accommodate the different user customization needs of the cleaning device and to adapt to certain devices that do not have the smart interruption and continuous cleaning functions mentioned above, relevant parameters can be set via a mobile device. For example, a user can set the date and time for timed cleaning via a mobile device. When the timed cleaning is reached, the cleaning device will perform a cleaning operation. Based on the first return charge level set by the user, if the device's remaining charge is below a set value, it will perform a return charge operation. Based on the first return charge power level set by the user, when the device's power reaches a set value, it will stop charging and perform a continuous cleaning operation. The device will then move to the position and orientation at the time of the previous return charge and continue the previous cleaning operation. Based on the second return charge level set by the user, if the device's remaining charge is below a set value, it will perform a return charge operation again. Based on the second return charge power level set by the user, when the device's power reaches a set value, it will stop charging and perform a continuous cleaning operation again. Of course, the user can set the return charge level and return charge power for each cycle, or set default return charge levels and return charge power for the cleaning device.

[0070] To prevent the cleaning device's battery from being damaged by remaining fully charged for extended periods, charging control and timed cleaning are combined. The controller detects and identifies the input power of the cleaning device's charging adapter and calculates the charging time required for the cleaning device to charge from its current power to the user-set return charge power when it returns to the pile. For example, if the current power is 5%, the user-set return charge power is 80%, the estimated charging time is 3 hours, and the user-set timed cleaning is 10:00 AM, the control system's power control chip will start charging at 7:00 AM and begin timed cleaning at 10:00 AM. Of course, charging may also start immediately after the cleaning device completes its cleaning task and returns to the charging pile, or charging may stop after it has charged to the user-set charge power, and the cleaning task may start at the set timed cleaning time.

[0071] In addition to manually setting timing cleaning and power parameters by the user, when the cleaning device performs a mopping task, parameters such as the scheduled mopping time of the cleaning device, the time to return to the pile for mopping, the pile return water replenishment time, and the amount of water replenished may be manually set. For example, the device may be set to leave the pile and mop at 10:00 AM, perform mopping for 10 minutes, return to the pile and wash the mop, perform pile return water replenishment when the water level in the cleaning device's water tank drops to a certain level, and stop charging and continue mopping when the pile return water replenishment reaches a certain level.

[0072] Referring to an exemplary embodiment of the present disclosure, Figure 9 is a schematic diagram illustrating an exemplary rechargeable sheet on a rechargeable pile of the present disclosure. As shown in Figure 9, the rechargeable rechargeable sheets 91 and 93 of the rechargeable pile are provided on the left side baffle 95 and the right side baffle 97 of the rechargeable pile. Referring to Figure 10, Figure 10 illustrates a side view of a cleaning device according to an exemplary embodiment of the present disclosure, as shown in Figure 10, the left side 101 and the right side 103 of the cleaning device are side views of both sides of the cleaning device, the rechargeable rechargeable sheet 105 of the cleaning device is attached to the left side 101 of the cleaning device, and the rechargeable rechargeable sheet 107 is attached to the right side 103 of the cleaning device. Additional magnets are attached to the rechargeable rechargeable sheets 91 and 93 of the rechargeable pile shown in Figure 9, and additional conductive hardware is attached to the rechargeable rechargeable sheets 105 and 107 on both sides of the cleaning device.

[0073] In an exemplary embodiment of the present disclosure, the cleaning device enters the charging pile in a second position, and after the charging pile and the charging elastic sheet of the cleaning device come into close proximity, magnets attract conductive hardware, causing the charging elastic sheets on both sides of the cleaning device to come into contact with the charging elastic sheets on the side baffles on both sides of the charging pile, thereby controlling the charging pile and charging the cleaning device. In this way, when charging is not performed, the charging elastic sheet on the charging pile is in close contact with the magnets, thus avoiding friction when the cleaning device enters and exits the charging pile, and also preventing contaminated water from coming into contact with the charging elastic sheet when the cleaning assembly of the cleaning device is performed. Thus, the charging method of the present application prevents the charging elastic sheet from becoming dirty and electrically corroded, prevents damage to both sides of the equipment exterior, and ensures normal charging of the cleaning device by increasing the contact force between the charging elastic sheet on the charging pile and the charging elastic sheets on both sides of the cleaning device using magnets.

[0074] To make it clear, the above arrangement is intended to keep the rechargeable elastic sheet as far away from the cleaning tank as possible and to prevent the wastewater after cleaning from contaminating or damaging the rechargeable elastic sheet. In some embodiments, the rechargeable elastic sheet may be positioned in the cleaning device and rechargeable pile in other reasonable ways, and may be sealed as needed to achieve the same or similar technical effects, but is not particularly limited herein.

[0075] An exemplary embodiment of the present disclosure further includes controlling the cleaning device to enter the charging pile in a second orientation, after which the charging pile is controlled to activate an air exhaust module to dry the cleaning assembly. The fan is located at the bottom of the charging pile, directly beneath the cleaning device, with its air outlet located in front of the charging pile and aligned with the mop roller of the cleaning device in a charged state, and in a charged state of the cleaning device, the charging pile is controlled to activate the fan to blow-dry the mop roller of the cleaning device. When the cleaning device is not in a charged state, the charging pile may be controlled to activate the fan to blow-dry the mop roller of the cleaning device. For example, after the cleaning device enters the charging pile in a second orientation, the fan is activated to blow-dry the mop roller of the cleaning device, and in this process, it is not necessary to consider whether the cleaning device is in a charged state or not.

[0076] Furthermore, this exemplary embodiment further provides a cleaning control device for a cleaning assembly of a cleaning device.

[0077] Figure 11 is an illustrative block diagram showing a cleaning control device 110 for a cleaning assembly of a cleaning device according to an exemplary embodiment of the present disclosure. Referring to Figure 11, the cleaning control device 110 for a cleaning assembly of a cleaning device according to an exemplary embodiment of the present disclosure may include a first attitude control module 111 and a second attitude control module 113.

[0078] Specifically, the first attitude control module 111 is used to control the cleaning assembly on the charging pile to perform a cleaning task on the cleaning assembly after the cleaning device has entered the charging pile in a first attitude, and the second attitude control module 113 is used to control the cleaning device to exit the charging pile after the cleaning task is completed, if the cleaning task is the last cleaning task in a single cleaning process, and to control the cleaning device to enter the charging pile in a second attitude, where the second attitude is different from the first attitude.

[0079] In exemplary embodiments of the present disclosure, a first attitude control module 111 is configured to detect an indicator mark on a charging pile by a sensor on the cleaning device, the indicator mark being used to indicate the position of the cleaning device on the charging pile, and to control the cleaning device to move to a target position on the charging pile in a first attitude in response to the indicator mark.

[0080] In exemplary embodiments of the present disclosure, a first attitude control module 111 is configured to control the cleaning assembly to perform a water discharge operation to clean the cleaning assembly, the cleaning device to dewater the cleaning assembly, and the cleaning assembly to perform a pumping operation to pump up wastewater, which is generated after the cleaning assembly has been cleaned.

[0081] In exemplary embodiments of the present disclosure, the first attitude control module 111 is configured to control the clean water tank in the cleaning assembly to perform a water discharge operation, injecting water into the cleaning tank, and the water level monitoring module to monitor the water level in the cleaning tank, and to stop the water discharge operation when it is detected that the water level in the cleaning tank has reached a preset level.

[0082] In exemplary embodiments of the present disclosure, the first attitude control module 111 is configured such that the cleaning assembly is raised to a preset height, the cleaning assembly moves away from the washing assembly, the cleaning assembly performs a rotational operation at a preset rotational speed to dewater or pump up wastewater, the cleaning assembly rotates for swiping, and then the cleaning assembly is controlled to rise away from the washing assembly to perform a spin-drying operation.

[0083] In exemplary embodiments of the present disclosure, the first attitude control module 111 is positioned to control the cleaning assembly to pump up and treat wastewater and store the wastewater in a wastewater tank.

[0084] In exemplary embodiments of the present disclosure, the first attitude control module 111 is positioned to control the clean water tank in the cleaning assembly to perform a water discharge operation and to perform a water rinsing operation on the cleaning tank.

[0085] In exemplary embodiments of the present disclosure, the first attitude control module 111 is configured to control the cleaning device to perform the next house cleaning task after completing a cleaning task, if the cleaning task is not the last cleaning task in a single cleaning process.

[0086] In exemplary embodiments of the present disclosure, the second attitude control module 113 is configured to control the cleaning device to move toward the front of the charging pile in a first attitude, where the front of the charging pile is the direction in which the cleaning device enters the entrance to the charging pile, and to move toward the front of the charging pile in a second attitude and enter the charging pile if the distance between the cleaning device and the charging pile is less than a preset distance.

[0087] In exemplary embodiments of the present disclosure, the second attitude control module 113 is configured to control the cleaning device to perform an audio error operation if the cleaning device is unable to return to the charging pile within a predetermined time.

[0088] In exemplary embodiments of the present disclosure, a second attitude control module 113 is configured to acquire power information of the cleaning device and to control a charging module to perform a charging operation on the cleaning device if the power information is below a preset power threshold.

[0089] In exemplary embodiments of the present disclosure, a second attitude control module 113 is positioned to control an air discharge module to dry the cleaning assembly.

[0090] Exemplary embodiments of this disclosure further provide a computer-readable storage medium storing a program product capable of carrying out the methods described herein. In some possible embodiments, each aspect of this disclosure may also be carried out in the form of a program product that, when the program product is executed on a terminal device, causes the terminal device to perform the steps of various exemplary embodiments of this disclosure described in the “Exemplary Methods” portion described herein.

[0091] A program product for carrying out the above method according to embodiments of the present disclosure may be in the form of a portable compact disc read-only memory (CD-ROM) and may include program code that can be executed on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto, and in this specification, the readable storage medium may be any tangible medium that stores or stores the program, and the program may be used by or in combination with an instruction execution system, apparatus or device.

[0092] The program product may be any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any combination thereof. More specific examples (non-exclusive list) of readable storage media may include one or more wired electrical connections, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical disks, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above.

[0093] A computer-readable signaling medium may include data signals propagated in the baseband or as part of a carrier wave, and readable program code is carried within these data signals. These propagated data signals may include, but are not limited to, electromagnetic signals, optical signals, or any suitable combination thereof. The readable signaling medium may be any readable medium other than a readable storage medium, which may be used by or in combination with an instruction execution system, apparatus, or device to transmit, propagate, or transfer a program.

[0094] The program code contained in the readable medium is transmitted by any suitable medium, which may be, but is not limited to, wireless, wired, optical cable, RF, or any suitable combination of the above.

[0095] Program code for performing the operations of the Disclosure may be written in any combination of one or more programming languages, which include object-pointing programming languages ​​such as Java and C++, as well as traditional procedural programming languages ​​such as "C" and similar programming languages. The program code may run entirely on a user computing device, partially on a user computing device as a standalone software package, partially on a user computing device and on a remote computing device, or fully on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it may be connected to an external computing device (for example, via the Internet using an Internet service provider).

[0096] Exemplary embodiments of this disclosure further provide electronic devices capable of carrying out the above method.

[0097] Those skilled in the art will understand that each aspect of this disclosure can be implemented as a system, method, or program product. Accordingly, each aspect of this disclosure may be embodied in a fully hardware embodiment, a fully software embodiment (including firmware, microcode, etc.), or a combined hardware and software embodiment, which are hereby referred to as “circuit,” “module,” or “system.”

[0098] Hereinafter, an electronic device 1200 of such an embodiment according to the present disclosure will be described with reference to Figure 12. The electronic device 1200 shown in Figure 12 is merely an example and does not limit the functionality and scope of use of the embodiments of the present disclosure.

[0099] As shown in Figure 12, the electronic device 1200 takes the form of a general-purpose computing device. The assembly of the electronic device 1200 may include, but is not limited to, the at least one processing unit 1210, the at least one storage unit 1220, a bus 1230 connecting different system assemblies (including the storage unit 1220 and the processing unit 1210), and a display unit 1240.

[0100] The memory unit 1220 includes a readable medium in the form of a volatile memory unit such as a random access memory unit (RAM) 12201 and / or a cache memory unit 12202, and may further include a read-only memory unit (ROM) 12203.

[0101] The storage unit 1220 may include a program / utility 12204 having a set (at least one) of program modules 12205, such program modules 12205 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination thereof, may include an implementation of a network environment.

[0102] Bus 1230 may be one or more local buses that use a bus structure such as a memory unit bus or memory unit controller, peripheral bus, graphics acceleration port, processing unit, or various other bus structures.

[0103] The electronic device 1200 may also communicate with one or more external devices 1300 (e.g., keyboards, pointing devices, Bluetooth® devices, etc.), one or more devices that enable a user to interact with the electronic device 1200, and / or any device (e.g., routers, modems, etc.) that enables the electronic device 1200 to communicate with one or more other computing devices. Such communication takes place via the input / output (I / O) interface 1250. The electronic device 1200 may also communicate with one or more networks (e.g., local networks (LANs), wide area networks (WANs), and / or public networks, e.g., the Internet) via the network adapter 1260. As shown in the figure, the network adapter 1260 communicates with other modules of the electronic device 1200 via the bus 1230. It should be understood that other hardware and / or software modules may be used in combination with the electronic device 1200, including, but not limited to, microcode, device driver arrays, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0104] Embodiments of this disclosure further provide control methods for cleaning systems, where the cleaning system includes a cleaning device and a charging pile. For example, in such a cleaning system, the cleaning device may be any of the cleaning devices described in the above embodiments, and the charging pile may be any of the charging piles described in the above embodiments. Thus, it will be readily apparent to those skilled in the art that a specific configuration of the cleaning device and / or charging pile in any one of the above embodiments can be equivalently applied to the corresponding cleaning device and / or charging pile in the cleaning systems described below. Of course, in other embodiments of this disclosure, the cleaning device and charging pile in the cleaning system may also differ from those in the above embodiments.

[0105] Figure 13 is a schematic diagram illustrating an application scenario of a cleaning system 10 according to an embodiment of the present disclosure. As shown in Figure 13, the cleaning system 10 includes a rechargeable pile 11 and a cleaning device 13, the cleaning device 13 can move to or away from the rechargeable pile 11 along an inclined track 12 provided on the rechargeable pile 11. After the cleaning device 13 moves away from the rechargeable pile 11 along the track 12, it can clean the floor within a designated area (e.g., indoors). After the cleaning device 13 moves to the rechargeable pile 11 along the track 12, maintenance processing such as charging or dust collection is performed on the rechargeable pile 11. As shown in Figure 13, state S is shown when the cleaning device 13 is charging the rechargeable pile 11, and state S' is shown when the cleaning device 13 is maintaining the rechargeable pile 11, respectively. The above process can be performed automatically without human intervention, and embodiments of the present disclosure provide methods for controlling the above process to address several special situations so that the cleaning system 10 is more reliable and intelligent.

[0106] In the example shown in Figure 13, the cleaning system 10 is shown as a cleaning robot, but it is easy to understand that the control method of the cleaning system in the embodiment of this disclosure can be applied to any other cleaning system.

[0107] Figure 14 is a flowchart of the cleaning system control method 200 according to an embodiment of the present disclosure. As shown in Figure 14, the cleaning system control method 200 includes the following steps.

[0108] In step S210, the current working status of the cleaning device is obtained.

[0109] In step S220, after it is determined that the cleaning device is in a preset working state, the relative position between the cleaning device and the charging pile is determined.

[0110] In step S230, driving force is applied to the drive wheels of the cleaning device based on the relative position to control the cleaning device so that it moves relative to the charging pile or remains on the charging pile.

[0111] Specifically, in step S210, the current working state of the cleaning device is first obtained. According to the embodiment, the cleaning device is determined to be in a preset working state if it is in at least one of the working states of collecting debris in the cleaning device's dust box into the dust collection box of the charging pile, cleaning the cleaning assembly of the cleaning device with the cleaning assembly on the charging pile, or charging the cleaning device with the charging pile.

[0112] The cleaning system can clean a mopping roller attached to the cleaning device using a rechargeable pile that works in cooperation with it. In the mopping roller cleaning process, the mopping roller is required to rotate at high speed and interfere with the protruding structures on the rechargeable pile in order to achieve a cleaning effect. However, during the high-speed rotation of the mopping roller for cleaning, vibrations of the equipment and the reaction force of the protruding structures on the rechargeable pile may cause the cleaning device to detach from its designated position during cleaning, or, more seriously, to slip off the rechargeable pile. As a result, the mopping roller cannot cooperate effectively with the protruding structures on the rechargeable pile or the cleaning scraper, and a cleaning effect cannot be obtained.

[0113] In step S220, if it is determined that the cleaning device is in the above-described preset working state, the relative position between the cleaning device and the charging pile is further determined, and the degree of separation of the cleaning device from the charging pile is obtained, thereby facilitating subsequent measures to keep the cleaning device stable without slipping onto the charging pile during cleaning.

[0114] In step S230, driving force is applied to the drive wheels of the cleaning device based on the relative position. In a specific embodiment, the movement of the cleaning device can be controlled based on the degree of separation of the cleaning device from a designated position on the charging pile, for example, the distance from the designated position.

[0115] According to the embodiments of this disclosure, by controlling the movement of the cleaning device based on the current working state of the cleaning device and the relative position between the cleaning device and the charging pile, the movement of the cleaning device is adjusted based on actual special circumstances and emergencies, resulting in more reliable and intelligent control and an improved user experience.

[0116] According to the embodiment, applying a driving force to the drive wheels of the cleaning device based on relative position may include applying a driving force to the drive wheels of the cleaning device in the direction in which the cleaning device moves toward the charging pile when the cleaning device moves to a designated position on the charging pile. This driving force can counteract any force that would cause the cleaning device to move toward the charging pile. When the cleaning device is in a designated position, it is possible to continuously apply a driving force with a low duty cycle to the drive wheels of the cleaning device so that the drive wheels tend to move forward, and at this point, since the cleaning device is already in a designated position, the cleaning device cannot continue to move toward the charging pile, and this driving force can overcome the possibility of the cleaning device sliding along the inclined parking surface of the charging pile under the influence of gravity, or counteract any reaction force that pushes the cleaning device away from the designated position due to cleaning or dust collection operations at the base station.

[0117] Furthermore, according to the embodiment, before the cleaning device moves to a designated position on the charging pile, a driving force is applied to the drive wheels of the cleaning device at a first speed along the direction in which the cleaning device moves toward the charging pile. During the process of the cleaning device moving toward the charging pile, the drive wheels move forward at the first speed, which may be the normal walking speed, or it may be higher or lower than the normal walking speed.

[0118] Furthermore, according to the embodiment, before the cleaning device moves to a designated position on the charging pile, a driving force is applied to the drive wheels of the cleaning device at a second speed along the direction in which the cleaning device moves toward the charging pile. The second speed is a speed adjusted based on a preset algorithm.

[0119] Figure 15 is a schematic diagram illustrating the control mechanism that ensures the cleaning device according to the embodiment of this disclosure is stably held at a designated position on the charging pile. The following explanation will be given with reference to Figure 15.

[0120] In this embodiment, the cleaning device may interact with the recharged pile in various ways, such as collecting debris in the cleaning device's dust box into a larger dust collection box in the recharged pile, or using a cleaning assembly on the recharged pile to clean a mopping roller or mop with a mopping function on the cleaning device. During the interaction process, the cleaning device is moved away from the recharged pile and the optimal interaction position by force. As shown in Figure 15, the recharged pile 151 has an inclined track 152, and the cleaning device 153 moves to a designated position on the recharged pile 151 via the track 152. During the execution of the above interaction, an acting force N is generated, and the acting force N is directed in a direction that pushes the cleaning device 153 away from the recharged pile 151, which may result in the cleaning device 153 moving away from the designated position on the recharged pile 31 and adversely affecting the interaction process.

[0121] In some embodiments, the movement of the cleaning device 153 can be controlled by a continuous control method. Specifically, once the cleaning device 153 reaches a designated position on the charging pile 151, a low duty cycle is continuously applied to the drive motor of the wheels of the cleaning device 153 until the interaction is complete, in order to eliminate the effect of the applied force N.

[0122] While this method effectively maintains the position of the cleaning device, it drives the motor at a continuously low duty cycle. This continuous application of a small duty cycle is unsuitable except in specific working conditions. When the cleaning device is parked on a charging pile and not in a specific working condition, the user may need to pull the cleaning device away from the pile. If the drive wheels still tend to move forward, this can cause difficulties for the user during the pulling process.

[0123] In some embodiments, the movement of the cleaning device 153 can be controlled in a fixed-mode manner. Specifically, at the start of the interaction, a large duty cycle is first applied to the drive motor of the wheels of the cleaning device 153 so that the cleaning device 153 moves to or returns to a designated position. Subsequently, the applied duty cycle is reduced to a duty cycle small enough to eliminate the effect of the force N over time, so that the cleaning device 153 can be held in the designated position on the charging pile 151.

[0124] Thus, by first controlling the drive motor of the cleaning device with a large duty cycle, the cleaning device can quickly move to or return to the designated position before deviation. However, due to the high speed, the cleaning device may collide with the charging pile, causing wear on the edges of the cleaning device and the surface of the charging pile, and consequently on the wheels of the cleaning device.

[0125] In some embodiments, the movement of the cleaning device 153 is controlled by a feedback control scheme. Specifically, two states are defined first, namely the in-place state and the out-of-place state, each using a different control mode. The in-place state refers to the state in which the cleaning device 153 is at a designated position on the charging pile 151. When the cleaning device 153 reaches the designated position, the drive motors of the wheels of the cleaning device 153 are controlled with a low duty cycle that can sufficiently counteract the effect of the applied force N. In the out-of-place state, i.e., the opposite state to the in-place state, the drive motors of the wheels of the cleaning device 153 are controlled in a manner that includes PID adjustment. In some embodiments, for better control effect, the cleaning device 153 may be continuously controlled in the out-of-place state for a short time (e.g., 1 second) when switching from the out-of-place state to the in-place state.

[0126] In specific embodiments, sensors may be used to determine whether the device is in-place or out-of-place, for example, based on the trigger state of the cushioning material when the cleaning device 153 reaches a designated position, the pattern state fed back from the radar sensor of the cleaning device 153, the trigger state of the in-place switch on the cleaning device 153, the overcurrent state of the wheels of the cleaning device 153, the gyroscope tilt angle state of the cleaning device 153, and a combination of one or more of the above sensor states, and embodiments of this disclosure are not limited thereto.

[0127] In this way, by employing a speed control algorithm to control the drive motor of the cleaning device, the cleaning device can be quickly returned to the designated position before it deviated, and collisions between the cleaning device and the charging pile, as well as wear on the edges of the cleaning device and the surface of the charging pile, can be avoided.

[0128] According to the embodiments of this disclosure, when the cleaning device is in a designated position on the charging pile, a low duty cycle is applied to the drive motor of the cleaning device's wheels, and as shown in Figure 15, the force N' generated by the drive gives the wheels of the cleaning device a tendency to move forward, and this tendency can counteract any possible backward movement of the cleaning device, so that the cleaning device is reliably positioned in a designated position on the charging pile and ensures interaction between the cleaning device and the charging pile.

[0129] According to the embodiment, applying driving force to the drive wheels of the cleaning device based on relative position may further include driving the cleaning device to move toward the charging pile when the distance between the cleaning device and a designated position on the charging pile is less than or equal to a preset threshold, and stopping the cleaning device once it has moved to the designated position on the charging pile.

[0130] In other embodiments, applying driving force to the drive wheels of the cleaning device based on relative position is performed by determining whether the relative position between the cleaning device and the charging pile does not change within a predetermined period if the distance between the cleaning device and a designated position on the charging pile is greater than a predetermined threshold, and whether the state of the device related to a predetermined working state of the cleaning device changes after the predetermined period. If the state of the device related to the predetermined working state of the cleaning device does not change, the cleaning device is driven to move toward the charging pile. Once the cleaning device has moved to the designated position on the charging pile, the driving of the cleaning device is stopped. If the state of the device related to a predetermined working state of the cleaning device changes, the relative position between the cleaning device and the charging pile is maintained so as not to change.

[0131] Figures 16A and 16B are schematic diagrams illustrating the control of a cleaning device that deviates from a designated position on a charging pile according to an embodiment of the present disclosure. The following description will be made with reference to Figures 16A and 16B.

[0132] During maintenance of the cleaning system, users may, for convenience, manually pull the cleaning device away from the charging pile instead of removing it from the pile itself. If the user does not move the charging pile from the ground in this situation, the cleaning device will enter a retraction and back-rub logic, negatively impacting the user's operational fluency.

[0133] As shown in Figures 16A and 16B, when the cleaning device 163 is powered on, the controller of the cleaning device 163 continuously monitors the movement status of the main wheel odometer of the cleaning device 163. The main wheel odometer has a threshold value and measures the ODO value at which the cleaning device 163 naturally slides down the inclined track 162 of the charging pile 161. When the controller of the cleaning device 163 detects a change in the ODO value, it controls the device according to the change in the ODO value. According to the embodiment, if the ODO value D ≤ threshold value, the cleaning device 163 enters the first backlab logic, as shown in Figure 16A. If the ODO value D' > threshold value, the cleaning device 163 enters the second backlab logic, as shown in Figure 16B.

[0134] In the first backlab logic, both wheels of the cleaning device 163 rotate in reverse synchronously until the cleaning device 163 is restored to its original state (e.g., charging state or dust collection state). In other embodiments, the rotation of the main wheels of the cleaning device 163 is stopped and the electromagnetic brake is activated if the main wheel current of the cleaning device 163 is greater than a certain threshold, or if the main wheel current of the cleaning device 163 is greater than a certain threshold.

[0135] In the second backlab logic, the cleaning device 163 remains in a predetermined position for a certain period of time, for example, several minutes. If there are no changes in state during the dwell time, such as the dust collection box being extended or retracted, the cliff sensor trigger, the main wheel drop sensor trigger, or the pile front trigger, the cleaning device 163 returns to its original state (for example, charging state or dust collection state) at a preset time. If the above state changes, the cleaning device 163 remains in place and does nothing.

[0136] According to the embodiments of this disclosure, it is possible to clearly distinguish between different situations in which the user actively moves the cleaning device away and in which the cleaning device itself deviates from its designated position. This allows for the control of the cleaning device according to each different situation, thereby improving the intelligence of the cleaning system and the user experience.

[0137] According to the embodiment, when it is determined that the cleaning device is in a preset working state, the movement state of the charging pile is monitored, and after the movement state of the charging pile changes, the cleaning device is repositioned, and the previously stored position of the charging pile is updated based on the repositioning result.

[0138] Figure 17 is a schematic diagram illustrating the repositioning of the charging pile according to an embodiment of the present disclosure. The following explanation will refer to Figure 17.

[0139] As shown in Figure 17, the cleaning system has a "map saving" function, which is only effective under the condition that the position of the charging pile 171 must be fixed. If the position of the charging pile 171 moves over a wide area while the cleaning device 173 is charging (for example, as shown in Figure 17, the charging pile 171 moves from position A to position B), and the cleaning device 173 leaves the charging pile 171 via the inclined track 172 of the charging pile 171, if there is no repositioning for a long time, an error will occur in SLAM (simultaneous localization and mapping) positioning, and the cleaning device 173 will not be able to clean properly. However, if the repositioning time is long and a repositioning operation is performed every time after leaving the charging pile, the preheating time for each cleaning will be long, which will have a serious impact on the user experience.

[0140] According to the embodiment, when the cleaning device 173 is located on the charging pile 171, if it detects that the cleaning device 173 has moved (in fact, the cleaning device 173 has moved together with the charging pile 171), it moves simultaneously with the pile to reposition itself.

[0141] In a specific embodiment, after the cleaning device 173 enters a preset state, the movement state of the cleaning device 173 is continuously monitored by sensors such as a gyroscope, a fall sensor, and a main wheel odometer. After any of the above sensors detect a change in the movement state of the cleaning device 173, that is, after the sensors detect a change in the movement state of the cleaning device 173, and after the sensors detect that the movement of the cleaning device 173 has stopped, the cleaning device 173 moves simultaneously with the pile and begins to perform repositioning.

[0142] When the cleaning device 173 and the charging pile 171 are stationary relative to each other, the position of the charging pile 171 on a pre-stored map is determined by repositioning the cleaning device 173.

[0143] In a specific embodiment, the repositioning of the cleaning device 173 is performed by LDS and / or camera, and the repositioning process is approximately as follows: the cleaning device 173 rotates in place, performs repositioning via LDS and / or camera, and if that fails, the cleaning device 173 moves by the distance required for repositioning. Repositioning is performed solely on the relative positioning of the cleaning device 173 with respect to the obstacle / target location stored in the map. When the cleaning device 173 is repositioned on the charging pile 171, if the camera / or camera is not facing outwards from the charging pile 171, repositioning relies solely on LDS.

[0144] In a specific embodiment, after entering the "move and reposition simultaneously with the pile" logic, the cleaning device 173 activates the LDS laser sensor on the charging pile 171 for repositioning on the pile. When repositioning on the pile, the cleaning device 173's LDS sensor compares the similarity between the current laser map and the map before the cleaning device 173 (charging pile 171) moved. If the map similarity is lower than a certain threshold, the cleaning device 173 determines that it has performed "displacement simultaneously with the pile". Simultaneously, after successful repositioning on the pile, the cleaning device 53 clears the last saved position of the charging pile 171 and remarks the current position as the position of the charging pile 171. If the cleaning device 173 fails to reposition on the pile, the cleaning device 173 moves away from the charging pile 171 and enters the normal local repositioning logic. After successful repositioning, it clears the last marked position of the charging pile 171 and marks the current position as the new position of the charging pile 171. Based on whether the charging electrodes of the cleaning device and the charging electrodes of the charging pile are in contact, the cleaning device can know whether it is currently charging on the charging pile or performing another task. Of course, this can be determined by other means and is not particularly limited to the embodiments of this disclosure.

[0145] According to the embodiments of this disclosure, when a large rechargeable pile is used, the leave pile start cleaning experience of the cleaning device is optimized.

[0146] According to the embodiment, after it is determined that the cleaning device has completed a preset working state and is about to move away from the charging pile, the relative position between the cleaning device and the charging pile is obtained, and if it is determined that the relative position between the cleaning device and the charging pile does not change, the cleaning device applies driving force to its drive wheels at a third speed in the direction away from the charging pile. The third speed is greater than the normal working speed of the cleaning device.

[0147] Figure 18 is a schematic diagram illustrating the control of the cleaning device according to the embodiment of this disclosure when it separates from the charging pile. The following explanation will refer to Figure 18.

[0148] As shown in Figure 18, the charging pile 181 has an inclined track 182, and since the cleaning device 183 needs to be held by the charging pile 181 after moving to the charging pile 181 via the track 182, the charging pile 181 is generally provided with wheel parking grooves or baffles for the cleaning device 183 to prevent the cleaning device 183 from sliding down along the track 182 of the charging pile 181.

[0149] After the cleaning device 183 has completed a set task in a preset working state, for example, when the cleaning device has finished charging and is about to move away from the charging pile 181 for other operations, it will first move backward or forward to move away from the charging area, depending on the head direction during charging. Interference between the ambient ground, the structure of the charging pile and the structure of the cleaning device, wheel slippage, or resistance of the ground contact assembly on the cleaning device may lead to the wheels not actually moving even though they are controlled to move.

[0150] In the embodiments of this disclosure, this phenomenon is targeted by first determining whether the cleaning device 183 has detached from the charging pile 181. Specifically, considering the use of wheel rotation as a counter, there is no guarantee that a determination can be made due to the possibility of slippage. Here, by comparing the LDS data before control with the data after time has elapsed, it is possible to determine whether the cleaning device 183 has detached from the charging pile 181. If it is determined that the cleaning device 183 has not detached from the charging pile 181, the probability of it getting caught on the charging pile 181 is reduced by controlling the cleaning device 183 to make a short dash at a high speed V.

[0151] The embodiments of this disclosure enable control that allows the cleaning device to quickly detach from the charging pile, thereby optimizing the user experience of the cleaning system.

[0152] Embodiments of the present disclosure further provide a control device for a cleaning system. Figure 19 is a block diagram showing a control device 190 for a cleaning system according to an embodiment of the present disclosure. The control device 190 for a cleaning system includes an acquisition module 191, a determination module 192, and a drive module 193.

[0153] According to the embodiment, the acquisition module 191 is configured to acquire the current working state of the cleaning device. The determination module 192 is configured to determine the relative position between the cleaning device and the charging pile when it is determined that the cleaning device is in a preset working state. The drive module 193 is configured to apply driving force to the drive wheels of the cleaning device according to the relative position and to control the movement of the cleaning device relative to the charging pile or its holding on the charging pile.

[0154] The specific operations of each of the above-mentioned functional modules can be found by referring to the operation steps of the cleaning system control method 200 in the above embodiment, and will not be explained here.

[0155] The specific operations of each of the above-mentioned functional modules can be found by referring to the operation steps of the cleaning system control method 200 in the above embodiment, and will not be explained here.

[0156] The embodiments of this disclosure further provide electronic devices for the various methods described above. Figure 20 is a block diagram of an electronic device 20 that implements the methods of the embodiments of this disclosure. The electronic device is intended to represent various forms of digital computers, or various forms of mobile devices, or other similar computing devices. The components shown herein, their connections and relationships, and their functions are illustrative and are not intended to limit the description herein and / or require the implementation of this disclosure.

[0157] As shown in Figure 20, the device 2 includes a computing unit 201 for performing various appropriate operations and processes according to computer programs stored in read-only memory (ROM) 202 or computer programs loaded from storage unit 208 into random access memory (RAM) 203. The RAM 203 can store various programs and data necessary for the operation of the device 2. The computing unit 201, ROM 202, and RAM 203 are connected to each other via a bus 204. An input / output (I / O) interface 205 is also connected to the bus 204.

[0158] Within device 2, multiple components are connected to the I / O interface 205: an input unit 206 such as a keyboard and mouse; an output unit 207 such as various displays and speakers; a storage unit 208 such as a magnetic disk and an optical disk; and a communication unit 209 such as a network card, modem, and wireless communication transceiver. The communication unit 209 is used by device 2 to exchange information / data with other devices via the Internet computer network and / or various communication networks.

[0159] The computing unit 201 may be a general-purpose and / or dedicated processing assembly having processing and computation capabilities. Some examples of the computing unit 201 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computation chips, a computing unit that executes various device learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 201 performs each of the methods and processes described above.

[0160] Various embodiments of the systems and technologies described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), dedicated integrated circuits (ASICs), dedicated standard products (ASSPs), system-on-chip systems (SOCs), load-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can be implemented in one or more computer programs, which can be executed and / or interpreted in a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, which receives data and instructions from a storage system, at least one input device, and at least one output device, and transmits data and instructions to the storage system, at least one input device, and at least one output device.

[0161] Program code for carrying out the methods of this disclosure may be written in any combination of one or more programming languages. These program codes are provided to a processor or controller of a general-purpose computer, a dedicated computer or other programmable data processing device, so that when the program code is executed by the processor or controller, the functions / operations specified in the flowchart and / or block diagram are realized. The program code may be executed all or partly on a device, partially on a device as a standalone software package and partially on a remote device, or entirely on a remote device or server.

[0162] In the context of this disclosure, an instrument-readable medium may be a tangible medium containing a program used in conjunction with an instruction execution system, apparatus, or apparatus. An instrument-readable medium may be an instrument-readable signal medium or an instrument-readable storage medium. An instrument-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination thereof. More specific examples of an instrument-readable storage medium may be an electrical connection based on one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0163] A computer system includes clients and servers. Clients and servers are generally located remotely from each other and interact via a communication network. The client-server relationship is established by computer programs running on corresponding computers that have a client-server relationship with each other.

[0164] From the above description of embodiments, those skilled in the art will see that the exemplary embodiments described herein may be implemented by software, or by combining software with the necessary hardware. Accordingly, the technical solutions of the embodiments of this disclosure may be embodied in the form of a software product, which may be stored on a non-volatile storage medium (such as a CD-ROM, U disk, or mobile hard disk) or on a network, containing a number of instructions for causing a computing device (such as a personal computer, server, terminal device, or network device) to perform the method of the embodiments of this disclosure.

[0165] Furthermore, the above drawings are merely schematic diagrams of the processes included in the exemplary embodiments of this disclosure and are not intended to limit them. It will be readily apparent that the processes shown in the above drawings do not represent or limit the chronological order of these processes. Moreover, it will be readily apparent that these processes may be performed synchronously or asynchronously in multiple modules, for example.

[0166] While the detailed description above refers to multiple modules or units of the device for performing operations, it should be noted that this division is not mandatory. In practice, according to embodiments of this disclosure, the features and functions of two or more of the above modules or units may be embodied in a single module or unit. Conversely, the features and functions of one such module or unit may be further divided and embodied in multiple modules or units.

[0167] This application is intended to cover any variations, uses, or appropriate modifications of the Disclosure, including general knowledge or technical means in the art not disclosed herein. The specification and examples are illustrative only, and the true scope and spirit of the Disclosure are shown in the claims.

Claims

1. After the cleaning device enters the charging pile in a first position, the cleaning assembly on the charging pile is controlled to perform a cleaning task on the cleaning assembly on the cleaning device. A cleaning control method for a cleaning assembly of a cleaning device, characterized in that, if the cleaning task is the final cleaning task in a cleaning process, after the cleaning task is completed, the cleaning device is controlled to exit the charging pile and the cleaning device is controlled to enter the charging pile in a second posture different from the first posture.

2. A cleaning control method for a cleaning assembly of a cleaning device according to claim 1, characterized in that the cleaning device is in a non-charging state after it has entered the charging pile in a first position.

3. The cleaning device enters the charging pile in the first position. The cleaning device detects an indicator mark on the charging pile to indicate the position of the cleaning device on the charging pile using a sensor on the cleaning device. A cleaning control method for a cleaning assembly of a cleaning device according to claim 1, characterized in that it includes controlling the cleaning device to move the charging pile to a target position in the first posture based on the instruction sign.

4. Controlling the cleaning assembly on the charging pile to perform a cleaning task on the cleaning assembly on the cleaning device is, Controlling the cleaning assembly to perform a water discharge operation and cleaning the cleaning assembly, Controlling the cleaning device to dewater the cleaning assembly, This includes controlling the aforementioned cleaning assembly to perform a pumping operation and pumping up and treating the wastewater, The cleaning control method for a cleaning assembly of a cleaning device according to claim 1, characterized in that the wastewater is generated after the cleaning assembly has been cleaned.

5. The cleaning assembly includes a clean water tank, a cleaning tank, and a water level monitoring module, and the cleaning assembly is controlled to perform a water discharge operation. Controlling the clean water tank in the cleaning assembly to perform a water discharge operation and inject water into the cleaning tank, The water level in the washing tank is monitored by the water level monitoring module. A cleaning control method for a cleaning assembly of a cleaning device according to claim 4, characterized in that it includes stopping the water discharge operation when it is monitored that the water level in the cleaning tank has reached a preset water level.

6. Controlling the cleaning device described above to dewater the cleaning assembly is, Controlling the cleaning assembly to raise it to a preset height so that it is separated from the washing assembly, A cleaning control method for a cleaning assembly of a cleaning device according to claim 4, characterized in that it includes controlling the cleaning assembly to perform a rotation operation at a preset rotation speed to perform a dewatering process.

7. The cleaning assembly includes a wastewater tank, and controls the cleaning assembly to perform a pumping operation and pump up and treat the wastewater. A cleaning control method for a cleaning assembly of a cleaning apparatus according to claim 4, characterized in that it includes controlling the cleaning assembly to perform the pumping treatment on the wastewater and storing the wastewater in the wastewater tank.

8. After the aforementioned cleaning task is completed, A cleaning control method for a cleaning assembly of a cleaning device according to claim 5, characterized in that it includes controlling the clean water tank in the cleaning assembly to perform a water discharge operation and performing a water washing operation on the cleaning tank.

9. The cleaning control method described above is: A cleaning control method for a cleaning assembly of a cleaning device according to claim 1, further comprising, if the cleaning task is not the last cleaning task in the cleaning process, controlling the cleaning device after the completion of the cleaning task to perform the next house cleaning task.

10. Controlling the aforementioned cleaning device to insert it into the charging pile in a second position is, The cleaning device is controlled to move in a first position toward the front of the charging pile, such that the front of the charging pile is the surface in the direction of the entrance where the cleaning device enters the charging pile. A cleaning control method for a cleaning assembly of a cleaning device according to claim 1, characterized in that, if the distance between the cleaning device and the charging pile is less than a preset distance, the cleaning device is controlled to move in the second posture in front of the charging pile and into the charging pile.

11. If the distance between the cleaning device and the charging pile is less than a preset distance, the cleaning device is controlled to move in the second posture toward the front of the charging pile and to enter the charging pile. A cleaning control method for a cleaning assembly of a cleaning device according to claim 10, characterized in that if the cleaning device does not enter the charging pile within a predetermined time, the cleaning device is controlled to perform an audio error operation.

12. The charging pile includes a charging module, and the cleaning device is controlled to move toward the front of the charging pile in the second posture, and after entering the charging pile, To acquire power information of the cleaning device, A cleaning control method for a cleaning assembly of a cleaning device according to claim 10, characterized in that it includes controlling the charging module to perform a charging operation on the cleaning device when the power information is less than a preset power threshold.

13. The cleaning assembly includes an air discharge module, which controls the cleaning device to move toward the front of the charging pile in the second orientation, and after entering the charging pile, A cleaning control method for a cleaning assembly of a cleaning apparatus according to claim 10, characterized by comprising controlling the air discharge module to perform a drying process on the cleaning assembly.

14. A first attitude control module for controlling the cleaning assembly on the charging pile and performing a cleaning task on the cleaning assembly on the cleaning device after the cleaning device has entered the charging pile in a first attitude, A cleaning control device for a cleaning assembly of a cleaning device, characterized in that, if the cleaning task is the final cleaning task in the cleaning process, it includes a second attitude control module for controlling the cleaning device to exit the charging pile after the cleaning task is completed, and for controlling the cleaning device to enter the charging pile in a second attitude different from the first attitude.

15. A control method for a cleaning system comprising a cleaning device and a rechargeable pile, To obtain the current working status of the cleaning device, When it is determined that the cleaning device is in a preset working state, the relative position between the cleaning device and the charging pile is determined. A method for controlling a cleaning system, characterized by including, based on the relative position, applying a driving force to the drive wheels of the cleaning device to control the cleaning device to move it relative to the charging pile or to hold it on the charging pile.

16. It is determined that the cleaning device is in a preset working state. The cleaning device, The dust in the dust box of the cleaning device is collected in the dust collection box of the rechargeable pile. The cleaning assembly of the cleaning device is cleaned by the cleaning assembly on the charging pile. The method according to 15, characterized in that, when the cleaning device is in at least one of the working states, it is determined that the cleaning device is in a preset working state.

17. Applying driving force to the drive wheels of the cleaning device based on the relative position is, The method according to 16, wherein when the cleaning device moves to a designated position on the charging pile, a first driving force is applied to the drive wheels of the cleaning device in the direction in which the cleaning device moves toward the charging pile, the first driving force being a force that counteracts the force that causes the cleaning device to move toward the charging pile, and the designated position being related to the preset working state.

18. Applying driving force to the drive wheels of the cleaning device based on the relative position is, The method according to 17, further comprising applying a driving force to the drive wheels of the cleaning device at a first speed along the direction in which the cleaning device moves toward the charging pile, before the cleaning device moves toward the designated position on the charging pile.

19. Applying driving force to the drive wheels of the cleaning device based on the relative position is, The method according to 17, further comprising applying a driving force to the drive wheels of the cleaning device at a second speed in the direction in which the cleaning device moves toward the charging pile, before the cleaning device moves toward the designated position on the charging pile, wherein the second speed is a speed adjusted based on a preset algorithm.

20. Determining that the cleaning device is in a preset working state means The cleaning device, The dust in the dust box of the cleaning device is collected in the dust collection box of the rechargeable pile. The cleaning assembly of the cleaning device is cleaned by the cleaning assembly on the charging pile. The method according to 15, characterized in that when the cleaning device is in at least one working state during the working state in which the cleaning device is charged by the charging pile, it is determined that the cleaning device is in a preset working state.

21. Applying driving force to the drive wheels of the cleaning device based on the aforementioned relative position is, The method according to 20, further comprising driving the cleaning device to move it in the direction of the charging pile until the cleaning device moves to the designated position on the charging pile, provided that the distance between the cleaning device and the designated position on the charging pile is less than or equal to a preset threshold, and then stopping the drive to the cleaning device, wherein the designated position is related to the preset working state.

22. Applying driving force to the drive wheels of the cleaning device based on the aforementioned relative position is, If the distance between the cleaning device and the designated position on the charging pile is greater than the preset threshold, the relative position between the cleaning device and the charging pile is maintained so as not to change within a preset period. After the aforementioned predetermined period has elapsed, determine whether the state of the device related to the predetermined working state of the cleaning device has changed. If the state of the device related to the preset working state of the cleaning device does not change, the driving of the cleaning device is stopped when the cleaning device is driven to move in the direction of the charging pile until it moves to the designated position on the charging pile. The method according to 21, characterized in that, when the state of the device related to the preset working state of the cleaning device changes, the relative position between the cleaning device and the charging pile is maintained so as not to change.

23. When the cleaning device determines that it is in a preset working state, it monitors the movement state of the charging pile. After the movement state of the charging pile changes, the cleaning device is used to reposition it. The method according to 15, further comprising updating the position of the charging pile, which has been stored in advance, according to the repositioning result.

24. When the cleaning device completes the preset working state and it is determined to move away from the charging pile, the relative position between the cleaning device and the charging pile is obtained. The method according to 15, further comprising, when it is determined that the relative position between the cleaning device and the charging pile does not change, applying a driving force to the drive wheels of the cleaning device at a third speed along the direction in which the cleaning device moves away from the charging pile, wherein the third speed is greater than the normal operating speed of the cleaning device.

25. A control device for a cleaning system comprising a cleaning device and a rechargeable pile, An acquisition module configured to acquire the current working status of the cleaning device, When it is determined that the cleaning device is in a preset working state, a determination module is configured to determine the relative position between the cleaning device and the charging pile, A control device for a cleaning system, comprising: a drive module configured to apply driving force to the drive wheels of the cleaning device based on the relative position, thereby controlling the cleaning device to move relative to the charging pile or to hold it on the charging pile.

26. A computer-readable storage medium in which a computer program is stored, wherein when the computer program is executed by a processor, it realizes a cleaning control method for a cleaning assembly of a cleaning device according to any one of claims 1 to 13, or a control method for a cleaning system according to any one of claims 15 to 24.

27. Processor and The processor comprises a memory for storing executable instructions, The electronic device is characterized in that the processor executes the executable instructions to realize a cleaning control method for a cleaning assembly of a cleaning device according to any one of claims 1 to 13, or a control method for a cleaning system according to any one of claims 15 to 24.

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