Passive cleaning device and cleaning control method therefor, and computer storage medium

Abstract

A cleaning control method for a passive cleaning device, a passive cleaning device, and a computer storage medium. The cleaning control method for a passive cleaning device comprises: acquiring measurement data acquired by a measurement assembly in a passive cleaning device (01); on the basis of the measurement data, analyzing whether the passive cleaning device is cleaning a stubborn stain on a surface to be cleaned (03); and when the passive cleaning device is cleaning a stubborn stain, adjusting the working states of at least some of components in the passive cleaning device (05). The passive cleaning device can analyze, on the basis of measurement data acquired by a measurement assembly, whether the passive cleaning device is cleaning a stubborn stain, and, when the passive cleaning device is cleaning a stubborn stain, adjust the working states of at least some of components in the passive cleaning device, preventing a user from manually selecting a corresponding cleaning gear on the basis of the degree of contamination on the ground, achieving simple operations, reducing operations steps of a user, and improving the intelligence attribute of the passive cleaning device.

Description

Passive cleaning equipment, cleaning control method thereof, and computer storage medium Technical Field

[0001] The present application relates to the field of cleaning technology, and in particular to a cleaning control method for a passive cleaning device, a passive cleaning device, and a computer storage medium. Background Art

[0002] Passive cleaning devices are mainly used to assist users in cleaning the floor and are usually used in scenarios such as home indoor cleaning and large-scale cleaning. Generally, passive cleaning devices include active passive cleaning devices and passive cleaning devices. Active passive cleaning devices are usually called cleaning robots. This type of device can autonomously control the cleaning of the floor to be cleaned without excessive user intervention. Passive cleaning devices are usually called handheld passive cleaning devices, including floor scrubbers, handheld vacuum cleaners, etc. This type of passive cleaning device requires the user to hold the device in hand to control the passive cleaning device for cleaning. For example, the user pushes the passive cleaning device to the living room or bedroom to clean the floor. The passive cleaning device is controlled by the user. For this type of passive cleaning device, since it is controlled by the user, its intelligence is not considered too much. For example, when faced with stubborn stains, the user is usually required to clean by, for example, manually adjusting the working parameters of the passive cleaning device, etc., in order to clean the stubborn stains faster and better. This design of passive cleaning devices is not smart enough for the user, thereby increasing the user's operating burden.

[0003] Application Contents

[0004] The embodiments of the present application provide a cleaning control method for a passive cleaning device, a passive cleaning device, and a computer storage medium, which are at least used to solve the problem that the passive cleaning device is not intelligent enough.

[0005] The cleaning control method of the passive cleaning device of the embodiment of the present application includes: obtaining detection data collected by the detection component in the passive cleaning device; analyzing whether the passive cleaning device is cleaning stubborn stains on the surface to be cleaned based on the detection data; and adjusting the working status of at least some components in the passive cleaning device when the passive cleaning device is cleaning the stubborn stains.

[0006] In some embodiments, the detection data includes data related to the motion position and / or motion posture of the passive cleaning device.

[0007] In some embodiments, the detection data includes data related to changes in stains on the surface to be cleaned.

[0008] In some embodiments, the detection data includes a dirtiness value in a suction duct of the passive cleaning device.

[0009] In some embodiments, analyzing whether the passive cleaning device is cleaning stubborn stains on the surface to be cleaned based on the detection data includes: determining whether the passive cleaning device is performing reciprocating motion in the same cleaning area based on the detection data; if so, determining that the passive cleaning device is cleaning the stubborn stains.

[0010] In some embodiments, determining whether the passive cleaning device is performing reciprocating motion within the same cleaning area based on the detection data, and if so, determining that the passive cleaning device is cleaning the stubborn stains, includes: determining that the passive cleaning device is cleaning the stubborn stains when the detection data changes back and forth within the range of [Xa, X+b]; wherein X is the base value of the detection data, a is the downward floating amount of the detection data, and b is the upward floating amount of the detection data.

[0011] In some embodiments, determining whether the passive cleaning device is reciprocating within the same cleaning area based on the detection data, and if so, determining that the passive cleaning device is cleaning the stubborn stains, includes: when the detection data changes back and forth within the range of [Xa, X+b], and the frequency of the reciprocating change of the detection data is greater than or equal to a preset frequency, determining that the passive cleaning device is cleaning the stubborn stains; wherein X is the base value of the detection data, a is the downward floating amount of the detection data, and b is the upward floating amount of the detection data.

[0012] In some embodiments, determining whether the passive cleaning device is performing reciprocating motion within the same cleaning area based on the detection data, and if so, determining that the passive cleaning device is cleaning the stubborn stains, includes: when the detection data changes back and forth within the range of [Xa, X+b], and the duration of the reciprocating change of the detection data is greater than or equal to a first preset duration, determining that the passive cleaning device is cleaning the stubborn stains; wherein X is the base value of the detection data, a is the downward floating amount of the detection data, and b is the upward floating amount of the detection data.

[0013] In some embodiments, the detection data includes at least one of the following:

[0014] The passive cleaning device includes a chassis and an operating rod rotatably disposed on the chassis, the detection component includes an angle detection sensor, and the detection data includes a pitch angle between the operating rod of the passive cleaning device and the chassis collected by the angle detection sensor;

[0015] The detection component includes a distance detection sensor, and the detection data includes the distance between the chassis and a reference object collected by the distance detection sensor;

[0016] The detection component includes a position detection sensor, and the detection data includes the coordinate position of the chassis collected by the position detection sensor.

[0017] In some embodiments, the passive cleaning device includes a chassis, a rotating part is provided on the chassis, the detection component includes a wheel speed meter, and the detection data includes a first rotation stroke of the rotating part in the forward rotation relative to the surface to be cleaned and a second rotation stroke of the rotating part in the reverse rotation collected by the wheel speed meter, and there is a difference between the first rotation stroke and the second rotation stroke; the determining whether the passive cleaning device is performing reciprocating motion in the same cleaning area based on the detection data, and if so, determining that the passive cleaning device is cleaning the stubborn stains includes: when the difference is less than or equal to a preset difference, determining that the passive cleaning device is cleaning the stubborn stains, and the preset difference is less than the size of the cleaning area.

[0018] In some embodiments, when the difference is less than or equal to a preset difference, determining that the passive cleaning device is cleaning the stubborn stains includes: when the difference is less than or equal to the preset difference, and the frequency of the difference being less than or equal to the preset difference is greater than a predetermined frequency, determining that the passive cleaning device is cleaning the stubborn stains.

[0019] In some embodiments, when the difference is less than or equal to a preset difference, determining that the passive cleaning device is cleaning the stubborn stains includes: when the difference is less than or equal to the preset difference, and the duration for which the difference is less than or equal to the preset difference is greater than or equal to a second preset duration, determining that the passive cleaning device is cleaning the stubborn stains.

[0020] In some embodiments, the detection component includes an image acquisition device, and the detection data includes multiple frames of image data collected by the image acquisition device; analyzing whether the passive cleaning device is cleaning stubborn stains on the surface to be cleaned based on the detection data includes: analyzing the dirty area in each frame of the image data; obtaining the rate of change of dirt parameters of the dirty area in the image data of a predetermined number of frames; and when the parameter change rate is less than a preset change rate threshold, determining that the passive cleaning device is cleaning the stubborn stains.

[0021] In some embodiments, the passive cleaning device includes a suction pipe for sucking dirt, the detection component includes a dirt detection sensor and an image acquisition device corresponding to the suction pipe, and the detection data includes a dirt value of the dirt collected by the dirt detection sensor and multiple frames of image data acquired by the image acquisition device; the analysis of whether the passive cleaning device is cleaning the stubborn stains on the surface to be cleaned based on the detection data also includes: analyzing the dirty area in each frame of the image data; obtaining the rate of change of the dirt parameters of the dirty area in the image data of a predetermined number of frames; and determining that the passive cleaning device is cleaning the stubborn stains when the dirt value of the dirt is less than a preset dirt value threshold and the parameter change rate is less than a preset change rate threshold.

[0022] In some embodiments, the passive cleaning device includes a suction pipe for sucking dirt, the detection component includes a dirt detection sensor and an image acquisition device corresponding to the suction pipe, the detection data includes the dirt value of the dirt collected by the dirt detection sensor and multiple frames of image data acquired by the image acquisition device; the analysis of whether the passive cleaning device is cleaning the stubborn stains on the surface to be cleaned based on the detection data also includes: analyzing the dirty area in each frame of the image data; obtaining the rate of change of dirt parameters of the dirty area in the image data of a predetermined number of frames; and determining that the passive cleaning device is cleaning the stubborn stains when the dirt value of the dirt is less than a preset dirt value threshold, and the duration of the dirt value of the dirt being less than the preset dirt value threshold is greater than a first predetermined duration, and the parameter change rate is less than a preset change rate threshold.

[0023] In some embodiments, the passive cleaning device includes a chassis; analyzing whether the passive cleaning device is cleaning stubborn stains on the surface to be cleaned based on the detection data includes: determining whether the position of the chassis relative to the surface to be cleaned remains unchanged based on the detection data; and determining that the passive cleaning device is cleaning the stubborn stains when the duration for which the position of the chassis relative to the surface to be cleaned remains unchanged is greater than a second predetermined time length.

[0024] In some embodiments, the detection data includes at least one of the following:

[0025] The detection component includes a position detection sensor, and the detection data includes position information of the chassis relative to the surface to be cleaned collected by the position detection sensor;

[0026] The detection component includes a distance detection sensor, and the detection data includes the distance between the chassis and a reference object collected by the distance detection sensor.

[0027] In some embodiments, the passive cleaning device includes a chassis, and at least some components of the passive cleaning device include at least one of a cleaning component, a dirt suction component, and a water supply component; adjusting the working state of at least some components of the passive cleaning device includes: increasing the rotation speed of the cleaning component.

[0028] In some embodiments, the passive cleaning device includes a chassis, and at least some components of the passive cleaning device include at least one of a cleaning component, a sewage suction component, and a water supply component; adjusting the working state of at least some components of the passive cleaning device includes: increasing the power of the sewage suction component.

[0029] In some embodiments, the passive cleaning device includes a chassis, and at least some components of the passive cleaning device include at least one of a cleaning component, a dirt suction component, and a water supply component; adjusting the working state of at least some components of the passive cleaning device includes: increasing the water supply of the water supply component to the cleaning element and / or the surface to be cleaned.

[0030] In some embodiments, the passive cleaning device includes a chassis, and at least some components of the passive cleaning device include at least one of a cleaning component, a dirt suction component, and a water supply component; adjusting the working state of at least some components of the passive cleaning device includes: reducing the traction force of the cleaning component.

[0031] In some embodiments, the passive cleaning device includes a chassis, and at least some components of the passive cleaning device include at least one of a cleaning component, a dirt suction component, and a water supply component; the adjusting of the working state of at least some components of the passive cleaning device includes: the water supply component adds detergent to the cleaning element and / or the surface to be cleaned.

[0032] In some embodiments, the passive cleaning device includes a chassis, and at least some components of the passive cleaning device include at least one of a cleaning component, a dirt suction component, and a water supply component; adjusting the working state of at least some components of the passive cleaning device includes: increasing the temperature of water supplied by the water supply component.

[0033] In some embodiments, the passive cleaning device includes a chassis, and at least some components of the passive cleaning device include at least one of a cleaning component, a dirt suction component, and a water supply component; adjusting the working state of at least some components of the passive cleaning device includes: increasing the pressure of the cleaning component on the surface to be cleaned.

[0034] The passive cleaning device of the present application includes a chassis, an operating lever, a detection assembly, and one or more processors mounted on the chassis or the operating lever. The operating lever is rotatably connected to the chassis. The detection assembly is disposed on the chassis and / or the operating lever. The one or more processors are configured to execute the cleaning control method described in any of the above embodiments.

[0035] The computer storage medium of the embodiment of the present application stores computer-executable instructions. When the computer-executable instructions are executed by one or more processors, the cleaning control method described in any of the above embodiments is implemented.

[0036] In the cleaning control method, passive cleaning device, and computer storage medium of the passive cleaning device of the embodiment of the present application, the passive cleaning device can analyze whether the passive cleaning device is cleaning stubborn stains on the surface to be cleaned based on the detection data collected by the detection component. When the passive cleaning device is cleaning stubborn stains, that is, when the passive cleaning device recognizes that it is being manipulated by the user to clean stubborn stains, the passive cleaning device adjusts the working state of at least some components of the passive cleaning device, thereby eliminating the need for the user to manually adjust the working state of some components of the passive cleaning device. The operation is simple, the user's operation steps are reduced, and the intelligent attributes of the passive cleaning device are improved. The detection data can be data related to the motion position and / or motion posture of the user controlling the movement of the passive cleaning device, or it can be data related to changes in the stains on the surface to be cleaned.

[0037] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0039] FIG1 is a flow chart of a cleaning control method for a passive cleaning device according to some embodiments of the present application;

[0040] FIG2 is a schematic structural diagram of a passive cleaning device according to some embodiments of the present application from various perspectives;

[0041] FIG3 is a flow chart of a cleaning control method for a passive cleaning device according to some embodiments of the present application;

[0042] FIG4 is a flow chart of a cleaning control method for a passive cleaning device according to some embodiments of the present application;

[0043] FIG5 is a flow chart of a cleaning control method for a passive cleaning device according to some embodiments of the present application;

[0044] FIG6 is a schematic diagram showing the principle of pitch angle changes of a passive cleaning device in some embodiments of the present application during push-pull operations;

[0045] FIG7 is a schematic diagram showing the principle of the change in the distance between the chassis and the reference object when the passive cleaning device according to some embodiments of the present application is in a push-pull operation;

[0046] FIG8 is a schematic diagram showing the principle of the change in the distance between the chassis and the reference object when the passive cleaning device according to other embodiments of the present application is in a push-pull operation;

[0047] FIG9 is a flow chart of a cleaning control method for a passive cleaning device according to some embodiments of the present application;

[0048] FIG10 is a flow chart of a cleaning control method for a passive cleaning device according to some embodiments of the present application;

[0049] FIG11 is a schematic structural diagram of a passive cleaning device according to some embodiments of the present application;

[0050] 12 to 18 are flow charts of cleaning control methods for passive cleaning equipment according to some embodiments of the present application;

[0051] FIG19 is a schematic diagram showing the connection between a computer storage medium and a processor in some embodiments of the present application.

[0052] Explanation of the main component symbols: Passive cleaning device 100; surface to be cleaned 200; computer storage medium 300, computer executable instructions 302; chassis 10; operating lever 20, main body 21, extension rod 23; detection component 30; processor 40; cleaning component 50, cleaning member 51, rotating member 53; dirt suction component 60; dirt tank 70; water supply component 80; handle 90. DETAILED DESCRIPTION

[0053] The following further describes the embodiments of the present application in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions. Furthermore, the embodiments of the present application described below in conjunction with the accompanying drawings are exemplary and are intended only to explain the embodiments of the present application and are not to be construed as limiting the present application.

[0054] To address the problems in the prior art and improve the intelligence of passive cleaning devices, the present application provides a cleaning control method for a passive cleaning device (shown in FIG1 ), a passive cleaning device 100 (shown in FIG2 ), and a computer storage medium 300 (shown in FIG19 ). Referring to FIG1 , the cleaning control method for a passive cleaning device according to an embodiment of the present application includes:

[0055] 01: Acquire detection data collected by the detection component 30 in the passive cleaning device 100;

[0056] 03: Analyzing whether the passive cleaning device 100 is cleaning stubborn stains on the surface to be cleaned based on the detection data; and

[0057] 05: When the passive cleaning device 100 is cleaning stubborn stains, adjust the working state of at least some components of the passive cleaning device 100.

[0058] Stubborn stains are those that require a stronger cleaning force than floating dust. In other words, they cannot be cleaned with conventional cleaning methods. These include, but are not limited to, solid stains from being stepped on, such as rice grains, and liquid stains that have dried up after spilling something, such as soy sauce. These stains are much more difficult to remove than floating dust.

[0059] Referring to FIG2 , the cleaning control method for a passive cleaning device can be applied to a passive cleaning device 100. As shown in FIG2 , the passive cleaning device 100 is in the process of being operated by a user for cleaning. FIG2 (a) is a side view of the passive cleaning device 100, and FIG2 (b) is a front view of the passive cleaning device 100. The passive cleaning device 100 includes a chassis 10, an operating lever 20, a detection assembly 30, and one or more processors 40 mounted on the chassis 10 and / or the operating lever 20. The operating lever 20 is rotatably connected to the chassis 10. The detection assembly 30 is disposed on the chassis 10 and / or the operating lever 20.

[0060] In some embodiments, taking the passive cleaning device 100 as a floor scrubber, the passive cleaning device 100 may further include a cleaning assembly 50, a dirt suction assembly 60, a dirt tank 70, and a water supply assembly 80 for cleaning the surface to be cleaned 200. The cleaning assembly 50 is disposed on the chassis 10 and may include a cleaning member 51. The cleaning member 51 is capable of rotating relative to the chassis 10 to clean dirt. That is, when the chassis 10 is supported on the surface to be cleaned 200, the cleaning member 51 is capable of rotating relative to the chassis 10 to clean dirt from the surface to be cleaned 200. In some passive cleaning devices 100, the rotation of the cleaning member 51 can generate a traction force on the passive cleaning device 100. In some passive cleaning devices 100, this traction force can pull the passive cleaning device 100 relative to the surface to be cleaned 200. The dirt suction assembly 60 can be mounted on the operating rod 20. It can provide power to collect dirt removed by the cleaning element 51, thereby collecting dirt from the surface to be cleaned 200 into the dirt tank 70. The water supply assembly 80 can be mounted on the operating rod 20, or on the chassis 10, or partially mounted on the operating rod 20 and partially on the chassis 10. The water supply assembly 80 can supply water to the cleaning element 51 and / or the surface to be cleaned 200, enabling the cleaning element 51 to mop the surface to be cleaned 200. In some embodiments, the surface to be cleaned 200 can be the floor of a building. In other embodiments, the surface to be cleaned 200 can also be other surfaces to be cleaned, such as a wall or a bed. In some embodiments, the cleaning element 51 can be a roller brush. The at least some components of the passive cleaning device 100 that adjust the operating state of at least some components can be at least some components that can enhance the cleaning ability of the passive cleaning device 100 or reduce the forward traction force of the passive cleaning device 100. That is, when the processor 40 adjusts the operating state of at least some of the components of the passive cleaning device 100, the passive cleaning device 100 improves its cleaning effect on the surface 200 to be cleaned, thereby facilitating the passive cleaning device 100 to clean stubborn stains, or the traction force of the cleaning member 51 on the passive cleaning device 100 can be reduced in some manner. Specifically, at least some of the components include, but are not limited to, the cleaning assembly 50, the dirt suction assembly 60, and the water supply assembly 80. It should be noted that, in some embodiments, the installation positions of the various components of the passive cleaning device 100 shown in FIG. 2 are merely exemplary. In other embodiments, the installation positions of the various components of the passive cleaning device 100 may also be other forms.

[0061] The operating rod 20 may include a main body 21, and the main body 21 may be a shell, which may be approximately a cylindrical structure, such as a cylindrical structure and a triangular prism structure. The main body 21 may include a first end and a second end arranged relatively to each other. The first end is rotatably connected to the chassis 10, and when the operating rod 20 is vertical or approximately vertical to the surface 200 to be cleaned, the second end of the main body 21 is an end away from the surface 200 to be cleaned. The rotation of the operating rod 20 relative to the chassis 10 includes rotation around the Pitch axis shown in Figure 2 (a). From the perspective of a user using the passive cleaning device 100 for cleaning, when the operating rod 20 rotates around the Pitch axis, it is manifested as the user pushing or pulling the operating rod 20 forward or backward.

[0062] In addition, if a Cartesian coordinate system is established, the positive direction of the Z axis is the forward direction of the passive cleaning device 100, and the negative direction of the Z axis is the backward direction of the passive cleaning device 100; the positive direction of the Y axis is the left direction when the user performs the cleaning operation, and the negative direction of the Y axis is the right direction when the user performs the cleaning operation; when the Z axis is perpendicular to the upper surface of the chassis 10 (the side of the chassis 10 opposite to the surface to be cleaned 200), the YZ plane can be parallel to the upper surface of the chassis 10; the X axis is perpendicular to the YZ plane, with the direction upward and away from the upper surface of the chassis 10 as the positive direction and the direction downward and away from the upper surface of the chassis 10 as the negative direction. Among them, the angle between the long axis of the operating lever 20 and the direction opposite to the Z axis is defined as the pitch angle P between the operating lever 20 and the chassis 10; when the user pushes the operating lever 20 forward, the pitch angle P decreases, and when the operating lever is pulled backward, the pitch angle P increases.

[0063] Furthermore, in order to adjust the length of the operating rod 20 to meet the needs of different users, the operating rod 20 may further include an extension rod 23, which is mounted on the second end of the main body 21. Furthermore, in order to facilitate the user to operate the passive cleaning device 100 when cleaning the surface 200 to be cleaned, the operating rod 20 may further include a handle 90, which can be mounted on the second end of the main body 21 via the extension rod 23.

[0064] The detection component 30 is a component used to detect whether the passive cleaning device 100 is cleaning stubborn stains. For example, the data detected by the detection component 30 can be data related to the position or movement of the user operating the passive cleaning device 100, or data related to the soiling condition of the stain. The data detected by the detection component 30 is collectively referred to as "detection data" below. The detection component 30 may include an angle detection sensor, a distance detection sensor, a position detection sensor, an image acquisition device, a soiling detection sensor, or a timer, etc.

[0065] The angle detection sensor may be mounted on the chassis 10 and / or the operating lever 20 and configured to detect a pitch angle P between the operating lever 20 and the chassis 10 . In this case, the “detection data” may include the pitch angle P. For example, if the angle detection sensor may be a Hall sensor including a magnet and a Hall element, one of the magnet and the Hall element may be mounted on the chassis 10 , and the other may be mounted on the operating lever 20 .

[0066] The distance detection sensor can be installed on the chassis 10 and / or the operating lever 20, and is used to detect the distance between the chassis 10 and a reference object. In this case, the "detection data" may include distance data; the reference object may be an immovable object in the room, such as a wall; wherein the distance detection sensor includes but is not limited to a laser distance sensor, an ultrasonic distance sensor or an infrared distance sensor.

[0067] The position detection sensor can be installed on the chassis 10 and used to locate the coordinate position of the chassis 10 on the surface to be cleaned 200. At this time, the "detection data" may include coordinate data. For example, a coordinate system can be established in the user's home, and different positions correspond to different coordinate positions.

[0068] The image acquisition device is used to acquire multiple frames of images. In this case, the "detection data" may include multiple frames of image data, and the dirty areas of the image data can be identified.

[0069] The dirt detection sensor is used to detect the dirtiness of dirt in the suction pipe or the dirtiness of the ground. In this case, the “detection data” may include the dirtiness of the dirt.

[0070] The processor 40 is a component on the passive cleaning device 100 that is used to analyze / process data and issue instructions to the actuator (such as the cleaning member 51, the water supply component 80) or the control actuator. The processor 40 can be one or more. The processor 40 can be installed on the chassis 10 and / or the operating rod 20 and be connected to the detection component 30 for communication (wired connection or radio connection). The processor 40 obtains the detection data detected by the detection component 30, analyzes and processes these detection data to obtain analysis and processing results, and further issues execution instructions to the actuator or controls the actuator based on the analysis and processing results. The actuator will then perform relevant operations according to the execution instructions or according to the control execution. Please refer to Figures 1 and 2 together. In the embodiment of the present application, one or more processors 40 can execute the methods in 01, 03 and 05, that is, obtain the detection data collected by the detection component 30 in the passive cleaning device 100; analyze whether the passive cleaning device 100 is cleaning stubborn stains on the surface to be cleaned 200 based on the detection data; and adjust the working state of at least some components in the passive cleaning device 100 when the passive cleaning device 100 is cleaning stubborn stains.

[0071] In the cleaning control method for a passive cleaning device according to an embodiment of the present application, the passive cleaning device 100 can analyze whether the passive cleaning device 100 is cleaning stubborn stains on the surface to be cleaned 200 based on the detection data collected by the detection component 30. When the passive cleaning device 100 is cleaning stubborn stains, that is, when the passive cleaning device 100 recognizes that it is being manipulated by a user to clean stubborn stains on the surface to be cleaned 200, the passive cleaning device 100 adjusts the operating state of at least some components of the passive cleaning device 100, thereby eliminating the need for the user to manually adjust the operating state of some components of the passive cleaning device 100. This allows the operating state of the passive cleaning device 100 to make the cleaning process easier and simpler to operate, reduces the number of user operation steps, improves the user experience, and also enhances the intelligent attributes of the passive cleaning device 100. The detection data here can be data related to the motion position and / or motion posture of the passive cleaning device 100 controlled by the user; it can also be data related to changes in stains on the surface to be cleaned 200, or it can be a dirt value in the suction pipe, etc.

[0072] Referring to FIG. 3 , in some embodiments, 03: analyzing whether the passive cleaning device 100 is cleaning stubborn stains on the surface to be cleaned based on the detection data includes:

[0073] 031: Determine whether the passive cleaning device 100 is performing reciprocating motion in the same cleaning area based on the detection data. If so, determine that the passive cleaning device 100 is cleaning stubborn stains.

[0074] 2 , one or more processors 40 can execute the method in 031 , that is, one or more processors 40 are used to determine whether the passive cleaning device 100 is reciprocating in the same cleaning area based on the detection data, and if so, determine that the passive cleaning device 100 is cleaning stubborn stains.

[0075] Specifically, when stubborn stains are present on the surface to be cleaned 200, the user controls the passive cleaning device 100 to perform reciprocating cleaning of the stubborn stains, causing the position of the chassis 10 of the passive cleaning device 100 to change back and forth within the same area. When the user controls the passive cleaning device 100 to clean the surface to be cleaned 200, the user can use the operating lever 20 to perform a "push and pull" operation on the chassis 10. The "push and pull" operation includes two actions: "push forward" and "pull backward," thereby causing the position of the chassis 10 relative to the surface to be cleaned 200 to continuously change. If the user reciprocates by “pushing forward” and “pulling back” the chassis 10 through the operating lever 20, the chassis 10 can reciprocate relative to the surface to be cleaned 200, and when the chassis 10 reciprocates relative to the surface to be cleaned 200 within the same cleaning area, the processor 40 can determine that the passive cleaning device 100 is cleaning stubborn stains on the surface to be cleaned 200. At this time, the processor 40 can adjust the working state of the components of the passive cleaning device 100 that can improve the cleaning ability of the passive cleaning device 100, so that the passive cleaning device 100 can quickly clean stubborn stains and ensure the cleaning effect; the processor 40 can also adjust the working state of the components of the passive cleaning device 100 so as to reduce the traction of the cleaning member 51 on the ground, and can also save the user trouble and effort, and improve the intelligence of the passive cleaning device 100.

[0076] Referring to FIG. 4 , in some embodiments, 031 : determining, based on the detection data, whether the passive cleaning device 100 is performing reciprocating motion within the same cleaning area, and if so, determining that the passive cleaning device 100 is cleaning stubborn stains, includes:

[0077] 0311: When the detection data changes back and forth within the range of [Xa, X+b], it is determined that the passive cleaning device 100 is cleaning stubborn stains; wherein X is the base value of the detection data, a is the downward floating amount of the detection data, and b is the upward floating amount of the detection data.

[0078] Please refer to Figure 2. One or more processors 40 can execute the method in 0311, that is, one or more processors 40 are used to determine whether the passive cleaning device 100 is cleaning stubborn stains when the detection data changes back and forth within the range of [Xa, X+b]; wherein X is the base value of the detection data, a is the downward floating amount of the detection data, and b is the upward floating amount of the detection data.

[0079] Specifically, when the user reciprocates by "pushing forward" and "pulling back" the chassis 10 in the same area via the operating lever 20, the detection data collected by the detection component 30 also continuously changes back and forth. The detection data includes, but is not limited to, the pitch angle P between the operating lever 20 and the chassis 10, the distance of the chassis 10 relative to a reference object, and the coordinate position of the chassis 10 in a space such as a room. If it is recognized that the detection data can change back and forth within a certain range, it indicates that the passive cleaning device 100 is reciprocating relative to the cleaning surface 200 in the same cleaning area. Therefore, the processor 40 can determine that the passive cleaning device 100 is cleaning stubborn stains. In this case, the processor 40 can adjust the operating state of at least some components of the passive cleaning device 100.

[0080] Wherein, a and b may be the same or different. Both a and b are preset data. The preset data may be an empirical value or a statistical value determined by the processor 40 after analyzing the user's usage habits (reflected by historical control data), and is a known value. Typically, the preset data is a value that can reflect the magnitude of the reciprocating motion of the passive cleaning device 100.

[0081] When the detection data fluctuates back and forth within the range of [Xa, X+b], it indicates that the user is continuously focusing on cleaning a certain area to be cleaned. Therefore, the processor 40 can determine that the passive cleaning device 100 is cleaning stubborn stains and adjust the operating state of at least some components of the passive cleaning device 100. Therefore, compared with manually adjusting the operating state of components in the passive cleaning device 100, the passive cleaning device 100 in this application is more intelligent, thereby improving the user experience.

[0082] Referring to Figure 5 , in some embodiments, when detection assembly 30 includes an angle detection sensor, the detection data includes the pitch angle P between the operating lever 20 and chassis 10 of the passive cleaning device 100, as captured by the angle detection sensor. In this case, 0311: If the detection data fluctuates within the range [Xa, X+b], determining that the passive cleaning device 100 is cleaning stubborn stains; where X is the base value of the detection data, a is the downward displacement of the detection data, and b is the upward displacement of the detection data, includes:

[0083] 03111: When the pitch angle P of the operating rod 20 changes back and forth within the range of [P-m1, P+m2], it is determined that the passive cleaning device 100 is cleaning stubborn stains.

[0084] Please refer to Figure 2. One or more processors 40 can execute the method in 03111, that is, one or more processors 40 are used to determine whether the passive cleaning device 100 is cleaning stubborn stains when the pitch angle P of the operating rod 20 changes back and forth within the range of [P-m1, P+m2].

[0085] 6 , in some embodiments, P may be the initial pitch angle P between the operating lever 20 and the chassis 10 , that is, the pitch angle P between the operating lever 20 and the chassis 10 before the pitch angle P between the operating lever 20 and the chassis 10 changes back and forth. Please refer to Figure 6 (a). When the user performs a "push forward" operation on the chassis 10 through the operating lever 20, the pitch angle P between the operating lever 20 and the chassis 10 decreases. When the user "pushes forward" the chassis 10 to the extreme position through the operating lever 20, the pitch angle P between the operating lever 20 and the chassis 10 becomes P-m1. In other words, m1 can be the downward floating amount of the pitch angle P; Please refer to Figure 6 (b). When the user performs a "pull back" operation on the chassis 10 through the operating lever 20, the pitch angle P between the operating lever 20 and the chassis 10 increases. When the user "pulls back" the chassis 10 to the extreme position through the operating lever 20, the pitch angle P between the operating lever 20 and the chassis 10 becomes P+m2. In other words, m2 can be the upward floating amount of the pitch angle P. If the user operates the operating lever 20 to push the chassis 10 forward and pull it back and forth, the pitch angle P of the operating lever 20 can be changed back and forth within the range of [P-m1, P+m2].

[0086] Among them, m1 and m2 can be the same or different. Both m1 and m2 are preset angles. The preset angle can be an empirical value, or it can be a statistical value after the processor 40 analyzes the user's usage habits (reflected by historical control data), and it is a known value. For example, the value range of the preset angle can be [10°, 50°]. If m1 and m2 are the same and both are 20°, then if the pitch angle P of the operating rod 20 changes back and forth within the range of [P-20°, P+20°], it indicates that the passive cleaning device 100 is cleaning stubborn stains.

[0087] Referring to Figure 5 , in other embodiments, when the detection component 30 includes a distance detection sensor, the detection data includes the distance of the chassis 10 relative to a reference object, as collected by the distance detection sensor. In this case, 0311: When the detection data fluctuates within the range [Xa, X+b], determining that the passive cleaning device 100 is cleaning stubborn stains; where X is the base value of the detection data, a is the downward displacement of the detection data, and b is the upward displacement of the detection data, includes:

[0088] 03113: When the distance between the chassis 10 and the reference object changes back and forth within the range of [S-s1, S+s2], it is determined that the passive cleaning device 100 is cleaning stubborn stains.

[0089] Please refer to Figure 2. One or more processors 40 can execute the method in 03113, that is, one or more processors 40 are used to determine whether the passive cleaning device 100 is cleaning stubborn stains when the distance between the chassis 10 and the reference object changes back and forth within the range of [S-s1, S+s2].

[0090] With reference to FIG7 , in some embodiments, S may be the initial distance between the chassis 10 and the reference object, that is, the distance between the chassis 10 and the reference object before the distance between the chassis 10 and the reference object changes back and forth. The reference object may be a forward position on the forward path of the passive cleaning device 100, such as a wall in front. When the user pushes the chassis 10 forward using the operating lever 20, the distance between the chassis 10 and the reference object decreases. When the user pushes the chassis 10 forward to the limit position using the operating lever 20, the distance between the chassis 10 and the reference object becomes S-s1. In other words, s1 may be the amount of downward movement of the distance. When the user pulls the chassis 10 back using the operating lever 20, the distance between the chassis 10 and the reference object increases. When the user pulls the chassis 10 back to the limit position using the operating lever 20, the distance between the chassis 10 and the reference object becomes S+s2. In other words, s2 may be the amount of upward movement of the distance. If the user reciprocally pushes the chassis 10 forward and pulls it backward using the operating lever 20 , the distance between the chassis 10 and the reference object can be reciprocated within the range of [S−s1, S+s2].

[0091] 8 , in other embodiments, S may be the initial distance between the chassis 10 and the reference object, that is, the distance between the chassis 10 and the reference object before the distance between the chassis 10 and the reference object changes back and forth. The reference object is located behind the passive cleaning device 100 on its forward path, such as a wall behind it. When the user pushes the chassis 10 forward using the operating lever 20, the distance between the chassis 10 and the reference object increases. When the user pushes the chassis 10 forward to its limit position using the operating lever 20, the distance between the chassis 10 and the reference object becomes S+s2. In other words, s2 may be the amount of increase in the distance. When the user pulls the chassis 10 back using the operating lever 20, the distance between the chassis 10 and the reference object decreases. When the user pulls the chassis 10 back to its limit position using the operating lever 20, the distance between the chassis 10 and the reference object becomes S-s1. In other words, s1 may be the amount of decrease in the distance. If the user reciprocally pushes the chassis 10 forward and pulls it backward using the operating lever 20 , the distance between the chassis 10 and the reference object can be reciprocated within the range of [S−s1, S+s2].

[0092] It should be noted that, in some embodiments, the reference object may be a wall in a building or an object fixedly placed on the surface to be cleaned 200 (such as a sofa, a table, or a refrigerator, etc.).

[0093] Wherein, s1 and s2 may be the same or different. Both s1 and s2 are preset distances. The preset distance may be an empirical value or a statistical value obtained by the processor 40 after analyzing the user's usage habits (reflected by historical control data), and is a known value.

[0094] Referring to Figure 5 , in yet other embodiments, the detection component 30 includes a position detection sensor, and the detection data includes the coordinate position of the chassis 10 collected by the position detection sensor. In this case, 0311: When the detection data fluctuates within the range [Xa, X+b], determining that the passive cleaning device 100 is cleaning stubborn stains; where X is the base value of the detection data, a is the downward displacement of the detection data, and b is the upward displacement of the detection data, includes:

[0095] 03115: When the coordinate position of the chassis 10 changes back and forth within the range of [A-a1, A+a2], it is determined that the passive cleaning device 100 is cleaning stubborn stains.

[0096] Please refer to Figure 2. One or more processors 40 can execute the method in 03115, that is, one or more processors 40 are used to determine whether the passive cleaning device 100 is cleaning stubborn stains when the coordinate position of the chassis 10 changes back and forth within the range of [A-a1, A+a2].

[0097] In some embodiments, A may be the initial coordinate position of the chassis 10, that is, the coordinate position of the chassis 10 before the coordinate position of the chassis 10 is reciprocated. When the user performs a "push forward" operation on the chassis 10 using the operating lever 20, the coordinate position of the chassis 10 changes. When the user pushes the chassis 10 "forward" to the limit position using the operating lever 20, the coordinate position of the chassis 10 changes. When the user pulls the chassis 10 "backward" to the limit position using the operating lever 20, the coordinate position of the chassis 10 changes. When the user pulls the chassis 10 "backward" to the limit position using the operating lever 20, the coordinate position of the chassis 10 changes. When the user pulls the chassis 10 "backward" to the limit position using the operating lever 20, the coordinate position of the chassis 10 changes. If the user repeatedly performs the "push forward" and "pull back" operations on the chassis 10 using the operating lever 20, the coordinate position of the chassis 10 can reciprocate within the range of [A-a1, A+a2].

[0098] Wherein, a1 and a2 may be the same or different. a1 and a2 are both preset coordinate change values. The preset coordinate change value may be an empirical value or a statistical value obtained by the processor 40 analyzing the user's usage habits (reflected by historical control data), and is a known value.

[0099] Referring to FIG. 9 , in some embodiments, 031 : determining, based on the detection data, whether the passive cleaning device 100 is performing reciprocating motion within the same cleaning area, and if so, determining that the passive cleaning device 100 is cleaning stubborn stains, includes:

[0100] 0313: When the detection data changes back and forth within the range of [Xa, X+b] and the frequency of the reciprocating change of the detection data is greater than or equal to the preset frequency, it is determined that the passive cleaning device 100 is cleaning stubborn stains; wherein X is the base value of the detection data, a is the downward floating amount of the detection data, and b is the upward floating amount of the detection data.

[0101] Please refer to Figure 2. One or more processors 40 can execute the method in 0313, that is, one or more processors 40 are used to determine that the passive cleaning device 100 is cleaning stubborn stains when the detection data changes back and forth within the range of [Xa, X+b] and the frequency of the reciprocating change of the detection data is greater than or equal to the preset frequency; wherein X is the base value of the detection data, a is the downward floating amount of the detection data, and b is the upward floating amount of the detection data.

[0102] Wherein, a and b may be the same or different. Both a and b are preset data. The preset data may be an empirical value or a statistical value determined by the processor 40 after analyzing the user's usage habits (reflected by historical control data), and is a known value. Typically, the preset data is a value that can reflect the magnitude of the reciprocating motion of the passive cleaning device 100.

[0103] During normal cleaning of the same surface 200 by the passive cleaning device 100, the user may occasionally cause the detection data to fluctuate within the range of [Xa, X+b]. For example, the user may cause the pitch angle P of the operating lever 20 to fluctuate within the range of [P-m1, P+m2]. In this case, the processor 40 will also determine that the passive cleaning device 100 is cleaning stubborn stains, thereby adjusting the operating state of at least some components of the passive cleaning device 100. However, the user is not cleaning stubborn stains at this time. If the judgment is made based solely on the above conditions, it is easy to cause misjudgment, resulting in poor intelligence of the passive cleaning device 100. However, generally, when the user operates the passive cleaning device 100 to clean stubborn stains, the user's operating state becomes more urgent, and therefore the detection data fluctuates more frequently within the range of [Xa, X+b]. Therefore, compared with the processor 40 only analyzing whether the detection data changes back and forth within the range of [Xa, X+b] to determine whether the passive cleaning device 100 is cleaning stubborn stains, the processor 40 simultaneously analyzes whether the detection data changes back and forth within the range of [Xa, X+b], and whether the frequency of the reciprocating change of the detection data is greater than or equal to the preset frequency to determine whether the passive cleaning device 100 is cleaning stubborn stains. This can improve the accuracy of the analysis results of the processor 40, prevent the processor 40 from making misjudgments that affect the normal use of the user, and enhance the intelligence of the passive cleaning device 100.

[0104] The preset frequency may be a critical frequency for determining whether the passive cleaning device 100 is cleaning stubborn stains. The preset frequency may be known data, and may be an empirical value obtained before the passive cleaning device 100 leaves the factory, a set value input during manual use of the passive cleaning device 100 after leaving the factory, or an empirical value obtained by the processor 40 processing historical data after the passive cleaning device 100 leaves the factory.

[0105] In some embodiments, 031: determining, based on the detection data, whether the passive cleaning device 100 is performing reciprocating motion within the same cleaning area, and if so, determining that the passive cleaning device 100 is cleaning stubborn stains, includes:

[0106] 0315: When the detection data changes back and forth within the range of [Xa, X+b], and the duration of the reciprocating change of the detection data is greater than or equal to a first preset duration, it is determined that the passive cleaning device is cleaning stubborn stains; wherein X is the base value of the detection data, a is the downward floating amount of the detection data, and b is the upward floating amount of the detection data.

[0107] One or more processors 40 are capable of executing the method in 0315, that is, one or more processors 40 are used to determine that the passive cleaning device is cleaning stubborn stains when the detection data changes back and forth within the range of [Xa, X+b] and the duration of the reciprocating change of the detection data is greater than or equal to a first preset duration; wherein X is the base value of the detection data, a is the downward floating amount of the detection data, and b is the upward floating amount of the detection data.

[0108] During normal cleaning of the same surface 200 by the passive cleaning device 100, the user may occasionally cause the detection data to fluctuate within the range of [Xa, X+b]. For example, the user may cause the pitch angle P of the operating lever 20 to fluctuate within the range of [P-m1, P+m2]. In this case, the processor 40 will also determine that the passive cleaning device 100 is cleaning stubborn stains, thereby adjusting the operating state of at least some components of the passive cleaning device 100. However, the user is not cleaning stubborn stains at this time. If the judgment is made based solely on the above conditions, it is easy to cause misjudgment, resulting in poor intelligence of the passive cleaning device 100. However, generally, when the user operates the passive cleaning device 100 to clean stubborn stains, if the stubborn stains are not completely cleaned, the user's cleaning operation may take a long time, and therefore the detection data will fluctuate within the range of [Xa, X+b] for a long time. Therefore, compared with the processor 40 only analyzing whether the detection data changes back and forth within the range of [Xa, X+b] to determine whether the passive cleaning device 100 is cleaning the stubborn stains on the surface to be cleaned 200, the processor 40 simultaneously analyzes whether the detection data changes back and forth within the range of [Xa, X+b], and whether the duration of the reciprocating change of the detection data is greater than or equal to the first preset duration to determine whether the passive cleaning device 100 is cleaning the stubborn stains on the surface to be cleaned 200. This can improve the accuracy of the analysis results of the processor 40, prevent the processor 40 from making misjudgments, and enhance the intelligence of the passive cleaning device 100.

[0109] The first preset time duration may be a critical time duration for determining whether the passive cleaning device 100 is cleaning stubborn stains on the surface to be cleaned 200. The first preset time duration may be known data, and may be an empirical value obtained before the passive cleaning device 100 leaves the factory, a set value inputted during manual use of the passive cleaning device 100 after leaving the factory, or a statistical value obtained by processing historical data by the processor 40 after the passive cleaning device 100 leaves the factory.

[0110] In some embodiments, the processor 40 can also simultaneously analyze whether the detection data changes back and forth within the range of [Xa, X+b], whether the frequency of the reciprocating change of the detection data is greater than or equal to the preset frequency, and whether the duration of the reciprocating change of the detection data is greater than or equal to the first preset duration, so as to determine whether the passive cleaning device 100 is cleaning stubborn stains, thereby further improving the accuracy of the analysis results of the processor 40, preventing the processor 40 from making misjudgments, and enhancing the intelligence of the passive cleaning device 100.

[0111] Specifically, referring to FIG. 10 , in some embodiments, when the detection assembly 30 includes an angle detection sensor, the detection data includes the pitch angle P between the operating lever 20 and the chassis 10 of the passive cleaning device 100, as collected by the angle detection sensor. In this case, 0313: When the detection data fluctuates back and forth within the range [Xa, X+b], and the frequency of the reciprocating fluctuations of the detection data is greater than or equal to a preset frequency, determining that the passive cleaning device 100 is cleaning stubborn stains includes:

[0112] 03131: When the pitch angle P of the operating rod 20 changes back and forth within the range of [P-m1, P+m2], and the frequency of the reciprocating change of the pitch angle P of the operating rod 20 within the range of [P-m1, P+m2] is greater than or equal to the preset frequency, it is determined that the passive cleaning device 100 is cleaning stubborn stains.

[0113] Please refer to Figure 2, one or more processors 40 are capable of executing the method in 03131, that is, when the pitch angle P of the operating rod 20 changes back and forth within the range of [P-m1, P+m2], and the frequency of the reciprocating change of the pitch angle P of the operating rod 20 within the range of [P-m1, P+m2] is greater than or equal to the preset frequency, it is determined that the passive cleaning device 100 is cleaning stubborn stains.

[0114] 6 , in some embodiments, P may be the initial pitch angle P between the operating lever 20 and the chassis 10 , that is, the pitch angle P between the operating lever 20 and the chassis 10 before the pitch angle P between the operating lever 20 and the chassis 10 changes back and forth. Please refer to Figure 6 (a). When the user performs a "push forward" operation on the chassis 10 through the operating lever 20, the pitch angle P between the operating lever 20 and the chassis 10 decreases. When the user "pushes forward" the chassis 10 to the extreme position through the operating lever 20, the pitch angle P between the operating lever 20 and the chassis 10 becomes P-m1. In other words, m1 can be the downward floating amount of the pitch angle P; Please refer to Figure 6 (b). When the user performs a "pull back" operation on the chassis 10 through the operating lever 20, the pitch angle P between the operating lever 20 and the chassis 10 increases. When the user "pulls back" the chassis 10 to the extreme position through the operating lever 20, the pitch angle P between the operating lever 20 and the chassis 10 becomes P+m2. In other words, m2 can be the upward floating amount of the pitch angle P. If the user reciprocates by "pushing" and "pulling" the chassis 10 forward and backward using the operating lever 20, the pitch angle P of the operating lever 20 can vary within the range of [P-m1, P+m2]. m1 and m2 can be the same or different. Both m1 and m2 are preset angles. The preset angles can be empirically determined or statistically determined by the processor 40 based on analysis of user usage habits (reflected by historical control data).

[0115] When the pitch angle P between the operating rod 20 and the chassis 10 changes back and forth within the range of [P-m1, P+m2], and the frequency of the reciprocating change of the pitch angle P of the operating rod 20 within the range of [P-m1, P+m2] is greater than or equal to the preset frequency, it indicates that the user is focusing on cleaning a certain area to be cleaned, that is, when the pitch angle P between the operating rod 20 and the chassis 10 changes back and forth within the range of [P-m1, P+m2], and the frequency of the reciprocating change of the pitch angle P of the operating rod 20 within the range of [P-m1, P+m2] is greater than or equal to the preset frequency, the processor 40 will determine that the passive cleaning device 100 is cleaning stubborn stains on the surface 200 to be cleaned. At this time, if the user needs to manually adjust the cleaning position of the passive cleaning device 100 for the cleaning surface 200, the operation of the passive cleaning device 100 is relatively complicated and the intelligence is poor. In the present application, the processor 40 will control the passive cleaning device 100 to actively adjust the working state of at least some components in the passive cleaning device 100, so as to achieve cleaning of stubborn stains in a more appropriate state, thereby saving the user trouble and effort, ensuring the cleaning effect, and improving the intelligent attributes of the passive cleaning device 100.

[0116] In addition, compared to the processor 40 only analyzing whether the pitch angle P between the operating rod 20 and the chassis 10 changes back and forth within the range of [P-m1, P+m2] to determine whether the passive cleaning device 100 is cleaning the stubborn stains on the surface to be cleaned 200, the processor 40 simultaneously analyzes whether the pitch angle P between the operating rod 20 and the chassis 10 changes back and forth within the range of [P-m1, P+m2], and whether the frequency of the reciprocating change of the pitch angle P of the operating rod 20 within the range of [P-m1, P+m2] is greater than or equal to the preset frequency, so as to determine whether the passive cleaning device 100 is cleaning the stubborn stains on the surface to be cleaned 200. This can improve the accuracy of the analysis results of the processor 40, prevent the processor 40 from making misjudgments, and enhance the intelligence of the passive cleaning device 100.

[0117] Referring to FIG. 10 , in other embodiments, when the detection component 30 includes a distance detection sensor, the detection data includes the distance of the chassis 10 relative to a reference object, as collected by the distance detection sensor. In this case, 0313: When the detection data fluctuates back and forth within the range [Xa, X+b], and the frequency of the fluctuating detection data is greater than or equal to a preset frequency, determining that the passive cleaning device 100 is cleaning stubborn stains includes:

[0118] 03133: When the distance between the chassis 10 and the reference object changes back and forth within the range of [S-s1, S+s2], and the frequency of the reciprocating change of the distance between the chassis 10 and the reference object within the range of [S-s1, S+s2] is greater than or equal to the preset frequency, it is determined that the passive cleaning device 100 is cleaning stubborn stains.

[0119] Please refer to Figure 2. One or more processors 40 can execute the method in 03133, that is, one or more processors 40 are used to determine that the passive cleaning device 100 is cleaning stubborn stains when the distance between the chassis 10 and the reference object changes back and forth within the range of [S-s1, S+s2], and the frequency of the reciprocating change of the distance between the chassis 10 and the reference object within the range of [S-s1, S+s2] is greater than or equal to a preset frequency.

[0120] With reference to FIG7 , in some embodiments, S may be the initial distance between the chassis 10 and the reference object, that is, the distance between the chassis 10 and the reference object before the distance between the chassis 10 and the reference object changes back and forth. The reference object may be located in front of the passive cleaning device 100 on its forward path. When the user pushes the chassis 10 forward using the operating lever 20, the distance between the chassis 10 and the reference object decreases. When the user pushes the chassis 10 forward to the limit position using the operating lever 20, the distance between the chassis 10 and the reference object becomes S-s1. In other words, s1 may be the amount of downward movement of the distance. When the user pulls the chassis 10 back using the operating lever 20, the distance between the chassis 10 and the reference object increases. When the user pulls the chassis 10 back to the limit position using the operating lever 20, the distance between the chassis 10 and the reference object becomes S+s2. In other words, s2 may be the amount of upward movement of the distance. If the user reciprocally pushes the chassis 10 forward and pulls it backward using the operating lever 20 , the distance between the chassis 10 and the reference object can be reciprocated within the range of [S−s1, S+s2].

[0121] With reference to FIG8 , in other embodiments, S may be the initial distance between the chassis 10 and the reference object, that is, the distance between the chassis 10 and the reference object before the distance between the chassis 10 and the reference object changes back and forth. The reference object may be located behind the passive cleaning device 100 on its forward path. When the user pushes the chassis 10 forward using the operating lever 20, the distance between the chassis 10 and the reference object increases. When the user pushes the chassis 10 forward to its limit position using the operating lever 20, the distance between the chassis 10 and the reference object becomes S+s2. In other words, s2 may be the amount of increase in the distance. When the user pulls the chassis 10 backward using the operating lever 20, the distance between the chassis 10 and the reference object decreases. When the user pulls the chassis 10 backward to its limit position using the operating lever 20, the distance between the chassis 10 and the reference object becomes S-s1. In other words, s1 may be the amount of decrease in the distance. If the user reciprocates by "pushing forward" and "pulling back" the chassis 10 through the operating lever 20, the distance between the chassis 10 and the reference object can change back and forth within the range of [S-s1, S+s2]. It should be noted that, in some embodiments, the reference object may be a wall in a building or an object fixedly placed on the surface 200 to be cleaned (such as a sofa, table, or refrigerator, etc.). Among them, s1 and s2 may be the same or different. Both s1 and s2 are preset distances. The preset distance can be a specified empirical value or a statistical value after the processor 40 analyzes the user's usage habits (reflected by historical control data).

[0122] When the distance between the chassis 10 and the reference object changes back and forth within the range of [S-s1, S+s2], and the frequency of the reciprocating change of the distance between the chassis 10 and the reference object within the range of [S-s1, S+s2] is greater than or equal to the preset frequency, it indicates that the user is focusing on cleaning a certain area to be cleaned, that is, when the distance between the chassis 10 and the reference object changes back and forth within the range of [S-s1, S+s2], and the frequency of the reciprocating change of the distance between the chassis 10 and the reference object within the range of [S-s1, S+s2] is greater than or equal to the preset frequency, the processor 40 will determine that the passive cleaning device 100 is cleaning stubborn stains on the surface 200 to be cleaned. At this time, if the user needs to manually adjust the cleaning gear of the passive cleaning device 100 for the cleaning surface 200, the operation of the passive cleaning device 100 is relatively complicated and the intelligence is poor. In the present application, the processor 40 will control the passive cleaning device 100 to actively adjust the working state of at least some components in the passive cleaning device 100, so as to achieve cleaning of stubborn stains in a more appropriate state, thereby saving the user trouble and effort, ensuring the cleaning effect and improving the intelligent attributes of the passive cleaning device 100.

[0123] In addition, compared to the processor 40 only analyzing whether the distance between the chassis 10 and the reference object changes back and forth within the range of [S-s1, S+s2] to determine whether the passive cleaning device 100 is cleaning the stubborn stains on the surface to be cleaned 200, the processor 40 simultaneously analyzes whether the distance between the chassis 10 and the reference object changes back and forth within the range of [S-s1, S+s2], and whether the frequency of the reciprocating change of the distance between the chassis 10 and the reference object within the range of [S-s1, S+s2] is greater than or equal to the preset frequency to determine whether the passive cleaning device 100 is cleaning the stubborn stains on the surface to be cleaned 200. This can improve the accuracy of the analysis results of the processor 40, prevent the processor 40 from making misjudgments that affect the normal use of the user, and enhance the intelligence of the passive cleaning device 100.

[0124] Referring to FIG. 10 , in yet other embodiments, the detection component 30 includes a position detection sensor, and the detection data includes the coordinate position of the chassis 10 collected by the position detection sensor. In this case, 0313: When the detection data fluctuates back and forth within the range [Xa, X+b], and the frequency of the back and forth fluctuations in the detection data is greater than or equal to a preset frequency, determining that the passive cleaning device 100 is cleaning stubborn stains includes:

[0125] 03135: When the coordinate position of the chassis 10 changes back and forth within the range of [A-a1, A+a2], and the frequency of the reciprocating change of the coordinate position of the chassis 10 within the range of [A-a1, A+a2] is greater than or equal to the preset frequency, it is determined that the passive cleaning device 100 is cleaning stubborn stains.

[0126] Please refer to Figure 2. One or more processors 40 can execute the method in 03135, that is, one or more processors 40 are used to determine that the passive cleaning device 100 is cleaning stubborn stains when the coordinate position of the chassis 10 changes back and forth within the range of [A-a1, A+a2] and the frequency of the reciprocating change of the coordinate position of the chassis 10 within the range of [A-a1, A+a2] is greater than or equal to the preset frequency.

[0127] In some embodiments, A may be the initial coordinate position of the chassis 10, that is, the coordinate position of the chassis 10 before the coordinate position of the chassis 10 undergoes a reciprocating change. When the user pushes the chassis 10 forward using the operating lever 20, the coordinate position of the chassis 10 changes. When the user pushes the chassis 10 forward to the limit, the coordinate position of the chassis 10 becomes A-a1. When the user pulls the chassis 10 backward using the operating lever 20, the coordinate position of the chassis 10 changes. When the user pulls the chassis 10 backward to the limit, the coordinate position of the chassis 10 becomes A+a2. If the user repeatedly pushes and pulls the chassis 10 forward and backward using the operating lever 20, the coordinate position of the chassis 10 can reciprocate within the range of [A-a1, A+a2]. Here, a1 and a2 may be the same or different. Both a1 and a2 are preset coordinate change values. The preset coordinate change value may be a designated set value, or an empirical value determined by the processor 40 after analyzing the user's usage habits (reflected by historical control data), and is a known value.

[0128] When the coordinate position of the chassis 10 changes back and forth within the range of [A-a1, A+a2], and the frequency of the reciprocating change of the coordinate position of the chassis 10 within the range of [A-a1, A+a2] is greater than or equal to the preset frequency, it indicates that the user is focusing on cleaning a certain area to be cleaned, that is, when the coordinate position of the chassis 10 changes back and forth within the range of [A-a1, A+a2], and the frequency of the reciprocating change of the coordinate position of the chassis 10 within the range of [A-a1, A+a2] is greater than or equal to the preset frequency, the processor 40 will determine that the passive cleaning device 100 is cleaning stubborn stains on the surface 200 to be cleaned. At this time, if the user needs to manually adjust the cleaning gear of the passive cleaning device 100 for the cleaning surface 200, the operation of the passive cleaning device 100 is relatively complicated and the intelligence is poor. In the present application, the processor 40 will control the passive cleaning device 100 to actively adjust the working state of at least some components in the passive cleaning device 100, so as to achieve cleaning of stubborn stains in a more appropriate state, thereby saving the user trouble and effort and ensuring the cleaning effect. At the same time, it can also improve the intelligent attributes of the passive cleaning device 100.

[0129] In addition, compared to the processor 40 only analyzing whether the coordinate position of the chassis 10 changes back and forth within the range of [A-a1, A+a2] to determine whether the passive cleaning device 100 is cleaning the stubborn stains on the surface to be cleaned 200, the processor 40 simultaneously analyzes whether the coordinate position of the chassis 10 changes back and forth within the range of [A-a1, A+a2], and whether the frequency of the reciprocating change of the coordinate position of the chassis 10 within the range of [A-a1, A+a2] is greater than or equal to the preset frequency to determine whether the passive cleaning device 100 is cleaning the stubborn stains on the surface to be cleaned 200. This can improve the accuracy of the analysis results of the processor 40, prevent the processor 40 from making misjudgments that affect the normal use of the user, and enhance the intelligence of the passive cleaning device 100.

[0130] In some embodiments, when the detection component 30 includes an angle detection sensor, the detection data includes the pitch angle P between the operating lever 20 and the chassis 10 of the passive cleaning device 100, as collected by the angle detection sensor. In this case, 0315: when the detection data fluctuates back and forth within the range [Xa, X+b], and the duration of the back and forth fluctuations in the detection data is greater than or equal to a first preset duration, determining that the passive cleaning device is cleaning stubborn stains includes:

[0131] 03151: When the pitch angle P of the operating rod 20 changes back and forth within the range of [P-m1, P+m2], and the duration of the reciprocating change of the pitch angle P of the operating rod 20 within the range of [P-m1, P+m2] is greater than or equal to the first preset duration, it is determined that the passive cleaning device 100 is cleaning stubborn stains.

[0132] Please refer to Figure 2. One or more processors 40 are capable of executing the method in 03151, that is, when the pitch angle P of the operating rod 20 changes back and forth within the range of [P-m1, P+m2], and the duration of the reciprocating change of the pitch angle P of the operating rod 20 within the range of [P-m1, P+m2] is greater than or equal to the first preset duration, it is determined that the passive cleaning device 100 is cleaning stubborn stains.

[0133] 6 , in some embodiments, P may be the initial pitch angle P between the operating lever 20 and the chassis 10 , that is, the pitch angle P between the operating lever 20 and the chassis 10 before the pitch angle P between the operating lever 20 and the chassis 10 changes back and forth. Please refer to Figure 6 (a). When the user performs a "push forward" operation on the chassis 10 through the operating lever 20, the pitch angle P between the operating lever 20 and the chassis 10 decreases. When the user "pushes" the chassis 10 forward to the extreme position through the operating lever 20, the pitch angle P between the operating lever 20 and the chassis 10 becomes P-m1. In other words, m1 can be the downward floating amount of the pitch angle P; Please refer to Figure 6 (b). When the user performs a "pull back" operation on the chassis 10 through the operating lever 20, the pitch angle P between the operating lever 20 and the chassis 10 increases. When the user "pulls back" the chassis 10 to the extreme position through the operating lever 20, the pitch angle P between the operating lever 20 and the chassis 10 becomes P+m2. In other words, m2 can be the upward floating amount of the pitch angle P. If the user reciprocates by "pushing" and "pulling" the chassis 10 forward and backward using the operating lever 20, the pitch angle P of the operating lever 20 can vary within the range of [P-m1, P+m2]. m1 and m2 can be the same or different. Both m1 and m2 are preset angles. The preset angles can be empirically determined or statistically determined by the processor 40 based on analysis of user usage habits (reflected by historical control data).

[0134] When the pitch angle P between the operating rod 20 and the chassis 10 changes back and forth within the range of [P-m1, P+m2], and the duration of the reciprocating change of the pitch angle P of the operating rod 20 within the range of [P-m1, P+m2] is greater than or equal to the first preset time length, it indicates that the user is focusing on cleaning a certain area to be cleaned, that is, when the pitch angle P between the operating rod 20 and the chassis 10 changes back and forth within the range of [P-m1, P+m2], and the duration of the reciprocating change of the pitch angle P of the operating rod 20 within the range of [P-m1, P+m2] is greater than or equal to the first preset time length, the processor 40 will determine that the passive cleaning device 100 is cleaning stubborn stains on the surface 200 to be cleaned. At this time, if the user needs to manually adjust the cleaning gear of the passive cleaning device 100 for the cleaning surface 200, the operation of the passive cleaning device 100 is relatively complicated and the intelligence is poor. In the present application, the processor 40 will control the passive cleaning device 100 to actively adjust the working state of at least some components in the passive cleaning device 100, so as to achieve cleaning of stubborn stains in a more appropriate state, thereby saving the user trouble and effort and ensuring the cleaning effect. At the same time, it can also improve the intelligent attributes of the passive cleaning device 100.

[0135] In addition, compared to the processor 40 only analyzing whether the pitch angle P between the operating rod 20 and the chassis 10 changes back and forth within the range of [P-m1, P+m2] to determine whether the passive cleaning device 100 is cleaning the stubborn stains on the surface to be cleaned 200, the processor 40 simultaneously analyzes whether the pitch angle P between the operating rod 20 and the chassis 10 changes back and forth within the range of [P-m1, P+m2], and the duration of the reciprocating change of the pitch angle P of the operating rod 20 within the range of [P-m1, P+m2] is greater than or equal to the first preset time length, so as to determine whether the passive cleaning device 100 is cleaning the stubborn stains on the surface to be cleaned 200. This can improve the accuracy of the analysis results of the processor 40, prevent the processor 40 from making misjudgments, and enhance the intelligence of the passive cleaning device 100.

[0136] In other embodiments, when the detection component 30 includes a distance detection sensor, the detection data includes the distance of the chassis 10 relative to the reference object, as collected by the distance detection sensor. In this case, 0315: when the detection data fluctuates back and forth within the range [Xa, X+b], and the duration of the back and forth fluctuations in the detection data is greater than or equal to a first preset duration, determining that the passive cleaning device is cleaning stubborn stains includes:

[0137] 03153: When the distance between the chassis 10 and the reference object changes back and forth within the range of [S-s1, S+s2], and the duration of the reciprocating change of the distance between the chassis 10 and the reference object within the range of [S-s1, S+s2] is greater than or equal to the first preset time length, it is determined that the passive cleaning device 100 is cleaning stubborn stains.

[0138] Please refer to Figure 2. One or more processors 40 are capable of executing the method in 03153, that is, one or more processors 40 are used to determine that the passive cleaning device 100 is cleaning stubborn stains when the distance between the chassis 10 and the reference object changes back and forth within the range of [S-s1, S+s2], and the duration of the reciprocating change of the distance between the chassis 10 and the reference object within the range of [S-s1, S+s2] is greater than or equal to a first preset time length.

[0139] With reference to FIG7 , in some embodiments, S may be the initial distance between the chassis 10 and the reference object, that is, the distance between the chassis 10 and the reference object before the distance between the chassis 10 and the reference object changes back and forth. The reference object may be located in front of the passive cleaning device 100 on its forward path. When the user pushes the chassis 10 forward using the operating lever 20, the distance between the chassis 10 and the reference object decreases. When the user pushes the chassis 10 forward to the limit position using the operating lever 20, the distance between the chassis 10 and the reference object becomes S-s1. In other words, s1 may be the amount of downward movement of the distance. When the user pulls the chassis 10 back using the operating lever 20, the distance between the chassis 10 and the reference object increases. When the user pulls the chassis 10 back to the limit position using the operating lever 20, the distance between the chassis 10 and the reference object becomes S+s2. In other words, s2 may be the amount of upward movement of the distance. If the user reciprocally pushes the chassis 10 forward and pulls it backward using the operating lever 20 , the distance between the chassis 10 and the reference object can be reciprocated within the range of [S−s1, S+s2].

[0140] With reference to FIG8 , in other embodiments, S may be the initial distance between the chassis 10 and the reference object, that is, the distance between the chassis 10 and the reference object before the distance between the chassis 10 and the reference object changes back and forth. The reference object may be located behind the passive cleaning device 100 on its forward path. When the user pushes the chassis 10 forward using the operating lever 20, the distance between the chassis 10 and the reference object increases. When the user pushes the chassis 10 forward to its limit position using the operating lever 20, the distance between the chassis 10 and the reference object becomes S+s2. In other words, s2 may be the amount of increase in the distance. When the user pulls the chassis 10 backward using the operating lever 20, the distance between the chassis 10 and the reference object decreases. When the user pulls the chassis 10 backward to its limit position using the operating lever 20, the distance between the chassis 10 and the reference object becomes S-s1. In other words, s1 may be the amount of decrease in the distance. If the user reciprocates by "pushing forward" and "pulling back" the chassis 10 through the operating lever 20, the distance between the chassis 10 and the reference object can change back and forth within the range of [S-s1, S+s2]. It should be noted that, in some embodiments, the reference object may be a wall in a building or an object fixedly placed on the surface 200 to be cleaned (such as a sofa, table, or refrigerator, etc.). Among them, s1 and s2 may be the same or different. Both s1 and s2 are preset distances. The preset distance can be a specified empirical value or a statistical value after the processor 40 analyzes the user's usage habits (reflected by historical control data).

[0141] When the distance between the chassis 10 and the reference object changes back and forth within the range of [S-s1, S+s2], and the duration of the reciprocating change of the distance between the chassis 10 and the reference object within the range of [S-s1, S+s2] is greater than or equal to the first preset time length, it indicates that the user is focusing on cleaning a certain area to be cleaned, that is, when the distance between the chassis 10 and the reference object changes back and forth within the range of [S-s1, S+s2], and the duration of the reciprocating change of the distance between the chassis 10 and the reference object within the range of [S-s1, S+s2] is greater than or equal to the first preset time length, the processor 40 will determine that the passive cleaning device 100 is cleaning stubborn stains on the surface 200 to be cleaned. At this time, if the user needs to manually adjust the cleaning position of the passive cleaning device 100 for the cleaning surface 200, the operation of the passive cleaning device 100 is relatively complicated and the intelligence is poor. In the present application, the processor 40 will control the passive cleaning device 100 to actively adjust the working state of at least some components in the passive cleaning device 100, so as to achieve cleaning of stubborn stains in a more appropriate state, thereby saving the user trouble and effort, ensuring the cleaning effect, and improving the intelligent attributes of the passive cleaning device 100.

[0142] In addition, compared to the processor 40 only analyzing whether the distance between the chassis 10 and the reference object changes back and forth within the range of [S-s1, S+s2] to determine whether the passive cleaning device 100 is cleaning the stubborn stains on the surface to be cleaned 200, the processor 40 simultaneously analyzes whether the distance between the chassis 10 and the reference object changes back and forth within the range of [S-s1, S+s2], and the duration of the reciprocating change of the distance between the chassis 10 and the reference object within the range of [S-s1, S+s2] is greater than or equal to the first preset time length to determine whether the passive cleaning device 100 is cleaning the stubborn stains on the surface to be cleaned 200. This can improve the accuracy of the analysis results of the processor 40, prevent the processor 40 from making misjudgments that affect the normal use of the user, and enhance the intelligence of the passive cleaning device 100.

[0143] In some further embodiments, the detection component 30 includes a position detection sensor, and the detection data includes the coordinate position of the chassis 10 collected by the position detection sensor. In this case, 0315: when the detection data fluctuates back and forth within the range [Xa, X+b], and the duration of the fluctuating detection data is greater than or equal to a first preset duration, determining that the passive cleaning device is cleaning stubborn stains includes:

[0144] 03155: When the coordinate position of the chassis 10 changes back and forth within the range of [A-a1, A+a2], and the time length of the reciprocating change of the coordinate position of the chassis 10 within the range of [A-a1, A+a2] is greater than or equal to the first preset time length, it is determined that the passive cleaning device 100 is cleaning stubborn stains.

[0145] Please refer to Figure 2. One or more processors 40 are capable of executing the method in 03155, that is, one or more processors 40 are used to determine that the passive cleaning device 100 is cleaning stubborn stains when the coordinate position of the chassis 10 changes back and forth within the range of [A-a1, A+a2] and the time length of the reciprocating change of the coordinate position of the chassis 10 within the range of [A-a1, A+a2] is greater than or equal to the first preset time length.

[0146] In some embodiments, A may be the initial coordinate position of the chassis 10, that is, the coordinate position of the chassis 10 before the coordinate position of the chassis 10 undergoes a reciprocating change. When the user pushes the chassis 10 forward using the operating lever 20, the coordinate position of the chassis 10 changes. When the user pushes the chassis 10 forward to the limit, the coordinate position of the chassis 10 becomes A-a1. When the user pulls the chassis 10 backward using the operating lever 20, the coordinate position of the chassis 10 changes. When the user pulls the chassis 10 backward to the limit, the coordinate position of the chassis 10 becomes A+a2. If the user repeatedly pushes and pulls the chassis 10 forward and backward using the operating lever 20, the coordinate position of the chassis 10 can reciprocate within the range of [A-a1, A+a2]. Here, a1 and a2 may be the same or different. Both a1 and a2 are preset coordinate change values. The preset coordinate change value may be a designated empirical value, or a statistical value obtained by the processor 40 analyzing the user's usage habits (reflected by historical control data).

[0147] When the coordinate position of the chassis 10 changes back and forth within the range of [A-a1, A+a2], and the time length of the reciprocating change of the coordinate position of the chassis 10 within the range of [A-a1, A+a2] is greater than or equal to the first preset time length, it indicates that the user is focusing on cleaning a certain area to be cleaned, that is, when the coordinate position of the chassis 10 changes back and forth within the range of [A-a1, A+a2], and the time length of the reciprocating change of the coordinate position of the chassis 10 within the range of [A-a1, A+a2] is greater than or equal to the first preset time length, the processor 40 will determine that the passive cleaning device 100 is cleaning stubborn stains. At this time, if the user needs to manually adjust the cleaning position of the passive cleaning device 100 for the cleaning surface 200, the operation of the passive cleaning device 100 is relatively complicated and the intelligence is poor. In the present application, the processor 40 will control the passive cleaning device 100 to actively adjust the working state of at least some components in the passive cleaning device 100, so as to achieve cleaning of stubborn stains in a more appropriate state, thereby saving the user trouble and effort, ensuring the cleaning effect, and improving the intelligent attributes of the passive cleaning device 100.

[0148] In addition, compared to the processor 40 only analyzing whether the coordinate position of the chassis 10 changes back and forth within the range of [A-a1, A+a2] to determine whether the passive cleaning device 100 is cleaning stubborn stains, the processor 40 simultaneously analyzes whether the coordinate position of the chassis 10 changes back and forth within the range of [A-a1, A+a2], and the time length of the coordinate position of the chassis 10 changing back and forth within the range of [A-a1, A+a2] is greater than or equal to the first preset time length to determine whether the passive cleaning device 100 is cleaning stubborn stains. This can improve the accuracy of the analysis results of the processor 40, prevent the processor 40 from making misjudgments that affect the normal use of the user, and enhance the intelligence of the passive cleaning device 100.

[0149] Please refer to Figure 11. In some embodiments, the cleaning component 50 may further include a rotating member 53, which is provided on the chassis 10 and can rotate along with the movement of the passive cleaning device 100 when the user controls the passive cleaning device 100 to move; as shown in Figure 11, when the passive cleaning device 100 moves forward (moves in the "push forward" direction), the rotating member 53 rotates counterclockwise under the action of the friction force of the surface to be cleaned 200, and when the passive cleaning device 100 moves backward (moves in the "pull back" direction), the rotating member 53 rotates clockwise under the action of the friction force of the surface to be cleaned 200; the detection component 30 may include a wheel speed meter. At this time, the detection data includes a first rotation stroke of the rotating member 53 collected by the wheel speed meter, which is the forward rotation (counterclockwise) relative to the surface to be cleaned 200, and a second rotation stroke of the rotating member 53, which is the reverse rotation (clockwise) relative to the surface to be cleaned 200, and there is a difference between the first rotation stroke and the second rotation stroke. It should be noted that, as shown in FIG11 , one of the forward rotation and the reverse rotation is clockwise rotation, and the other is counterclockwise rotation. That is, the rotating member 53 can rotate clockwise under the action of the friction force of the surface to be cleaned 200, or the rotating member 53 can rotate counterclockwise under the action of the friction force of the surface to be cleaned 200. In this application, the forward rotation is counterclockwise rotation and the reverse rotation is clockwise rotation.

[0150] Specifically, when the passive cleaning device 100 reciprocates relative to the surface to be cleaned 200 in the same cleaning area, for example, as shown in Figure 11, when the passive cleaning device 100 moves forward, the rotating part 53 rotates counterclockwise under the action of the friction force of the surface to be cleaned 200. At this time, the wheel speed meter can collect the first rotation stroke of the rotating part 53 in the forward rotation relative to the surface to be cleaned 200; when the passive cleaning device 100 moves backward, the rotating part 53 rotates clockwise under the action of the friction force of the surface to be cleaned 200. At this time, the wheel speed meter can collect the second rotation stroke of the rotating part 53 in the reverse rotation relative to the surface to be cleaned 200.

[0151] Referring to FIG. 12 , in some embodiments, 031 : determining, based on the detection data, whether the passive cleaning device 100 is performing reciprocating motion within the same cleaning area, and if so, determining that the passive cleaning device 100 is cleaning stubborn stains, includes:

[0152] 0315: When the difference is less than or equal to the preset difference, it is determined that the passive cleaning device 100 is cleaning stubborn stains, and the preset difference is less than the size of the cleaning area.

[0153] Please refer to Figure 2, one or more processors 40 can execute the method in 0315, that is, one or more processors 40 are used to determine that the passive cleaning device 100 is cleaning stubborn stains when the difference is less than or equal to a preset difference, and the preset difference is less than or equal to the size of the cleaning area.

[0154] The preset difference is a critical value for determining whether the passive cleaning device 100 is cleaning stubborn stains. The preset difference can be known data, including an empirical value obtained before the passive cleaning device 100 leaves the factory, a set value entered by a user during use of the passive cleaning device 100 after leaving the factory, or an empirical value obtained by the processor 40 after processing historical data of the passive cleaning device 100. In some embodiments, the preset difference is less than or equal to the size of the cleaning area, indicating that the reciprocating motion of the chassis 10 relative to the surface 200 to be cleaned is within the same cleaning area, thereby indicating that the user is cleaning stubborn stains on the surface 200 to be cleaned by controlling the reciprocating motion of the passive cleaning device 100 within the same cleaning area.

[0155] Referring to FIG. 13 , in some embodiments, 0315 : when the difference is less than or equal to a preset difference, determining that the passive cleaning device 100 is cleaning stubborn stains includes:

[0156] 03151: When the difference is less than or equal to the preset difference, and the frequency of the difference being less than or equal to the preset difference is greater than a predetermined frequency, it is determined that the passive cleaning device 100 is cleaning stubborn stains.

[0157] Please refer to Figure 2, one or more processors 40 can execute the method in 03151, that is, one or more processors 40 are used to determine that the passive cleaning device 100 is cleaning stubborn stains when the difference is less than or equal to the preset difference and the frequency of the difference being less than or equal to the preset difference is greater than a predetermined frequency.

[0158] Since the user may cause the difference between the first rotation stroke and the second rotation stroke to be less than or equal to the preset difference during normal cleaning of the surface 200 by the passive cleaning device 100, in this case, the processor 40 will determine that the passive cleaning device 100 is cleaning stubborn stains and adjust the operating state of at least some components of the passive cleaning device 100. However, the user does not want to adjust the operating state of at least some components at this time, which results in a misjudgment, resulting in poor intelligence of the passive cleaning device 100. However, generally, when the user operates the passive cleaning device 100 to clean stubborn stains, the user's operating state is relatively urgent, and the user usually uses a relatively urgent pushing and pulling action to clean the stubborn stains. Therefore, the difference between the first rotation stroke and the second rotation stroke is less than or equal to the preset difference more frequently. Therefore, compared to the processor 40 only analyzing whether the difference between the first rotation stroke and the second rotation stroke is less than or equal to the preset difference to determine whether the passive cleaning device 100 is cleaning stubborn stains, the processor 40 simultaneously analyzes whether the difference between the first rotation stroke and the second rotation stroke is less than or equal to the preset difference, and whether the frequency of the difference between the first rotation stroke and the second rotation stroke being less than or equal to the preset difference is greater than a predetermined frequency to determine whether the passive cleaning device 100 is cleaning stubborn stains. This can improve the accuracy of the analysis results of the processor 40, prevent the processor 40 from making erroneous judgments that affect the normal use of the user, and enhance the intelligence of the passive cleaning device 100.

[0159] The predetermined frequency may be a critical frequency for determining whether the passive cleaning device 100 is cleaning stubborn stains. The predetermined frequency may be known data, and may be an empirical value obtained before the passive cleaning device 100 leaves the factory, a set value input during manual use of the passive cleaning device 100 after leaving the factory, or an empirical value obtained by the processor 40 processing historical data after the passive cleaning device 100 leaves the factory.

[0160] In some embodiments, 0315: when the difference is less than or equal to a preset difference, determining that the passive cleaning device 100 is cleaning stubborn stains includes:

[0161] 03153: When the difference is less than or equal to the preset difference, and the duration for which the difference is less than or equal to the preset difference is greater than or equal to a second preset duration, it is determined that the passive cleaning device is cleaning stubborn stains.

[0162] One or more processors 40 are capable of executing the method in 03153, that is, one or more processors 40 are used to determine that the passive cleaning device is cleaning stubborn stains when the difference is less than or equal to a preset difference, and the duration of the difference being less than or equal to the preset difference is greater than or equal to a second preset duration.

[0163] Since the user may occasionally cause the difference between the first rotation stroke and the second rotation stroke to be less than or equal to the preset difference during normal cleaning of the same surface 200 by operating the passive cleaning device 100, in this case, the processor 40 will also determine that the passive cleaning device 100 is cleaning stubborn stains, and thus adjust the operating state of at least some components of the passive cleaning device 100. However, the user is not cleaning stubborn stains at this time, and if the judgment is made only based on the above conditions, it is easy to cause misjudgment, resulting in poor intelligence of the passive cleaning device 100. However, generally, when the user operates the passive cleaning device 100 to clean stubborn stains, the user's cleaning operation time may be longer, and therefore the difference between the first rotation stroke and the second rotation stroke is less than or equal to the preset difference for a longer period of time. Therefore, compared to the processor 40 only analyzing whether the difference is less than or equal to the preset difference to determine whether the passive cleaning device 100 is cleaning stubborn stains, the processor 40 simultaneously analyzes whether the difference is less than or equal to the preset difference, and whether the duration for which the difference is less than or equal to the preset difference is greater than or equal to the second preset duration to determine whether the passive cleaning device 100 is cleaning stubborn stains. This can improve the accuracy of the analysis results of the processor 40, prevent the processor 40 from making misjudgments, and enhance the intelligence of the passive cleaning device 100.

[0164] The second preset time period can be a critical time period for determining whether the passive cleaning device 100 is cleaning stubborn stains. The second preset time period can be known data, and can be an empirical value obtained before the passive cleaning device 100 leaves the factory, a set value input during manual use of the passive cleaning device 100 after leaving the factory, or a statistical value obtained by processing historical data by the processor 40 after the passive cleaning device 100 leaves the factory.

[0165] In some embodiments, the processor 40 can also simultaneously analyze whether the difference is less than or equal to a preset difference, whether the frequency of the difference being less than or equal to the preset difference is greater than or equal to the preset frequency, and whether the duration of the difference being less than or equal to the preset difference is greater than or equal to a second preset duration, so as to determine whether the passive cleaning device 100 is cleaning stubborn stains. This can further improve the accuracy of the analysis results of the processor 40, prevent the processor 40 from making misjudgments, and enhance the intelligence of the passive cleaning device 100.

[0166] In some embodiments, when the detection component 30 includes an image acquisition device, the detection data includes multiple frames of image data collected by the image acquisition device. Specifically, the image acquisition device can shoot stubborn stains on the surface to be cleaned 200 to obtain multiple frames of image data, and the processor 40 analyzes the multiple frames of image data to determine whether the passive cleaning device 100 is cleaning stubborn stains. It should be noted that, in some embodiments, the image acquisition device may be provided on the chassis 10, operating rod 20 or other components of the passive cleaning device 100. The image acquisition device may include a visible light camera module, such as an RGB camera module and a black and white camera module, etc.; it may also include a depth camera module, such as a TOF camera module, a structured light camera module and a binocular camera module, etc., which are not limited here.

[0167] Specifically, referring to FIG. 14 , in some embodiments, 03: analyzing whether the passive cleaning device 100 is cleaning stubborn stains on the surface to be cleaned 200 based on the detection data includes:

[0168] 034: Analyze the dirty areas in each frame of image data;

[0169] 035: Obtaining the change rate of the dirt parameter of the dirty area in the image data of a predetermined number of frames; and

[0170] 036: When the parameter change rate is less than the preset change rate threshold, it is determined that the passive cleaning device 100 is cleaning stubborn stains.

[0171] Please refer to Figure 2. One or more processors 40 can execute the methods in 034, 035 and 036, that is, one or more processors 40 are used to analyze the dirty area in each frame of image data; obtain the change rate of the dirt parameters of the dirty area in the image data of a predetermined number of frames; and when the parameter change rate is less than a preset change rate threshold, determine that the passive cleaning device 100 is cleaning stubborn stains.

[0172] The dirt parameter may include one or more of the area, volume, and color of the stain in the dirty area, and is not limited here. If the rate of change of the dirt parameter in the dirty area in a predetermined number of frames of image data is less than a preset rate of change threshold, it indicates that the stain is difficult to clean. Therefore, the processor 40 can determine that the passive cleaning device 100 is cleaning stubborn stains. In this case, the processor 40 can adjust the operating state of at least some components of the passive cleaning device 100. For example, if the dirt parameter is the area of ​​the stain in the dirty area, the rate of change of the dirt parameter is the degree of reduction in the stain area. If the rate of change of the parameter is less than the preset rate of change threshold, i.e., the degree of reduction in the stain area is small, the processor 40 determines that the passive cleaning device 100 is cleaning stubborn stains. If the rate of change of the parameter is greater than the preset rate of change threshold, i.e., the degree of reduction in the stain area is large, the processor 40 determines that the passive cleaning device 100 is not cleaning stubborn stains. For another example, if the dirt parameter is the color of the stain in the dirty area, the change rate of the dirt parameter is the depth of the color of the stain. When the parameter change rate is less than the preset change rate threshold, that is, the depth of the stain color is darker, the processor 40 determines that the passive cleaning device 100 is cleaning stubborn stains; when the parameter change rate is greater than the preset change rate threshold, that is, the depth of the stain color is lighter, the processor 40 determines that the passive cleaning device 100 is not cleaning stubborn stains; for example, when soy sauce drips on the ground while the user is cooking, it is not discovered until a day later that the soy sauce has dried up. When the passive cleaning device 100 is used for cleaning, when the normal cleaning process cannot clean the soy sauce well, it is necessary to adjust at least some components of the passive cleaning device 100 to assist the user in cleaning stubborn stains, thereby saving time and / or effort.

[0173] The predetermined number of frames can be known data. It can be an empirical value obtained before the passive cleaning device 100 leaves the factory, a set value entered during use of the passive cleaning device 100 after leaving the factory, or an empirical value obtained by the processor 40 processing historical data after the passive cleaning device 100 leaves the factory. In other embodiments, the predetermined number of frames can be consecutive and adjacent frames among the multiple image frames captured by the image acquisition device. For example, if the predetermined number of frames is 5 and the image acquisition device captures 10 frames, then acquiring image data for the predetermined number of frames can be accomplished by acquiring the second, third, fourth, fifth, and sixth frames of the 10 frames. In this case, the processor 40 can analyze the dirty areas in each of the 10 frames and obtain the rate of change of the dirt parameter of the dirty areas in the image data of the second, third, fourth, fifth, and sixth frames. In other embodiments, the predetermined number of frames can be consecutive and spaced frames among the multiple image frames captured by the image acquisition device. For example, the predetermined number of frames may be 5, and the image acquisition device captures 10 frames of images. Acquiring the predetermined number of frames of image data may involve acquiring the second, fourth, sixth, eighth, and tenth frames of the 10 frames. In this case, the processor 40 can analyze the dirty areas in each of the 10 frames and acquire the change rates of the dirt parameters of the dirty areas in the second, fourth, sixth, eighth, and tenth frames of image data.

[0174] The preset rate of change threshold can be a critical threshold for determining whether the passive cleaning device 100 is cleaning stubborn stains. The preset rate of change threshold can be known data, and can be an empirical value obtained before the passive cleaning device 100 leaves the factory, a set value input when the passive cleaning device 100 is used after leaving the factory, or an empirical value obtained by the processor 40 processing historical data after the passive cleaning device 100 leaves the factory. Specifically, in some embodiments, the rate of change of the dirtiness parameter of the dirty area in the predetermined number of frames of image data is obtained based on the duration of acquiring the predetermined number of frames of image data and the change in the dirtiness parameter of the dirty area in the predetermined number of frames of image data. For example, assuming that the predetermined number of frames is 2 and the duration of acquiring the two frames of image data is 1 second, the rate of change of the dirtiness parameter of the dirty area in the two frames of image data is calculated based on the change in the dirtiness parameter of the dirty area in the two frames of image data and the duration of acquiring the two frames of image data (1 second). If the parameter change rate is less than the preset rate of change threshold, it is determined that the passive cleaning device is cleaning stubborn stains. Assuming that the preset change rate threshold is 40%, when the dirt parameter is the dirt area in the dirty area, when the dirt parameter change rate of the dirty area is less than 40%, the processor 40 can determine that the passive cleaning device 100 is cleaning stubborn stains.

[0175] In some embodiments, the passive cleaning device 100 includes a suction duct (not shown) for sucking dirt. The cleaning member 51 rotates relative to the cleaning surface 200 to allow the cleaned dirt to pass through the suction duct and enter the dirt tank 70. Therefore, in this embodiment, the detection assembly 30 may include a dirt detection sensor corresponding to the suction duct. The dirt detection sensor is used to detect the dirtiness of dirt in the suction duct. That is, the detection data includes the dirtiness of the dirt collected by the dirt detection sensor. It should be noted that in some embodiments, the dirt detection sensor may be located at the inlet of the suction duct, at the outlet of the suction duct, or even inside the suction duct. Examples of dirt detection sensors include, but are not limited to, sensors that detect acoustic properties of dirt, sensors that detect electrical properties of dirt, and sensors that detect other optical properties. For example, the dirt detection sensor may be an ultrasonic sensor. The ultrasonic sensor transmits ultrasonic waves toward dirt in the suction duct and receives ultrasonic waves reflected by the dirt to obtain the dirtiness of the dirt. As another example, the dirt detection sensor may be a capacitive sensor. The capacitive sensor detects the capacitance change caused by dirt in the suction pipe to obtain the dirt value of the dirt.

[0176] In some embodiments, in order to make the judgment of whether the passive cleaning device 100 is doing stubborn cleaning more accurate, the measurement value of the dirt detection sensor will be combined with the image acquisition device. For example, if the dirt on the surface to be cleaned 200 is difficult to clean, that is, when the passive cleaning device 100 cleans the dirt, the dirt is mostly left on the surface to be cleaned 200, and is rarely sucked into the suction pipe. In this case, the dirt detection sensor corresponding to the suction pipe detects that the dirt value of the dirt in the suction pipe is still less than the preset dirt threshold. Therefore, please refer to Figure 15. In this application, the detection component 30 includes a dirt detection sensor in addition to the image acquisition device. The detection data includes, in addition to the dirt value of the collected dirt, multiple frames of image data acquired by the image acquisition device. That is, 03: the analysis of whether the passive cleaning device 100 is cleaning the stubborn stains on the surface to be cleaned 200 based on the detection data includes:

[0177] 034: Analyze the dirty areas in each frame of image data;

[0178] 035: Obtaining the change rate of the dirt parameter of the dirty area in the image data of a predetermined number of frames; and

[0179] 0371: When the dirtiness value of the dirt is less than the preset dirtiness value threshold, and the parameter change rate is less than the preset change rate threshold, it is determined that the passive cleaning device 100 is cleaning stubborn stains.

[0180] Please refer to Figure 2. One or more processors 40 can execute the methods in 034, 035 and 0371, that is, one or more processors 40 are used to analyze the dirty area in each frame of image data; obtain the rate of change of the dirt parameters of the dirty area in a predetermined number of frames of image data; and when the dirt value of the dirt object is less than a preset dirt value threshold and the parameter change rate is less than a preset change rate threshold, determine that the passive cleaning device 100 is cleaning stubborn stains.

[0181] Among them, when the dirt on the surface to be cleaned 200 is difficult to clean, if the dirt detection sensor detects that the dirt value of the dirt in the suction pipe is less than the preset dirt threshold, and the parameter change rate is less than the preset change rate threshold, the processor 40 can still determine that the passive cleaning device 100 is cleaning stubborn stains. Therefore, compared to the processor 40 only analyzing whether the dirt value of the dirt is less than the preset dirt value threshold to determine whether the passive cleaning device 100 is cleaning stubborn stains, the processor 40 simultaneously analyzes whether the dirt value of the dirt is less than the preset dirt value threshold and whether the parameter change rate is less than the preset change rate threshold to determine whether the passive cleaning device 100 is cleaning stubborn stains. This can improve the accuracy of the processor 40's analysis results, prevent the processor 40 from making erroneous judgments that affect the user's normal use, and enhance the intelligence of the passive cleaning device 100.

[0182] To further determine whether the passive cleaning device 100 is cleaning stubborn stains, refer to FIG. 16 . In this application, the detection component 30 may also include an image acquisition device. In this case, the detection data includes, in addition to the dirtiness value of the dirt object collected by the dirt detection sensor, multiple frames of image data acquired by the image acquisition device. Specifically, 03: analyzing whether the passive cleaning device 100 is cleaning stubborn stains on the surface to be cleaned 200 based on the detection data includes:

[0183] 034: Analyze the dirty areas in each frame of image data;

[0184] 035: Obtaining the change rate of the dirt parameter of the dirty area in the image data of a predetermined number of frames; and

[0185] 0373: When the dirtiness value of the dirt is less than the preset dirtiness value threshold, and the duration of the dirtiness value of the dirt is less than the preset dirtiness value threshold is greater than the first predetermined duration, and the parameter change rate is less than the preset change rate threshold, it is determined that the passive cleaning device 100 is cleaning stubborn stains.

[0186] Please refer to Figure 2. One or more processors 40 can execute the methods in 034, 035 and 0373, that is, one or more processors 40 are used to analyze the dirty area in each frame of image data; obtain the change rate of the dirt parameter of the dirty area in the image data of a predetermined number of frames; and when the dirt value of the dirt is less than the preset dirt value threshold, and the duration of the dirt value of the dirt is less than the preset dirt value threshold is greater than the first predetermined duration, and the parameter change rate is less than the preset change rate threshold, determine that the passive cleaning device 100 is cleaning stubborn stains.

[0187] When the dirt on the cleaning surface 200 is difficult to clean, if the dirt detection sensor detects that the dirt value of the dirt in the suction pipe is less than a preset dirt threshold and the parameter change rate is less than a preset change rate threshold, the processor 40 can still determine that the passive cleaning device 100 is cleaning stubborn stains. Therefore, compared to the processor 40 only analyzing whether the dirt value of the dirt is less than the preset dirt threshold and whether the duration of the dirt value being less than the preset dirt threshold is greater than a first predetermined time to determine whether the passive cleaning device 100 is cleaning stubborn stains, the processor 40 simultaneously analyzes whether the dirt value of the dirt is less than the preset dirt threshold and whether the duration of the dirt value being less than the preset dirt threshold is greater than the first predetermined time, and whether the parameter change rate is less than the preset change rate threshold to determine whether the passive cleaning device 100 is cleaning stubborn stains. This improves the accuracy of the processor 40's analysis results, prevents the processor 40 from making erroneous judgments that affect normal user use, and enhances the intelligence of the passive cleaning device 100.

[0188] Referring to FIG. 17 , in some embodiments, 03: analyzing whether the passive cleaning device 100 is cleaning stubborn stains on the surface to be cleaned 200 based on the detection data includes:

[0189] 038: Determine whether the position of the chassis 10 relative to the cleaning surface 200 remains unchanged based on the detection data; and

[0190] 039: When the position of the chassis 10 relative to the cleaning surface 200 remains unchanged for a period longer than a second predetermined period, it is determined that the passive cleaning device 100 is cleaning stubborn stains.

[0191] Please refer to Figure 2, one or more processors 40 can execute the methods in 038 and 039, that is, one or more processors 40 are used to determine whether the position of the chassis 10 relative to the cleaning surface 200 remains unchanged based on the detection data; and when the continuous length of time that the position of the chassis 10 relative to the cleaning surface 200 remains unchanged is greater than the second predetermined time length, determine that the passive cleaning device 100 is cleaning stubborn stains.

[0192] Specifically, in some embodiments, if a stubborn stain appears while the user is operating the passive cleaning device 100 to clean the surface 200, the user's operating habit is to operate the passive cleaning device 100 to stay in the area where the stubborn stain is located, so that the passive cleaning device 100 can clean the stubborn stain. In this case, compared to the user operating the passive cleaning device 100 to move back and forth in the area where the stubborn stain is located, it can be more labor-saving. Therefore, when the position of the chassis 10 relative to the surface 200 remains unchanged, and the duration of the unchanged position of the chassis 10 relative to the surface 200 is greater than the second predetermined time, the processor 40 can determine that the passive cleaning device 100 is cleaning the stubborn stain, and thus adjust the working state of at least some components of the passive cleaning device 100. Moreover, when the position of the chassis 10 relative to the cleaning surface 200 remains unchanged for a period longer than a second predetermined period, the processor 40 determines that the passive cleaning device 100 is cleaning stubborn stains, thereby avoiding the problem that the user may make a brief pause while operating the passive cleaning device 100 to clean the cleaning surface 200, which may cause the processor 40 to misjudge, thereby enhancing the intelligence of the passive cleaning device 100.

[0193] The second predetermined time period may be a critical time period for determining whether the passive cleaning device 100 is cleaning stubborn stains. The second predetermined time period may be known data, and may be an empirical value obtained before the passive cleaning device 100 leaves the factory, a set value input during manual use of the passive cleaning device 100 after leaving the factory, or an empirical value obtained by the processor 40 processing historical data after the passive cleaning device 100 leaves the factory.

[0194] In some embodiments, the detection component includes a position detection sensor, and the detection data includes position information of the chassis relative to the surface to be cleaned, collected by the position detection sensor. Then, 03: analyzing whether the passive cleaning device 100 is cleaning stubborn stains on the surface to be cleaned 200 based on the detection data includes:

[0195] Determining whether the position of the chassis 10 relative to the surface to be cleaned 200 remains unchanged based on the position information of the chassis 10 relative to the surface to be cleaned 200; and

[0196] When the duration for which the position of the chassis 10 relative to the cleaning surface 200 remains unchanged is greater than the second predetermined duration, it is determined that the passive cleaning device 100 is cleaning stubborn stains.

[0197] Please refer to Figure 2, one or more processors 40 are capable of executing the above-mentioned cleaning control method, that is, one or more processors 40 are used to determine whether the position of the chassis 10 relative to the surface to be cleaned 200 remains unchanged based on the position information of the chassis 10 relative to the surface to be cleaned 200; and when the continuous time for which the position of the chassis 10 relative to the surface to be cleaned 200 remains unchanged is greater than the second predetermined time, determine that the passive cleaning device 100 is cleaning stubborn stains.

[0198] Specifically, assuming that the second predetermined time length is 3 seconds, if the position detection sensor detects that the position of the chassis 10 relative to the surface to be cleaned 200 remains unchanged, and the duration of the period during which the position of the chassis 10 relative to the surface to be cleaned 200 remains unchanged is greater than 3 seconds, the processor 40 can determine that the passive cleaning device 100 is cleaning stubborn stains on the surface to be cleaned 200. At this time, the processor 40 can adjust the working status of at least some components in the passive cleaning device 100.

[0199] In some embodiments, the detection component includes a distance detection sensor, and the detection data includes the distance of the chassis relative to the reference object collected by the distance detection sensor. Then, 03: analyzing whether the passive cleaning device 100 is cleaning stubborn stains on the surface to be cleaned 200 based on the detection data includes:

[0200] Determining whether the position of the chassis 10 relative to the cleaning surface 200 remains unchanged based on the distance of the chassis 10 relative to the reference object; and

[0201] When the duration for which the position of the chassis 10 relative to the cleaning surface 200 remains unchanged is greater than the second predetermined duration, it is determined that the passive cleaning device 100 is cleaning stubborn stains.

[0202] In conjunction with FIG2 , one or more processors 40 are capable of executing the aforementioned cleaning control method, namely, the one or more processors 40 are configured to determine whether the position of the chassis 10 relative to the surface to be cleaned 200 remains unchanged based on the distance between the chassis 10 and the reference object 200; and to determine that the passive cleaning device 100 is cleaning stubborn stains if the chassis 10 remains unchanged relative to the surface to be cleaned 200 for a period greater than a second predetermined time. It should be noted that in some embodiments, the reference object may be a wall in a building or an object fixedly placed on the surface to be cleaned 200 (e.g., a sofa, table, refrigerator, etc.).

[0203] Referring to FIG. 2 and FIG. 18 , in some embodiments, when it is determined that the passive cleaning device 100 is cleaning stubborn stains, 05: adjusting the working state of at least some components of the passive cleaning device 100 includes:

[0204] 051: Increase the rotation speed of the cleaning element 51; and / or

[0205] 052: Increase the power of the sewage suction assembly 60; and / or

[0206] 053: Increase the water supply of the water supply assembly 80 to the cleaning element 51 and / or the surface to be cleaned 200; and / or

[0207] 054: reducing the traction force of the cleaning assembly 50; and / or

[0208] 055: The water supply component 80 adds cleaning agent to the cleaning member 51 and / or the surface to be cleaned 200; and / or

[0209] 056: Increase the temperature of the water supplied by the water supply assembly 80; and / or

[0210] 057: Increase the pressure of the cleaning member 51 on the surface 200 to be cleaned.

[0211] One or more processors 40 are capable of executing methods 051, 052, 053, 054, 055, 056 and 057, that is, one or more processors 40 are used to increase the rotation speed of the cleaning element 51; and / or increase the power of the dirt suction component 60; and / or increase the amount of water supplied by the water supply component 80 to the cleaning element 51 and / or the surface to be cleaned 200; and / or reduce the traction force of the cleaning component 50; and / or the water supply component 80 adds detergent to the cleaning element 51 and / or the surface to be cleaned 200; and / or increase the temperature of the water supplied by the water supply component 80; and / or increase the pressure of the cleaning element 51 on the surface to be cleaned 200.

[0212] Specifically, in some embodiments, adjusting the operating state of at least some components of the passive cleaning device 100 may individually include one of 051, 052, 053, 054, 055, 056, and 057. That is, when the passive cleaning device 100 is cleaning stubborn stains, the rotation speed of the cleaning element 51 may be increased; the power of the dirt suction assembly 60 may be increased; the amount of water supplied by the water supply assembly 80 to the cleaning element 51 and / or the surface to be cleaned 200 may be increased; the traction force of the cleaning assembly 50 may be reduced; the water supply assembly 80 may add detergent to the cleaning element 51 and / or the surface to be cleaned 200; the temperature of the water supplied by the water supply assembly 80 may be increased; or the pressure applied by the cleaning element 51 to the surface to be cleaned 200 may be increased. In other embodiments, adjusting the operating state of at least some components of the passive cleaning device 100 may include at least two of 051, 052, 053, 054, 055, 056, and 057.

[0213] Please refer to Figure 19. The present application also provides a computer storage medium 300 on which a computer program 302 is stored. When the computer program 302 is executed by one or more processors 40, the cleaning control method described in any of the previous embodiments is implemented.

[0214] 1 and 2 , for example, when the computer program 302 is executed by the processor 40 , the following cleaning control method is implemented:

[0215] 01: Acquire detection data collected by the detection component 30 in the passive cleaning device 100;

[0216] 03: Analyzing whether the passive cleaning device 100 is cleaning stubborn stains on the surface to be cleaned 200 based on the detection data; and

[0217] 05: When the passive cleaning device 100 is cleaning stubborn stains, adjust the working state of at least some components of the passive cleaning device 100.

[0218] For another example, when the computer program 302 is executed by the processor 40, it can also implement the cleaning control methods in 031, 0311, 03111, 03113, 03115, 0313, 03131, 03133, 03135, 0315, 03151, 034, 035, 036, 0371, 0373, 038, 039, 051, 052, 053, 054, 055, 056 and 057.

[0219] In the computer storage medium 300 in the present application, the passive cleaning device 100 can analyze whether the passive cleaning device 100 is cleaning stubborn stains on the surface to be cleaned 200 based on the detection data collected by the detection component 30. When the passive cleaning device 100 is cleaning stubborn stains, the working state of at least some components in the passive cleaning device 100 is adjusted, thereby eliminating the need for the user to manually adjust the working state of some components in the passive cleaning device 100. The operation is simple, the user experience is improved, and the intelligent attributes of the passive cleaning device 100 are also improved.

[0220] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0221] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0222] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer storage medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a computer storage medium can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer storage media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read-only memory (CDROM). Furthermore, the computer storage medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing it in a suitable manner if necessary, and then stored in a computer memory.

[0223] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0224] Those skilled in the art will appreciate that all or part of the steps carried out in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer storage medium, which, when executed, includes one or a combination of the steps of the method embodiment. In addition, the functional units in the various embodiments of the present application can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer storage medium. The storage medium mentioned above can be a read-only memory, a disk or an optical disk, etc.

[0225] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are illustrative and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application. The scope of the present application is defined by the claims and their equivalents.

Claims

1. A cleaning control method for a passive cleaning device, characterized in that: include: Acquiring detection data collected by a detection component in the passive cleaning device; analyzing, based on the detection data, whether the passive cleaning device is cleaning stubborn stains on the surface to be cleaned; and When the passive cleaning device is cleaning the stubborn stains, the working state of at least some components of the passive cleaning device is adjusted.

2. The cleaning control method according to claim 1, characterized in that: The detection data includes: Data related to the movement position and / or movement posture of the passive cleaning device; and / or Data related to changes in stains on the surface to be cleaned; and / or, Contamination value in the suction line of the passive cleaning device.

3. The cleaning control method according to claim 1, characterized in that: The step of analyzing whether the passive cleaning device is cleaning stubborn stains on the surface to be cleaned according to the detection data includes: It is determined based on the detection data whether the passive cleaning device is performing reciprocating motion in the same cleaning area, and if so, it is determined that the passive cleaning device is cleaning the stubborn stains.

4. The cleaning control method according to claim 3, characterized in that: The step of determining whether the passive cleaning device is performing reciprocating motion in the same cleaning area according to the detection data, and if so, determining that the passive cleaning device is cleaning the stubborn stains, comprises: When the detection data changes back and forth within the range of [Xa, X+b], it is determined that the passive cleaning device is cleaning the stubborn stains; wherein X is the base value of the detection data, a is the downward floating amount of the detection data, and b is the upward floating amount of the detection data.

5. The cleaning control method according to claim 3, characterized in that: The step of determining whether the passive cleaning device is performing reciprocating motion in the same cleaning area according to the detection data, and if so, determining that the passive cleaning device is cleaning the stubborn stains, comprises: When the detection data changes back and forth within the range of [Xa, X+b], and the frequency of the reciprocating change of the detection data is greater than or equal to a preset frequency, it is determined that the passive cleaning device is cleaning the stubborn stains; and / or, When the detection data changes back and forth within the range of [Xa, X+b], and the duration of the reciprocating change of the detection data is greater than or equal to a first preset duration, it is determined that the passive cleaning device is cleaning the stubborn stains; Wherein, X is the basic value of the detection data, a is the downward floating amount of the detection data, and b is the upward floating amount of the detection data.

6. The cleaning control method according to claim 4 or 5, characterized in that: The detection data includes at least one of the following: The passive cleaning device comprises a chassis and an operating rod rotatably disposed on the chassis, the detection component comprises an angle detection sensor, and the detection data comprises a pitch angle between the operating rod of the passive cleaning device and the chassis collected by the angle detection sensor; The detection component includes a distance detection sensor, and the detection data includes the distance of the chassis relative to a reference object collected by the distance detection sensor; The detection component includes a position detection sensor, and the detection data includes the coordinate position of the chassis collected by the position detection sensor.

7. The cleaning control method according to claim 3, characterized in that: The passive cleaning device comprises a chassis, a rotating member is disposed on the chassis, the detection component comprises a wheel speed meter, the detection data comprises a first rotation stroke of the rotating member rotating forward relative to the cleaning surface and a second rotation stroke of the rotating member rotating in the reverse direction collected by the wheel speed meter, and there is a difference between the first rotation stroke and the second rotation stroke; determining whether the passive cleaning device performs reciprocating motion in the same cleaning area according to the detection data, and if so, determining that the passive cleaning device is cleaning the stubborn stains, comprises: In the case that the difference is less than or equal to a preset difference, it is determined that the passive cleaning device is cleaning the stubborn stain, and the preset difference is smaller than the size of the cleaning area.

8. The cleaning control method according to claim 7, characterized in that: When the difference is less than or equal to a preset difference, determining that the passive cleaning device is cleaning the stubborn stain includes: In the case where the difference is less than or equal to a preset difference, and the frequency of occurrence of the difference being less than or equal to the preset difference is greater than a predetermined frequency, it is determined that the passive cleaning device is cleaning the stubborn stain; and / or, When the difference is less than or equal to the preset difference, and the duration for which the difference is less than or equal to the preset difference is greater than or equal to a second preset duration, it is determined that the passive cleaning device is cleaning the stubborn stains.

9. The cleaning control method according to claim 1, characterized in that: The detection component includes an image acquisition device, and the detection data includes multiple frames of image data collected by the image acquisition device; The step of analyzing whether the passive cleaning device is cleaning stubborn stains on the surface to be cleaned according to the detection data includes: Analyze the dirty area in each frame of the image data; Obtaining a change rate of a dirt parameter of a dirty area in the image data of a predetermined number of frames; and When the parameter change rate is less than a preset change rate threshold, it is determined that the passive cleaning device is cleaning the stubborn stains.

10. The cleaning control method according to claim 1, characterized in that: The passive cleaning device comprises a suction pipe for sucking dirt, the detection component comprises a dirt detection sensor and an image acquisition device corresponding to the suction pipe, and the detection data comprises a dirt value of the dirt collected by the dirt detection sensor and multiple frames of image data acquired by the image acquisition device; The step of analyzing whether the passive cleaning device is cleaning stubborn stains on the surface to be cleaned according to the detection data further includes: Analyze the dirty area in each frame of the image data; Obtaining a change rate of a dirt parameter of a dirty area in the image data of a predetermined number of frames; and When the dirtiness value of the dirt is less than a preset dirtiness value threshold, and the parameter change rate is less than a preset change rate threshold, it is determined that the passive cleaning device is cleaning the stubborn stain; or When the dirtiness value of the dirt is less than the preset dirtiness value threshold, the duration for which the dirtiness value of the dirt is less than the preset dirtiness value threshold is greater than a first predetermined duration, and the parameter change rate is less than the preset change rate threshold, it is determined that the passive cleaning device is cleaning the stubborn stains.

11. The cleaning control method according to claim 1, characterized in that: The passive cleaning device comprises a chassis; and the step of analyzing whether the passive cleaning device is cleaning stubborn stains on the surface to be cleaned according to the detection data comprises: Determining whether the position of the chassis relative to the surface to be cleaned remains unchanged according to the detection data; and When the duration for which the position of the bottom plate relative to the surface to be cleaned remains unchanged is greater than a second predetermined duration, it is determined that the passive cleaning device is cleaning the stubborn stains.

12. The cleaning control method according to claim 11, characterized in that: The detection data includes at least one of the following: The detection component includes a position detection sensor, and the detection data includes position information of the chassis relative to the surface to be cleaned collected by the position detection sensor; The detection component includes a distance detection sensor, and the detection data includes the distance of the chassis relative to a reference object collected by the distance detection sensor.

13. The cleaning control method according to claim 1, characterized in that: The passive cleaning device comprises a chassis, and the passive cleaning device further comprises at least one of a cleaning component, a dirt suction component and a water supply component; The step of adjusting the working state of at least some components of the passive cleaning device comprises: Increasing the rotation speed of the cleaning element; and / or Increasing the power of the dirt suction assembly; and / or Increasing the amount of water supplied by the water supply assembly to the cleaning element and / or the surface to be cleaned; and / or reducing the traction force of the cleaning assembly; and / or The water supply component adds cleaning agent to the cleaning member and / or the surface to be cleaned; and / or Increasing the temperature of water supplied by the water supply assembly; and / or Increase the pressure of the cleaning member on the surface to be cleaned.

14. A passive cleaning device, characterized in that: include: Chassis; An operating lever, the operating lever being rotatably connected to the chassis; A detection component, the detection component is arranged on the chassis and / or the operating rod; and One or more processors are installed on the chassis and / or the operating rod, and the one or more processors are used to execute the cleaning control method according to any one of claims 1-13.

15. A computer storage medium storing a computer program, characterized in that: When the computer program is executed by one or more processors, the cleaning control method according to any one of claims 1 to 13 is implemented.

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