Cleaning device control method and apparatus based on in-place state of mop module, and medium

Abstract

Disclosed in the present application are a cleaning device control method and apparatus based on the in-place state of a mop module, and a medium. The method comprises: monitoring the in-place state of a mop module in a cleaning device; when it is detected that the mop module is in a detached state, determining a search position for the mop module; and controlling a mop module connecting mechanism of the cleaning device to execute a mop module installation operation at the search position, so as to attempt to install the mop module. In the present application, the in-place state of a mop module is monitored, and when it is detected that the mop module has been detached, an automatic search for the mop module is performed and an attempt to install same is made, such that the problem of mop detachment of an existing robotic sweeper is solved, thereby avoiding the situation where the sweeping effect is affected due to mop detachment.

Description

Cleaning equipment control method and device based on mop module in-place state, medium

[0001] The present application claims priority to the Chinese patent application No. 202410445815.4, filed on April 12, 2024, and entitled "Cleaning equipment control method and device based on mop module in-place state, medium", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the technical field of intelligent household appliances, in particular to a cleaning equipment control method and device based on mop module in-place state, and a storage medium. BACKGROUND

[0003] Cleaning equipment such as a robot vacuum cleaner usually has a mop module for installing a mop and performing cleaning operations with the mop. The mop of the existing robot vacuum cleaner is usually designed with a suction cup or a fitment to fix the mop on the bottom of the robot. However, due to vibration or collision during movement or cleaning, the mop may not be firmly fixed on the robot. The falling of the mop will result in some areas not being cleaned, affecting the cleaning effect. SUMMARY

[0004] Therefore, the present application provides a cleaning equipment control method and device based on mop module in-place state, and a storage medium.

[0005] According to one aspect of the present application, a cleaning equipment control method based on mop module in-place state is provided, wherein the method comprises:

[0006] monitoring the in-place state of a mop module in a cleaning equipment;

[0007] when it is monitored that the mop module is in a falling state, determining a search position of the mop module;

[0008] controlling a mop module connecting mechanism of the cleaning equipment to perform a mop module installation operation at the search position to attempt to install the mop module.

[0009] Optionally, when it is monitored that the mop module is in a falling state, determining a search position of the mop module comprises:

[0010] when it is monitored that the mop module is in a falling state and the cleaning equipment is currently in a stationary state, determining a current position of the cleaning equipment as a fixed search position of the mop module, wherein the search position comprises the fixed search position.

[0011] Optionally, when it is monitored that the mop module is in a falling state and the cleaning device is currently in a moving state, a moving track of the cleaning device is determined as a searching track of the mop module, wherein the searching position comprises the searching track.

[0012] Optionally, when it is monitored that the mop module is in a falling state and the cleaning device is currently in a moving state, a searching range of the mop module is determined based on detection data of a preset detection module of the cleaning device, wherein the preset detection module comprises a vision module and / or an electronic tag sensing module, and the searching position comprises the searching range.

[0013] Optionally, in the case where the searching position is the fixed searching position, the control of the mop module connecting mechanism of the cleaning device to perform the mop module installation operation at the searching position comprises:

[0014] at the fixed searching position, the mop module connecting mechanism of the cleaning device is controlled to descend and perform the mop module installation operation;

[0015] when it is detected that the mop module installation is successful, the cleaning device is controlled to perform an obstacle avoidance action, and when the obstacle avoidance action is performed, the mop module connecting mechanism is controlled to rise.

[0016] Optionally, the obstacle avoidance action comprises a rotating obstacle avoidance action or a moving obstacle avoidance action.

[0017] Optionally, the control of the cleaning device to perform the rotating obstacle avoidance action comprises:

[0018] a target rotating direction is determined based on a relative position of the fallen mop module on the cleaning device, and the cleaning device is controlled to rotate a preset angle in the target rotating direction.

[0019] Optionally, the control of the cleaning device to perform the moving obstacle avoidance action comprises:

[0020] a target moving direction is determined based on a relative position of the fallen mop module on the cleaning device, and the cleaning device is controlled to move a preset distance in the target moving direction.

[0021] Optionally, in the case where the searching position is the searching track, the control of the mop module connecting mechanism of the cleaning device to perform the mop module installation operation at the searching position comprises:

[0022] controlling the cleaning device to move along the searching trajectory, and controlling the mop module connecting mechanism to perform installation exploration every time the cleaning device moves a preset distance, until the mop module installation is detected to be successful or the cleaning device finishes moving along the searching trajectory, wherein the installation exploration comprises controlling the mop module connecting mechanism to lower and perform the mop module installation operation, and controlling the mop module connecting mechanism to rise when the mop module installation is not detected to be successful.

[0023] Optionally, when the searching position is in the searching range, the controlling the mop module connecting mechanism of the cleaning device to perform the mop module installation operation at the searching position comprises:

[0024] controlling the cleaning device to move to the searching range, and performing installation exploration in the searching range until the mop module installation is detected to be successful or the cleaning device finishes moving in the searching range, wherein the installation exploration comprises controlling the mop module connecting mechanism to lower and perform the mop module installation operation, and controlling the mop module connecting mechanism to rise when the mop module installation is not detected to be successful.

[0025] Optionally, before the controlling the mop module connecting mechanism of the cleaning device to perform the mop module installation operation at the searching position, the method further comprises:

[0026] recording current device working data of the cleaning device, wherein the device working data comprises a working position and a working progress;

[0027] Correspondingly, after the controlling the mop module connecting mechanism of the cleaning device to perform the mop module installation operation at the searching position, the method further comprises:

[0028] when the mop module installation is detected to be successful, controlling the cleaning device to resume working based on the device working data.

[0029] Optionally, after the controlling the mop module connecting mechanism of the cleaning device to perform the mop module installation operation at the searching position, the method further comprises:

[0030] if the mop module installation is not detected to be successful, outputting a mop module falling prompt information based on the searching position.

[0031] Optionally, the method further comprises:

[0032] when the mop module is detected to be in a falling state, obtaining working state data of the cleaning device as falling state data;

[0033] acquire a falling position of the mop module when it is detected that the mop module is successfully installed, and determine falling information of the mop module based on the falling position and the falling state data;

[0034] add the falling information to historical falling information, and update the corresponding easy-falling-area information of the mop module according to the historical falling information;

[0035] Correspondingly, the method further comprises:

[0036] detecting whether the cleaning device is located in an easy-falling-area based on the easy-falling-area information during the working process of the cleaning device;

[0037] controlling the mop module according to an anti-falling strategy when the cleaning device is located in the easy-falling-area.

[0038] Optionally, the updating of the corresponding easy-falling-area information of the mop module according to the historical falling information comprises:

[0039] if the falling position corresponding to the newly-added falling information is in any easy-falling-area, updating the any easy-falling-area based on the falling area corresponding to the falling position;

[0040] if the falling position corresponding to the newly-added falling information is in any historical falling area, updating the any historical falling area based on the falling area corresponding to the falling position, and adding one to the falling statistical number corresponding to the any historical falling area, wherein, when the falling statistical number corresponding to the any historical falling area is greater than a preset number, the any historical falling area is marked as an easy-falling-area;

[0041] otherwise, generating a historical falling area based on the falling area corresponding to the falling position.

[0042] Optionally, the controlling of the mop module according to the anti-falling strategy comprises:

[0043] in response to a lifting demand for the mop module, controlling the cleaning device to stay in place, directly controlling the mop module to complete a lifting action, or controlling the cleaning device to perform an obstacle avoidance action and then controlling the mop module to complete the lifting action, and resuming the working of the cleaning device after the mop module completes the lifting action; and / or,

[0044] in response to the lifting demand for the mop module, outputting a mop module falling risk prompt information based on the easy-falling-area.

[0045] Optionally, the falling state data comprises falling posture data of the cleaning device; and the directly controlling the mop module to complete the lifting action or controlling the cleaning device to perform an obstacle avoidance action and then controlling the mop module to complete the lifting action comprises:

[0046] if the current posture data of the cleaning device does not match the falling posture data, directly controlling the mop module to complete the lifting action;

[0047] if the current posture data of the cleaning device matches the falling posture data, controlling the cleaning device to perform an obstacle avoidance action and then controlling the mop module to complete the lifting action.

[0048] Optionally, the falling state data further comprises falling mop module information; and the controlling the cleaning device to perform an obstacle avoidance action and then controlling the mop module to complete the lifting action comprises:

[0049] determining an obstacle avoidance rotation direction according to the falling mop module information, and controlling the cleaning device to rotate based on the obstacle avoidance rotation direction and then controlling the mop module to complete the lifting action; or,

[0050] determining an obstacle avoidance movement direction according to the falling mop module information, and controlling the cleaning device to move based on the obstacle avoidance movement direction and then controlling the mop module to complete the lifting action.

[0051] Optionally, when it is monitored that the mop module is in a falling state, the method further comprises:

[0052] when it is monitored that the mop module is not in an in-place state, determining that the mop module is in a falling state, in a case where a current working mode of the cleaning device comprises mopping work;

[0053] when it is monitored that the mop module is not in an in-place state, determining that the mop module is in a disassembled state, in a case where the current working mode of the cleaning device does not comprise mopping work.

[0054] Optionally, after determining that the mop module is in a disassembled state, the method further comprises:

[0055] recording a disassembled position of the mop module;

[0056] when the current working mode of the cleaning device returns to comprising mopping work, controlling the cleaning device to move to the disassembled position to perform a mop module installation operation, and after confirming that the mop module installation is successful, resuming the working of the cleaning device; or,

[0057] When the cleaning device enters the pile returning mode, the cleaning device is controlled to move to the dismounting position to perform a mop module installation operation, and after confirming that the mop module installation is successful, the cleaning device is controlled to return to the pile.

[0058] When the cleaning device enters the pile returning mode, the cleaning device is controlled to return to the pile, and a mop module dismounting prompt information is output based on the dismounting position.

[0059] According to another aspect of the present application, a cleaning device control device based on the in-place state of a mop module is provided, wherein the device comprises:

[0060] a state monitoring module configured to monitor the in-place state of a mop module in a cleaning device;

[0061] a position determining module configured to determine a searching position of the mop module when it is monitored that the mop module is in a falling state;

[0062] a mop installation module configured to control a mop module connecting mechanism of the cleaning device to perform a mop module installation operation at the searching position to attempt to install the mop module.

[0063] According to still another aspect of the present application, a storage medium having a computer program stored thereon is provided, wherein the program is executed by a processor to implement the above-mentioned cleaning device control method based on the in-place state of a mop module.

[0064] According to still another aspect of the present application, a cleaning device is provided, comprising a storage medium, a processor, and a computer program stored in the storage medium and executable on the processor, wherein the processor implements the above-mentioned cleaning device control method based on the in-place state of a mop module when executing the program.

[0065] The above description is only a summary of the technical solutions of the present application, in order to more clearly understand the technical means of the present application, the specific embodiments of the present application can be implemented according to the content of the description, and in order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0066] The drawings described herein are used to provide further understanding of the present application, and form a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application, and do not constitute an improper limitation on the present application. In the drawings:

[0067] FIG. 1 shows a flowchart of a cleaning device control method based on the in-place state of a mop module according to an embodiment of the present application;

[0068] FIG. 2 shows a flow diagram of another cleaning equipment control method based on the in-place state of the mop module according to an embodiment of the present application;

[0069] FIG. 3 shows a flow diagram of another cleaning equipment control method based on the in-place state of the mop module according to an embodiment of the present application;

[0070] FIG. 4 shows a flow diagram of another cleaning equipment control method based on the in-place state of the mop module according to an embodiment of the present application;

[0071] FIG. 5 shows a flow diagram of another cleaning equipment control method based on the in-place state of the mop module according to an embodiment of the present application;

[0072] FIG. 6 shows a flow diagram of another cleaning equipment control method based on the in-place state of the mop module according to an embodiment of the present application;

[0073] FIG. 7 shows a structural diagram of a cleaning equipment control device based on the in-place state of the mop module according to an embodiment of the present application. DETAILED DESCRIPTION

[0074] The present application will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0075] In the present embodiment, a cleaning equipment control method based on the in-place state of the mop module is provided, as shown in FIG. 1, the method comprises:

[0076] Step 101, monitoring the in-place state of the mop module in the cleaning equipment.

[0077] Step 102, when it is monitored that the mop module is in a falling-off state, determining a searching position of the mop module.

[0078] Step 103, controlling the mop module connecting mechanism of the cleaning equipment to perform a mop module installation operation at the searching position to attempt to install the mop module.

[0079] The cleaning equipment control method based on the in-place state of the mop module provided by the present embodiment is used to automatically find the fallen-off mop and reinstall it when the mop falls off, so as to solve the problem that the falling-off of the mop of the existing cleaning equipment affects the cleaning effect.

[0080] Specifically, in this embodiment, the cleaning device is provided with a mop module, and the mop module is connected with the cleaning device through a mop module connecting mechanism, which can be a suction cup or a design that fits together. When passing through obstacles or uneven ground, the mop module may be separated from the cleaning device. Based on this, the embodiment is provided with a state monitoring module on the cleaning device, which is used to monitor the in-place state of the mop module in real time. If it is monitored that the mop module has fallen off, the cleaning device will automatically find and try to install the mop module. During the automatic finding process, the finding position can be determined based on the working mode and motion trajectory of the cleaning device, and then the mop module is found in the area limited by the finding position. For example, the mop module can be found along the original route of the motion trajectory on the return route; the mop module can also be found during the traversal of each position in the area; the finding range can also be gradually refined by using the bisection method to divide the area into two parts.

[0081] By applying the technical solution of the embodiment, the in-place state of the mop module is monitored, and when it is monitored that the mop module has fallen off, the cleaning device automatically finds and tries to install the mop module, solving the problem of the mop falling off the existing sweeping robot, and avoiding the influence of the mop falling off on the cleaning effect. On this basis, when the mop module is monitored to have fallen off, the embodiment first determines the finding position, and then performs the finding operation of the mop module within the range limited by the finding position, without the need to find in a large range of the entire room, saving time and improving the finding efficiency.

[0082] Further, as a refinement and extension of the specific implementation of the above embodiment, in order to completely describe the specific implementation process of the embodiment, another cleaning device control method based on the in-place state of the mop module is provided, as shown in FIG. 2, which includes:

[0083] Step 201, monitoring the in-place state of the mop module in the cleaning device.

[0084] Step 202, when it is monitored that the mop module is in a falling state and the cleaning device is currently in a stationary state, determining the current position of the cleaning device as a fixed finding position of the mop module, wherein the finding position includes the fixed finding position.

[0085] In step 203, when the search position is the fixed search position, the mop module connecting mechanism of the cleaning device is controlled to descend at the fixed search position and perform the mop module installation operation; when it is detected that the mop module installation is successful, the cleaning device is controlled to perform an obstacle avoidance action, and when the obstacle avoidance action is completed, the mop module connecting mechanism is controlled to ascend.

[0086] In this embodiment, if the mop module is in a falling state and the cleaning device is currently in a stationary state, it can be considered that the cleaning device has not been displaced after the mop module falls. Based on this, the mop module can be searched at the current position of the cleaning device and the surrounding positions.

[0087] Specifically, the current position of the cleaning device is taken as the fixed search position of the mop module, the position of the cleaning device is kept unchanged, the mop module connecting mechanism is directly controlled to descend and perform the mop module installation operation to attempt to install the mop module. If the installation is not successful, the search position of the mop module can also be determined based on the fixed search position, and the search position is a region containing the fixed search position. For example, after determining that the current position of the cleaning device is the fixed search position, a circular region with the fixed search position as the center and 0.5 meters as the radius is determined as the search position; a rectangular region with the fixed search position as the center and 0.5 meters as the side length is determined as the search position. It can be understood that the shape and size of the search position can be set according to actual application scenarios and device models.

[0088] In addition, after the mop module is found and successfully installed, in order to avoid it from falling again due to the same obstacle, the cleaning device is first controlled to perform an obstacle avoidance action to avoid and bypass the obstacle, and then the mop module connecting mechanism is controlled to ascend.

[0089] Specifically, in step 203, the obstacle avoidance action includes a rotating obstacle avoidance action or a moving obstacle avoidance action. Accordingly, the cleaning device is controlled to perform the rotating obstacle avoidance action, including:

[0090] In step 203-a, a target rotating direction is determined based on the relative position of the fallen mop module on the cleaning device, and the cleaning device is controlled to rotate by a preset angle in the target rotating direction;

[0091] The cleaning device is controlled to perform the moving obstacle avoidance action, including:

[0092] In step 203-b, a target moving direction is determined based on the relative position of the fallen mop module on the cleaning device, and the cleaning device is controlled to move by a preset distance in the target moving direction.

[0093] In this embodiment, the obstacle avoidance action can be a rotating obstacle avoidance action or a moving obstacle avoidance action. The rotating obstacle avoidance action is to rotate the cleaning device to avoid the obstacle, for example, if the mop module is detached due to the carpet being clamped between the cleaning device and the mop module, the cleaning device can be rotated by a preset angle and then the mop module connecting mechanism is lifted to avoid the carpet.

[0094] In addition, the moving obstacle avoidance action is to move the cleaning device by a certain distance to avoid the current position, for example, if the mop is detached due to the mop module being clamped by the cabinet leg, the cleaning device can be moved to a position away from the cabinet leg, and then the mop module connecting mechanism is lifted to avoid the cabinet leg.

[0095] In the specific application process, first, the target rotating direction or the target moving direction is determined based on the relative position of the mop module on the cleaning device, for example, if the left mop is detached, the right side can be determined as the target rotating direction / target moving direction, and the cleaning device is rotated / moved to the right to avoid the obstacle. In addition, the mop module can be more firmly fixed on the cleaning device through friction or inertia to improve the stability of the mop module. It can be understood that the specific target rotating direction or target moving direction may vary depending on the model of the cleaning device.

[0096] Further, as a refinement and extension of the specific implementation of the above embodiment, in order to fully describe the specific implementation process of the embodiment, another cleaning device control method based on the in-place state of the mop module is provided, as shown in FIG. 3, the method comprises:

[0097] Step 301, monitoring the in-place state of the mop module in the cleaning device.

[0098] Step 302, when it is monitored that the mop module is in a detached state and the cleaning device is currently in a moving state, the moving trajectory of the cleaning device is determined as the searching trajectory of the mop module, wherein the searching position comprises the searching trajectory.

[0099] Step 303, in the case where the searching position is the searching trajectory, the cleaning device is controlled to move along the searching trajectory, and during the movement, the mop module connecting mechanism is controlled to perform installation exploration every time it moves by a preset distance until the mop module is detected to be successfully installed or the movement along the searching trajectory is completed, wherein the installation exploration comprises controlling the mop module connecting mechanism to descend and perform the mop module installation operation, and controlling the mop module connecting mechanism to rise when the mop module is not detected to be successfully installed.

[0100] In this embodiment, if the mop module is in a falling state and the cleaning device is currently in a moving state, it can be considered that the mop module falls during movement, and the cleaning device is displaced after the mop module falls. Based on this, the mop module can be searched in the moving track of the cleaning device and the surrounding positions.

[0101] Specifically, the moving track of the cleaning device is taken as the searching track of the mop module, and the searching position of the mop module is determined based on the searching track, which is a region containing the fixed searching track. For example, the searching track can be taken as the central axis, and the region within the fixed range left and right of the searching track can be taken as the searching position.

[0102] In the specific searching process, the cleaning device returns along the searching track, and every time it moves a preset distance, it performs an installation exploration, controls the mop module connecting mechanism to descend and attempts to install the mop module. If the mop module is successfully installed or has moved to the end of the searching track, the searching is ended; otherwise, the mop module connecting mechanism is lifted, the cleaning device continues to move along the searching track, and the installation exploration process is repeated.

[0103] Further, as a refinement and expansion of the specific implementation of the above embodiment, in order to completely describe the specific implementation process of the embodiment, another cleaning device control method based on the in-place state of the mop module is provided, as shown in FIG. 4, which includes:

[0104] Step 401, monitoring the in-place state of the mop module in the cleaning device.

[0105] Step 402, when it is monitored that the mop module is in a falling state and the cleaning device is currently in a moving state, based on the detection data of a preset detection module of the cleaning device, the searching interval of the mop module is determined, wherein the preset detection module includes a vision module and / or an electronic tag sensing module, and the searching position includes the searching interval.

[0106] Step 403, in the case that the searching position is the searching interval, after controlling the cleaning device to move to the searching interval, the installation exploration is performed in the searching interval until the installation of the mop module is detected to be successful or the traversal of the searching interval is ended, wherein the installation exploration includes controlling the mop module connecting mechanism to descend and performing the mop module installation operation, and controlling the mop module connecting mechanism to rise when the installation of the mop module is not detected to be successful.

[0107] In this embodiment, if the mop module is in a falling state and the cleaning device is currently in a moving state, it can be considered that the mop module falls during movement, and the cleaning device moves after the mop module falls, and the mop module may not be found at the location of the cleaning device. Based on this, the mop module can be found by using the visual module and / or electronic tag sensing module.

[0108] Specifically, the camera of the visual module captures an image of the environment around the cleaning device, and the approximate position of the mop module is identified in the image using image processing technology. Then, the approximate position is used as a search position, and the search interval of the mop module is determined based on the search position, wherein the search position is a region containing the search interval. If the mop module has a built-in sensing tag, the position of the mop module can also be sensed by using the electronic tag sensing module. It can be understood that the closer the distance between the mop module and the mop module, the stronger the sensing. Based on this, the search position corresponding to the mop module can be determined, and then the search interval can be determined.

[0109] In addition, the search interval can also be determined by combining the visual module and the electronic tag sensing module. For example, the visual module does not find the mop module within the camera's shooting range, but captures the traces left by the mop module after mopping. Then, the possible direction of the mop module can be inferred according to the traces, and then the electronic tag sensing module is used to sense the mop module at the original position. Then, the electronic tag sensing module is used again to sense the mop module after moving a distance in this direction. If the sensing is stronger, it can be considered that the search direction is correct, and the search interval is further determined based on this direction.

[0110] In the specific search process, the cleaning device traverses the search position according to a preset traversal route, and performs an installation exploration every preset distance. The mop module connecting mechanism is lowered and the mop module is tried to be installed. If the mop module is successfully installed or the entire area of the search position has been traversed, the search is ended; otherwise, the mop module connecting mechanism is lifted, and the operation of traversing the search position is continued and the process of installation exploration is repeated. The preset traversal route can be set according to the cleaning device model or the room layout, for example, the traversal route can be designed based on depth-first or breadth-first algorithm.

[0111] Further, as a refinement and extension of the specific implementation of the above embodiment, in order to completely describe the specific implementation process of the embodiment, another cleaning device control method based on the in-place state of the mop module is provided, as shown in FIG. 5, the method comprises:

[0112] Step 501, monitoring the in-place state of the mop module in the cleaning device.

[0113] Step 502, when it is monitored that the mop module is in a falling state, obtaining the working state data of the cleaning device as falling state data.

[0114] Step 503, record the current device working data of the cleaning device, wherein the device working data comprises a working position and a working progress; and determine a searching position of the mop module.

[0115] Step 504, control a mop module connecting mechanism of the cleaning device to perform a mop module installation operation at the searching position to attempt to install the mop module.

[0116] Step 505, when it is detected that the mop module is successfully installed, control the cleaning device to resume working based on the device working data; and if it is not detected that the mop module is successfully installed, output a mop module falling prompt information based on the searching position.

[0117] Step 506, when it is detected that the mop module is successfully installed, obtain a falling position of the mop module, and determine falling information of the mop module based on the falling position and the falling state data; add the falling information to historical falling information, and update easy-falling area information corresponding to the mop module according to the historical falling information.

[0118] Step 507, during working of the cleaning device, detect whether the cleaning device is located in an easy-falling area based on the easy-falling area information; and control the mop module according to an anti-falling strategy when the cleaning device is located in the easy-falling area.

[0119] In this embodiment, if there are obstacles such as carpets and wires in a room, the cleaning device is likely to frequently fall at the positions of the obstacles. Based on this, the easy-falling area of the mop module can be recorded, and the cleaning work can be optimized according to the easy-falling area information. The mop module is controlled according to the anti-falling strategy in the easy-falling area to avoid frequent falling of the mop module, and a better cleaning effect is achieved.

[0120] The cleaning device monitors the in-place state of the mop module in real time. If it is detected that the mop module is in a falling state, the current working state data of the cleaning device is obtained and recorded as falling state data, which can be used for optimizing the cleaning work to reduce falling of the mop module. The falling mop module information is used. The device working data of the cleaning device is also obtained, so that the cleaning work can be resumed based on the working position and the working progress in the device working data after the mop module is successfully reinstalled. Otherwise, if the mop module fails to be installed, a falling prompt information of the mop module can be output based on the searching position. The prompt information can include the searching position of the mop module, the falling time, the current working progress, and the like. The user can find and install the mop module based on the prompt information. After the mop module is successfully installed, the cleaning device can automatically resume the cleaning work.

[0121] In the specific optimization process, based on the falling position and falling state data of the mop module, falling information of the mop module can be determined, and historical falling information of the mop module can be counted, so that it can be determined which area is an easy falling area of the mop module, and then a corresponding anti-falling strategy is executed in the area. For example, if the mop module falls at the table leg, the position of the table leg is recorded as the falling position, and the falling state data corresponding to this falling is recorded, and these data are added to the historical falling information of the mop module as new falling information. If it is found based on the historical falling information that the mop module falls at the table leg more frequently or more frequently, an easy falling area can be determined based on the position of the table leg, and the easy falling area is an area including the position of the table leg.

[0122] In step 506, the historical falling information is used to update the easy falling area information corresponding to the mop module, including:

[0123] In step 5061, if the falling position corresponding to the newly added falling information is in any easy falling area, the falling area corresponding to the falling position is used to update the any easy falling area; if the falling position corresponding to the newly added falling information is in any historical falling area, the falling area corresponding to the falling position is used to update the any historical falling area, and the falling statistical number corresponding to the any historical falling area is increased by one. When the falling statistical number corresponding to any historical falling area is greater than a preset number, the any historical falling area is marked as an easy falling area; otherwise, the falling area corresponding to the falling position is used to generate a historical falling area.

[0124] In this step, the easy falling area is updated according to the historical falling information of the mop module. Specifically, if the falling position corresponding to the newly added falling information is in a certain easy falling area, it is determined whether the nearby area of the new falling position is in the easy falling area. If not, the easy falling area is expanded to include the nearby area of the falling position, for example, when there is a new falling position in the easy falling area, and a part of the nearby area of the falling position is not in the easy falling area, this part is added to the easy falling area to obtain the updated easy falling area. The nearby area of the falling position can be a circle or a polygon with the falling position as the center and a preset length as the radius. If the falling position corresponding to the newly added falling information is in a certain historical falling area, and the historical falling area is not an easy falling area, the falling statistical number corresponding to the historical falling area is increased by one, until the falling statistical number corresponding to the historical falling area is greater than a preset number, and the historical falling area is upgraded to an easy falling area. If the newly added falling position is an area where no mop module has ever fallen, a corresponding historical falling area is generated based on the falling position.

[0125] For example, the floor of the restaurant is provided with a socket, and the mop module has fallen off at the socket multiple times. The socket is a falling area. In addition, the mop module has fallen off at the table leg in the restaurant, and the table leg is a historical falling area. If the mop module of the cleaning device falls off again, and the falling position is at the socket, a nearby area of the falling position is divided with the socket as the center and 30 cm as the radius. If a part of the nearby area is not in the current falling area, the union of the part and the current falling area is taken as a new falling area. Otherwise, the range of the falling area is not adjusted. If the mop module of the cleaning device falls off again, and the falling position is at the table leg, the falling statistics number corresponding to the historical falling area of the table leg position is increased by one. Whether the falling statistics number reaches a preset number is determined. If yes, the historical falling area corresponding to the table leg position is marked as a falling area. If the mop module of the cleaning device falls off again, and the falling position is at a sticky oil stain, the position is recorded as a historical falling area.

[0126] In step 507, the mop module is controlled according to the anti-falling strategy, including:

[0127] In step 5071, in response to the lifting demand of the mop module, the cleaning device is controlled to stay in place, the lifting action of the mop module is directly controlled to be completed, or the cleaning device is controlled to perform an obstacle avoidance action and then the lifting action of the mop module is controlled to be completed. After the lifting action of the mop module is completed, the working of the cleaning device is restored. In addition, in response to the lifting demand of the mop module, the falling risk prompt information of the mop module is output based on the falling area.

[0128] During the cleaning work, the anti-falling strategy is performed in the falling area. Specifically, if the lifting request of the mop module is received in the falling area, the cleaning device is controlled to stay in place, and then moves after the lifting action of the mop module is completed. Through such a control strategy, if the mop module falls off during the lifting process, it will definitely fall in the original place, which is convenient for finding and reinstalling the fallen mop module. In addition, the cleaning device can also be controlled to perform an obstacle avoidance action and then complete the lifting action. Through such a control strategy, the cleaning device is prevented from moving and performing the lifting operation in the falling area, so that the mop module is not stuck and then falls off. In addition, if the lifting request of the mop module is received in the falling area, the corresponding falling risk prompt information of the mop module can also be output to prompt the user that there is a risk of falling of the mop in the current area. If the user issues a request to continue the lifting operation, the cleaning device can complete the corresponding lifting operation based on the request information of the user. If the mop module falls off during the lifting process, the user can also know the approximate falling position of the mop module based on the risk prompt information.

[0129] The falling state data includes falling posture data of the cleaning device. Correspondingly, in step 5071, the mopping module is directly controlled to complete the lifting action, or the cleaning device is controlled to perform an obstacle avoidance action, and then the mopping module is controlled to complete the lifting action, including:

[0130] In step 50711, if the current posture data of the cleaning device does not match the falling posture data, the mopping module is directly controlled to complete the lifting action; if the current posture data of the cleaning device matches the falling posture data, the cleaning device is controlled to perform an obstacle avoidance action, and then the mopping module is controlled to complete the lifting action.

[0131] In this step, the falling state data includes falling posture data of the cleaning device, for example, falling during the lifting of the mopping module, falling after lifting, falling during the lowering of the mopping module, falling after lowering, speed and acceleration when falling, etc. This data can be used to optimize the lifting action of the mopping module in the area prone to falling. Specifically, if the cleaning device receives the lifting demand of the mopping module, and the current posture data of the cleaning device does not match the falling posture data, it is considered that the lifting operation is performed in the current posture, and the probability of the mopping falling is not high, so the lifting action of the mopping module is directly completed; otherwise, it is considered that the lifting operation is performed in the current posture, and the probability of the mopping falling is high, so the cleaning device is controlled to perform an obstacle avoidance operation, and then the lifting action of the mopping module is performed after avoiding the obstacle.

[0132] In step 50711, after performing the obstacle avoidance action, the mopping module is controlled to complete the lifting action, including:

[0133] According to the falling mopping module information, the obstacle avoidance rotation direction is determined, and after the cleaning device is controlled to rotate based on the obstacle avoidance rotation direction, the mopping module is controlled to complete the lifting action; or, according to the falling mopping module information, the obstacle avoidance movement direction is determined, and after the cleaning device is controlled to move based on the obstacle avoidance movement direction, the mopping module is controlled to complete the lifting action.

[0134] Specifically, if the cleaning device receives the lifting demand of the mopping module in the area prone to falling, and the current posture data of the cleaning device matches the falling posture data, it is considered that the lifting operation in the current situation is likely to cause the mopping module to fall, so the obstacle avoidance operation is performed based on the falling information of the mopping module first, and then the lifting of the mopping module is performed after avoiding the obstacle. The specific execution process of the obstacle avoidance action is similar to the foregoing steps, and will not be described here.

[0135] Further, as a refinement and expansion of the specific implementation manner of the foregoing embodiment, in order to completely describe the specific implementation process of the embodiment, another cleaning device control method based on the in-place state of the mopping module is provided, as shown in FIG. 6. The method includes:

[0136] Step 601, monitoring the in-place state of the mop module in the cleaning device.

[0137] Step 602, in the case that the current working mode of the cleaning device includes mopping work, when it is monitored that the mop module is not in the in-place state, it is determined that the mop module is in a falling state; the search position of the mop module is determined; the mop module connecting mechanism of the cleaning device is controlled to perform a mop module installation operation at the search position to attempt to install the mop module.

[0138] Step 603, in the case that the current working mode of the cleaning device does not include mopping work, when it is monitored that the mop module is not in the in-place state, it is determined that the mop module is in a disassembled state; and the disassembled position of the mop module is recorded.

[0139] Step 604, when the current working mode of the cleaning device returns to include mopping work, the cleaning device is controlled to move to the disassembled position to perform a mop module installation operation, and after confirming that the mop module is successfully installed, the working of the cleaning device is resumed; or, when the cleaning device enters a back-to-base mode, the cleaning device is controlled to move to the disassembled position to perform a mop module installation operation, and after confirming that the mop module is successfully installed, the cleaning device is controlled to back to the base; or, when the cleaning device enters a back-to-base mode, the cleaning device is controlled to back to the base, and a mop module disassembly prompt information is output based on the disassembled position.

[0140] In this embodiment, the mop module not being in place can include a variety of different cases, for example, in order to prevent a wet mop from wetting the carpet, the automatic cleaning device can actively disassemble the mop module, and then install the mop module after the carpet cleaning is completed. Based on this, the out-of-place state of the mop module can be refined, for example, if the current working mode of the cleaning device includes mopping work, that is, the cleaning device needs to use the mopping module to complete the current work, therefore, if the mopping module is not in place, it can be considered that the mopping module has fallen, and the method in the foregoing embodiment can be used to find and reinstall the mopping module; if the current working mode of the cleaning device does not include mopping, that is, the cleaning device does not need to use the mopping module to complete the current work, therefore, if the mopping module is not in place, it can be considered that the mopping module is actively disassembled, and at this time, there is no need to perform the operation of finding the mopping module.

[0141] If the mopping module is actively detached, that is, the mop module is in a detached state, the detached position of the mop module is recorded first, and then if the current working mode of the cleaning device changes and includes mopping work, the cleaning device can be controlled to move to the detached position and reinstall the mop module to complete the mopping work. In addition, if the working mode changes to the charging pile mode, the cleaning device can be controlled to move to the detached position and reinstall the mop module, and then return to the charging pile together with the mop module, charge and enter the standby state, and wait for the next cleaning work. The cleaning device can also be directly controlled to return to the charging pile, and a detachment prompt information is output to prompt the user of the detached position of the mop module, so that the user can manually pick up the mop module.

[0142] By applying the technical solution of the embodiment, the in-place state of the mop module is monitored, and when it is monitored that the mop module is not in place, it is further judged whether the mop module is dropped or actively detached according to the working mode, and different processing strategies are set according to the judgment result to meet the business needs of various cleaning modes. When the mop module is monitored to be dropped, the mop module is automatically found and tried to be installed, solving the problem of the mop module falling off the existing sweeping robot, and avoiding the influence of the mop module falling off on the cleaning effect. On this basis, when the mop module is monitored to be dropped, the finding position is first determined, and then the finding operation of the mop module is performed within the range limited by the finding position, without the need to find in a large range of the whole room, saving time and improving the finding efficiency. In addition, the easy-to-drop position marker is designed in the embodiment, and the easy-to-drop area or the historical drop area is updated according to the drop condition of the mop module. Through such design, the area where the mop module is easy to drop is updated in real time, and the mop module adopts the anti-drop strategy in this area, the probability of the mop module dropping in this area is reduced through the anti-drop strategy, the stability in cleaning work is further improved, and the cleaning efficiency is improved.

[0143] Further, as a specific implementation of the method of FIG. 1, the embodiment of the present application provides a cleaning device control device based on the in-place state of the mop module, as shown in FIG. 7, the device comprises:

[0144] a state monitoring module for monitoring the in-place state of the mop module in the cleaning device;

[0145] a position determination module for determining the finding position of the mop module when it is monitored that the mop module is in a dropped state;

[0146] a mop installation module for controlling the mop module connecting mechanism of the cleaning device to perform a mop module installation operation at the finding position to try to install the mop module.

[0147] In a specific application scenario, the position determination module can be configured to:

[0148] determining a current position of the cleaning device as a fixed finding position of the mop module when it is monitored that the mop module is in the falling state and the cleaning device is in a stationary state, wherein the finding position comprises the fixed finding position;

[0149] determining a moving track of the cleaning device as a finding track of the mop module when it is monitored that the mop module is in the falling state and the cleaning device is in a moving state, wherein the finding position comprises the finding track; or

[0150] determining a finding range of the mop module based on detection data of a preset detection module of the cleaning device when it is monitored that the mop module is in the falling state and the cleaning device is in a moving state, wherein the preset detection module comprises a vision module and / or an electronic tag sensing module, and the finding position comprises the finding range.

[0151] In a specific application scenario, the mop installation module is configured to:

[0152] controlling the mop module connecting mechanism of the cleaning device to descend and perform the mop module installation operation at the fixed finding position;

[0153] controlling the cleaning device to perform an obstacle avoidance action when it is detected that the mop module installation is successful, and controlling the mop module connecting mechanism to ascend when the obstacle avoidance action is performed.

[0154] In a specific application scenario, the obstacle avoidance action comprises a rotating obstacle avoidance action or a moving obstacle avoidance action.

[0155] In a specific application scenario, the mop installation module is further configured to:

[0156] determining a target rotating direction based on the relative position of the fallen mop module on the cleaning device, and controlling the cleaning device to rotate a preset angle in the target rotating direction;

[0157] controlling the cleaning device to perform a moving obstacle avoidance action, comprising:

[0158] determining a target moving direction based on the relative position of the fallen mop module on the cleaning device, and controlling the cleaning device to move a preset distance in the target moving direction.

[0159] In a specific application scenario, the mop installation module is further configured to:

[0160] controlling the cleaning device to move along the searching track, and controlling the mop module connecting mechanism to perform installation exploration every time the mop module connecting mechanism moves a preset distance, until the installation of the mop module is detected to be successful or the cleaning device moves along the searching track to an end, wherein the installation exploration comprises controlling the mop module connecting mechanism to lower and perform the installation operation of the mop module, and controlling the mop module connecting mechanism to rise when the installation of the mop module is not detected to be successful.

[0161] In a specific application scenario, the mop installation module is further configured to:

[0162] controlling the cleaning device to move to the searching interval, and performing installation exploration in the searching interval until the installation of the mop module is detected to be successful or the cleaning device ends the traversal of the searching interval, wherein the installation exploration comprises controlling the mop module connecting mechanism to lower and perform the installation operation of the mop module, and controlling the mop module connecting mechanism to rise when the installation of the mop module is not detected to be successful.

[0163] In a specific application scenario, the device further comprises a cleaning control module configured to:

[0164] recording current device working data of the cleaning device, wherein the device working data comprises a working position and a working progress; and when the installation of the mop module is detected to be successful, controlling the cleaning device to resume work based on the device working data.

[0165] In a specific application scenario, the device further comprises a prompt module configured to:

[0166] if the installation of the mop module is not detected to be successful, outputting a prompt information of the mop module falling based on the searching position.

[0167] In a specific application scenario, the device further comprises an optimization module configured to:

[0168] when the mop module is detected to be in a falling state, obtaining working state data of the cleaning device as falling state data;

[0169] when the installation of the mop module is detected to be successful, obtaining a falling position of the mop module, and determining falling information of the mop module based on the falling position and the falling state data;

[0170] adding the falling information to historical falling information, and updating easy-falling area information corresponding to the mop module according to the historical falling information;

[0171] and, based on the easy-falling area information, detecting whether the cleaning device is located in an easy-falling area during working of the cleaning device;

[0172] in a case that the cleaning device is located in the easy-falling area, controlling the mop module according to a falling-prevention strategy.

[0173] In a specific application scenario, the optimization module is configured to:

[0174] if the falling position corresponding to the newly added falling information is located in any easy-falling area, updating the any easy-falling area based on the falling area corresponding to the falling position;

[0175] if the falling position corresponding to the newly added falling information is located in any historical falling area, updating the any historical falling area based on the falling area corresponding to the falling position, and adding one to the falling statistical number corresponding to the any historical falling area, wherein, when the falling statistical number corresponding to the any historical falling area is greater than a preset number, the any historical falling area is marked as an easy-falling area;

[0176] otherwise, generating a historical falling area based on the falling area corresponding to the falling position.

[0177] In a specific application scenario, the optimization module is configured to:

[0178] in response to a lifting demand for the mop module, controlling the cleaning device to stay in place, directly controlling the mop module to complete a lifting action, or controlling the cleaning device to perform an obstacle avoidance action and then controlling the mop module to complete the lifting action, and resuming the working of the cleaning device after the mop module completes the lifting action; and / or,

[0179] in response to the lifting demand for the mop module, outputting a falling risk prompt information of the mop module based on the easy-falling area.

[0180] In a specific application scenario, the falling state data includes falling posture data of the cleaning device; and the optimization module is configured to:

[0181] if the current posture data of the cleaning device does not match the falling posture data, directly controlling the mop module to complete the lifting action;

[0182] if the current posture data of the cleaning device matches the falling posture data, controlling the cleaning device to perform an obstacle avoidance action and then controlling the mop module to complete the lifting action.

[0183] In a specific application scenario, the falling state data further includes falling mop module information; and the optimization module is configured to:

[0184] determining an obstacle avoidance rotating direction according to the mop module falling information, and controlling the cleaning equipment to rotate based on the obstacle avoidance rotating direction, and then controlling the mop module to complete the lifting action; or

[0185] determining an obstacle avoidance moving direction according to the mop module falling information, and controlling the cleaning equipment to move based on the obstacle avoidance moving direction, and then controlling the mop module to complete the lifting action.

[0186] In a specific application scenario, the position determining module is further configured to:

[0187] In a case where the current working mode of the cleaning equipment includes mopping work, when it is monitored that the mop module is not in the in-place state, it is determined that the mop module is in a falling state.

[0188] In a case where the current working mode of the cleaning equipment does not include mopping work, when it is monitored that the mop module is not in the in-place state, it is determined that the mop module is in a disassembled state.

[0189] In a specific application scenario, the mop installing module is further configured to:

[0190] record the disassembled position of the mop module;

[0191] when the current working mode of the cleaning equipment returns to include mopping work, control the cleaning equipment to move to the disassembled position to perform a mop module installation operation, and after confirming that the mop module installation is successful, restore the working of the cleaning equipment; or

[0192] when the cleaning equipment enters a back-to-pole mode, control the cleaning equipment to move to the disassembled position to perform a mop module installation operation, and after confirming that the mop module installation is successful, control the cleaning equipment to back to the pole; or

[0193] when the cleaning equipment enters a back-to-pole mode, control the cleaning equipment to back to the pole, and output a mop module disassembly prompt information based on the disassembled position.

[0194] It should be noted that other corresponding descriptions of the functions of the cleaning equipment control device based on the in-place state of the mop module provided in the embodiments of the present application can refer to the corresponding descriptions in the methods of FIGS. 1 to 6, and will not be described here.

[0195] The embodiment of the present application also provides a cleaning device, which can be a sweeping robot or the like. The cleaning device is connected with the mop module through a mop module connecting mechanism. The cleaning device comprises a processor and a memory. The processor of the cleaning device is used to provide computing and control capabilities. The memory of the cleaning device stores an operating system, a computer program and a database. The computer program is executed by the processor to implement the steps in the method embodiments.

[0196] Those skilled in the art can understand that the structure of the cleaning device described above is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the cleaning device to which the scheme of the present application is applied. The specific cleaning device can comprise more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0197] In one embodiment, a computer readable storage medium is provided. The computer readable storage medium can be non-volatile or volatile, and has a computer program stored thereon. The computer program is executed by a processor to implement the steps in the method embodiments described above.

[0198] In one embodiment, a computer program product is provided, comprising a computer program. The computer program is executed by a processor to implement the steps in the method embodiments described above.

[0199] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties.

[0200] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric memory (Ferroelectric Random Access Memory, FRAM), phase change memory (Phase Change Memory, PCM), graphene memory, etc. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0201] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

[0202] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A cleaning equipment control method based on the mop module in-place state, wherein: The method comprises: Monitor the status of the mop module in the cleaning equipment; When it is detected that the mop module is in a falling state, determining a search position of the mop module; The mop module connecting mechanism of the cleaning device is controlled to perform a mop module installation operation at the search position to attempt to install the mop module.

2. The method according to claim 1, wherein When it is detected that the mop module is in a falling state, determining the search position of the mop module includes: When it is monitored that the mop module is in a falling state and the cleaning device is currently in a stationary state, the current position of the cleaning device is determined as the fixed search position of the mop module, wherein the search position includes the fixed search position.

3. The method according to claim 1, wherein When it is detected that the mop module is in a falling state, determining the search position of the mop module includes: When it is monitored that the mop module is in a falling state and the cleaning device is currently in a moving state, the moving trajectory of the cleaning device is determined as the search trajectory of the mop module, wherein the search position includes the search trajectory.

4. The method according to claim 1, wherein When it is detected that the mop module is in a falling state, determining the search position of the mop module includes: When it is monitored that the mop module is in a falling state and the cleaning device is currently in a moving state, the search interval of the mop module is determined based on the detection data of the preset detection module of the cleaning device, wherein the preset detection module includes a visual module and / or an electronic tag sensing module, and the search position includes the search interval.

5. The method according to any one of claims 2 to 4, wherein In a case where the search position is the fixed search position, controlling the mop module connection mechanism of the cleaning device to perform the mop module installation operation at the search position includes: At the fixed search position, controlling the mop module connecting mechanism of the cleaning device to descend and performing the mop module installation operation; When it is detected that the mop module is installed successfully, the cleaning device is controlled to perform an obstacle avoidance action, and when the obstacle avoidance action is completed, the mop module connecting mechanism is controlled to rise.

6. The method according to claim 4, wherein: The obstacle avoidance action includes a rotation obstacle avoidance action or a movement obstacle avoidance action.

7. The method according to claim 6, wherein: Controlling the cleaning device to perform a rotation obstacle avoidance action includes: Based on the relative position of the dropped mop module on the cleaning device, a target rotation direction is determined, and the cleaning device is controlled to rotate toward the target rotation direction by a preset angle.

8. The method according to claim 7, wherein: Controlling the cleaning device to perform a moving obstacle avoidance action includes: Based on the relative position of the dropped mop module on the cleaning device, a target moving direction is determined, and the cleaning device is controlled to move a preset distance in the target moving direction.

9. The method according to any one of claims 2 to 4, wherein: In a case where the search position is the search track, controlling the mop module connection mechanism of the cleaning device to perform the mop module installation operation at the search position includes: The cleaning device is controlled to move along the search trajectory, and during the movement process, the mop module connecting mechanism is controlled to perform installation exploration every time a preset distance is moved until it is detected that the mop module is successfully installed or the movement along the search trajectory is completed, wherein the installation exploration includes controlling the mop module connecting mechanism to descend and perform the mop module installation operation, and controlling the mop module connecting mechanism to rise when the mop module is not detected to be successfully installed.

10. The method according to any one of claims 2 to 4, wherein When the search position is the search interval, controlling the mop module connection mechanism of the cleaning device to perform the mop module installation operation at the search position includes: After controlling the cleaning device to move to the search interval, traverse the search interval to perform installation exploration until it is detected that the mop module is successfully installed or the traversal of the search interval is ended, wherein the installation exploration includes controlling the mop module connecting mechanism to descend and perform the mop module installation operation, and controlling the mop module connecting mechanism to rise when the mop module is not detected to be successfully installed.

11. The method according to claim 5, wherein: The method further comprises: controlling the mop module connection mechanism of the cleaning device, before performing the mop module installation operation at the search position; Recording the current equipment working data of the cleaning equipment, wherein the equipment working data includes working position and working progress; Accordingly, the method for controlling the mop module connection mechanism of the cleaning device, after performing the mop module installation operation at the search position, further includes: When it is detected that the mop module is installed successfully, the cleaning device is controlled to resume operation based on the device working data.

12. The method according to claim 1, wherein The method further comprises: controlling the mop module connecting mechanism of the cleaning device, after performing the mop module installation operation at the search position; If it is not detected that the mop module is installed successfully, a mop module drop prompt message is output based on the search position.

13. The method according to claim 1, wherein The method further comprises: When it is detected that the mop module is in a falling state, obtaining the working state data of the cleaning device as falling state data; When it is detected that the mop module is successfully installed, obtaining a drop position of the mop module, and determining drop information of the mop module based on the drop position and the drop status data; Adding the drop information to the historical drop information, and updating the easy-to-drop area information corresponding to the mop module according to the historical drop information; Accordingly, the method further comprises: During operation of the cleaning device, detecting whether the cleaning device is located in an easy-to-fall area based on the easy-to-fall area information; When the cleaning device is located in the easy-to-fall area, the mop module is controlled according to an anti-falling strategy.

14. The method according to claim 13, wherein: The updating of the easy-to-drop area information corresponding to the mop module according to the historical drop information includes: If the drop location corresponding to the newly added drop information is in any easy-to-drop area, then update the easy-to-drop area based on the drop area corresponding to the drop location; If the drop location corresponding to the newly added drop information is within any historical drop area, then based on the drop area corresponding to the drop location, update the aforementioned historical drop area, and increase the number of drop statistics corresponding to the aforementioned historical drop area by one. When the number of drop statistics corresponding to the aforementioned historical drop area is greater than a preset number, mark the aforementioned historical drop area as a high-prone drop area. Otherwise, a historical drop area is generated based on the drop area corresponding to the drop position.

15. The method according to claim 13, wherein: The controlling of the mop module according to the anti-drop strategy includes: In response to a demand for raising or lowering the mop module, the cleaning device is controlled to stay in place, and the mop module is directly controlled to complete the raising or lowering action, or the cleaning device is controlled to perform an obstacle avoidance action and then the mop module is controlled to complete the raising or lowering action, and after the mop module completes the raising or lowering action, the cleaning device resumes operation; and / or, In response to the lifting demand for the mop module, based on the easy-to-fall area, output mop module falling risk prompt information.

16. The method according to claim 15, wherein The falling state data includes falling posture data of the cleaning device; The directly controlling the mop module to complete the lifting action, or controlling the cleaning device to perform the obstacle avoidance action and then controlling the mop module to complete the lifting action, includes: If the current posture data of the cleaning device does not match the falling posture data, directly controlling the mop module to complete the lifting action; If the current posture data of the cleaning device matches the falling posture data, the cleaning device is controlled to perform an obstacle avoidance action and then the mop module is controlled to complete a lifting action.

17. The method according to claim 16, wherein The falling state data also includes information about the falling mop module; and the controlling the cleaning device to perform the obstacle avoidance action and then controlling the mop module to complete the lifting action includes: Determine the obstacle avoidance rotation direction according to the dropped mop module information, control the cleaning device to rotate based on the obstacle avoidance rotation direction, and then control the mop module to complete the lifting action; or, The obstacle avoidance movement direction is determined according to the dropped mop module information, and after the cleaning device is controlled to move based on the obstacle avoidance movement direction, the mop module is controlled to complete the lifting action.

18. The method according to claim 1, wherein When it is detected that the mop module is in a falling state, determining the search position of the mop module includes: In a case where the current working mode of the cleaning device includes mopping, when it is detected that the mop module is not in the in-position state, determining that the mop module is in the dropped state; In a case where the current working mode of the cleaning device does not include mopping, when it is monitored that the mop module is not in the in-place state, it is determined that the mop module is in the disassembled state.

19. The method according to claim 18, wherein After determining that the mop module is in the disassembled state, the method further includes: Recording the disassembly position of the mop module; When the current working mode of the cleaning device is restored to include mopping work, the cleaning device is controlled to move to the disassembly position to perform the mop module installation operation, and after confirming that the mop module is successfully installed, the operation of the cleaning device is restored; or When the cleaning device enters the return mode, the cleaning device is controlled to move to the disassembly position to perform the mop module installation operation, and after confirming that the mop module is successfully installed, the cleaning device is controlled to return to the pile; or, When the cleaning device enters the return-to-pile mode, the cleaning device is controlled to return to the pile, and a mop module disassembly prompt message is output based on the disassembly position.

20. A cleaning equipment control device based on the mop module in place state, wherein: The device comprises: A status monitoring module is used to monitor the status of the mop module in the cleaning equipment; a position determination module, configured to determine a search position of the mop module when detecting that the mop module is in a falling state; The mop installation module is used to control the mop module connection mechanism of the cleaning device to perform a mop module installation operation at the search position to try to install the mop module.

21. The device according to claim 20, wherein The position determination module is used to: When it is monitored that the mop module is in a falling state and the cleaning device is currently in a stationary state, the current position of the cleaning device is determined as the fixed search position of the mop module, wherein the search position includes the fixed search position.

22. The device according to claim 20, wherein The position determination module is used to: When it is monitored that the mop module is in a falling state and the cleaning device is currently in a moving state, the moving trajectory of the cleaning device is determined as the search trajectory of the mop module, wherein the search position includes the search trajectory.

23. The apparatus according to claim 20, wherein The position determination module is used to: When it is monitored that the mop module is in a falling state and the cleaning device is currently in a moving state, the search interval of the mop module is determined based on the detection data of the preset detection module of the cleaning device, wherein the preset detection module includes a visual module and / or an electronic tag sensing module, and the search position includes the search interval.

24. The device according to any one of claims 21 to 23, wherein The mop installation module is used to: At the fixed search position, controlling the mop module connecting mechanism of the cleaning device to descend and performing the mop module installation operation; When it is detected that the mop module is installed successfully, the cleaning device is controlled to perform an obstacle avoidance action, and when the obstacle avoidance action is completed, the mop module connecting mechanism is controlled to rise.

25. The apparatus according to claim 23, wherein The obstacle avoidance action includes a rotation obstacle avoidance action or a movement obstacle avoidance action.

26. The device according to claim 25, wherein The mop installation module is also used for: Based on the relative position of the dropped mop module on the cleaning device, a target rotation direction is determined, and the cleaning device is controlled to rotate toward the target rotation direction by a preset angle.

27. The device according to claim 26, wherein The mop installation module is also used for: Based on the relative position of the dropped mop module on the cleaning device, a target moving direction is determined, and the cleaning device is controlled to move a preset distance in the target moving direction.

28. The device according to any one of claims 21 to 23, wherein The mop installation module is also used for: The cleaning device is controlled to move along the search trajectory, and during the movement process, the mop module connecting mechanism is controlled to perform installation exploration every time a preset distance is moved until it is detected that the mop module is successfully installed or the movement along the search trajectory is completed, wherein the installation exploration includes controlling the mop module connecting mechanism to descend and perform the mop module installation operation, and controlling the mop module connecting mechanism to rise when the mop module is not detected to be successfully installed.

29. The device according to any one of claims 21 to 23, wherein The mop installation module is also used for: After controlling the cleaning device to move to the search interval, traverse the search interval to perform installation exploration until it is detected that the mop module is successfully installed or the traversal of the search interval is ended, wherein the installation exploration includes controlling the mop module connecting mechanism to descend and perform the mop module installation operation, and controlling the mop module connecting mechanism to rise when the mop module is not detected to be successfully installed.

30. The apparatus of claim 24, wherein: The device further comprises a cleaning control module for: Recording the current equipment working data of the cleaning equipment, wherein the equipment working data includes a working position and a working progress; and when it is detected that the mop module is successfully installed, controlling the cleaning equipment to resume work based on the equipment working data.

31. The apparatus of claim 19, wherein: The device further comprises a prompt module, which is used to: If it is not detected that the mop module is installed successfully, a mop module drop prompt message is output based on the search position.

32. The apparatus of claim 19, wherein: The device further includes an optimization module, configured to: When it is detected that the mop module is in a falling state, obtaining the working state data of the cleaning device as falling state data; When it is detected that the mop module is successfully installed, obtaining a drop position of the mop module, and determining drop information of the mop module based on the drop position and the drop status data; Adding the drop information to the historical drop information, and updating the easy-to-drop area information corresponding to the mop module according to the historical drop information; and, during operation of the cleaning device, detecting whether the cleaning device is located in an easy-to-fall area based on the easy-to-fall area information; When the cleaning device is located in the easy-to-fall area, the mop module is controlled according to an anti-falling strategy.

33. The apparatus according to claim 32, wherein The optimization module is used to: If the drop location corresponding to the newly added drop information is in any easy-to-drop area, then update the easy-to-drop area based on the drop area corresponding to the drop location; If the drop location corresponding to the newly added drop information is within any historical drop area, then based on the drop area corresponding to the drop location, update the aforementioned historical drop area, and increase the number of drop statistics corresponding to the aforementioned historical drop area by one. When the number of drop statistics corresponding to the aforementioned historical drop area is greater than a preset number, mark the aforementioned historical drop area as a high-prone drop area. Otherwise, a historical drop area is generated based on the drop area corresponding to the drop position.

34. The apparatus of claim 32, wherein: The optimization module is used to: In response to a demand for raising or lowering the mop module, the cleaning device is controlled to stay in place, and the mop module is directly controlled to complete the raising or lowering action, or the cleaning device is controlled to perform an obstacle avoidance action and then control the mop module to complete the raising or lowering action, and after the mop module completes the raising or lowering action, the cleaning device resumes operation; and / or, In response to the lifting demand for the mop module, based on the easy-to-fall area, output mop module falling risk prompt information.

35. The apparatus of claim 34, wherein: The falling state data includes falling posture data of the cleaning device; the optimization module is used to: If the current posture data of the cleaning device does not match the falling posture data, directly controlling the mop module to complete the lifting action; If the current posture data of the cleaning device matches the falling posture data, the cleaning device is controlled to perform an obstacle avoidance action and then the mop module is controlled to complete a lifting action.

36. The apparatus of claim 35, wherein: The drop status data also includes drop mop module information; the optimization module is used to: Determine an obstacle avoidance rotation direction based on the dropped mop module information, control the cleaning device to rotate based on the obstacle avoidance rotation direction, and then control the mop module to complete the lifting action; or, The obstacle avoidance movement direction is determined according to the dropped mop module information, and after the cleaning device is controlled to move based on the obstacle avoidance movement direction, the mop module is controlled to complete the lifting action.

37. The apparatus of claim 19, wherein: The position determination module is further configured to: In a case where the current working mode of the cleaning device includes mopping, when it is detected that the mop module is not in the in-position state, determining that the mop module is in the dropped state; In a case where the current working mode of the cleaning device does not include mopping, when it is monitored that the mop module is not in the in-place state, it is determined that the mop module is in the disassembled state.

38. The apparatus according to claim 37, wherein The mop installation module is also used for: Recording the disassembly position of the mop module; When the current working mode of the cleaning device is restored to include mopping work, the cleaning device is controlled to move to the disassembly position to perform the mop module installation operation, and after confirming that the mop module is successfully installed, the operation of the cleaning device is restored; or When the cleaning device enters the pile return mode, the cleaning device is controlled to move to the disassembly position to perform the mop module installation operation, and after confirming that the mop module is successfully installed, the cleaning device is controlled to return to the pile; or, When the cleaning device enters the return mode, the cleaning device is controlled to return to the pile, and a mop module disassembly prompt information is output based on the disassembly position.

39. A storage medium having a computer program stored thereon, wherein: When the computer program is executed by a processor, the method according to any one of claims 1 to 19 is implemented.

40. A cleaning device comprising a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 19 is implemented.

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