Cleaning device control method, cleaning system, electronic device, and storage medium

Abstract

The present disclosure relates to a cleaning device control method, a cleaning system, an electronic device, and a storage medium. The cleaning device control method comprises: controlling a cleaning device to perform a first cleaning operation carrying a first cleaning piece; when the first cleaning operation is finished, controlling a cleaning system to perform a cleaning piece switching operation, wherein the cleaning device belongs to the cleaning system, and the cleaning piece switching operation is used for realizing cleaning requirements for cleaning areas of different attributes or cleaning requirements to be fulfilled by means of cleaning pieces of different attributes; and when the cleaning piece switching operation is finished, controlling the cleaning device to perform a second cleaning operation carrying a second cleaning piece. The present disclosure enables the switching of different cleaning pieces for cleaning according to different cleaning operations.

Description

Cleaning device control method, cleaning system, electronic device, and storage medium Cross-reference to Related Applications

[0001] This application claims priority to Chinese Patent Application No. 2024106430789, filed May 22, 2024, the disclosure of which is incorporated herein in its entirety by this reference as part of the present application. TECHNICAL FIELD

[0002] The present application relates to the technical field of cleaning devices, and in particular to a cleaning device control method, a cleaning system, an electronic device, and a storage medium. BACKGROUND

[0003] In recent years, with the continuous development of intelligent household appliances, cleaning devices that can autonomously travel without user operation and clean the area to be cleaned, such as a robot vacuum cleaner, have been developed. Such a cleaning device has a sensor that can identify the space to be cleaned, a mop, and the like that can clean the floor. Typically, the cleaning device is configured with a set of mops to complete cleaning of a certain area during the cleaning operation, and returns to the base station to clean the cleaning element after cleaning is completed, for the next cleaning process. However, due to the increasing personalized cleaning needs, a single mop configuration cannot meet the personalized cleaning needs of users, and a single mop configuration needs to be changed.

[0004] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present disclosure, and therefore can include information that does not constitute prior art known to those of ordinary skill in the art. SUMMARY

[0005] To solve at least one of the technical problems mentioned above, the present disclosure provides a cleaning device control method, a cleaning system, an electronic device, and a storage medium.

[0006] In one aspect, the present disclosure provides a cleaning device control method, the method comprising:

[0007] controlling the cleaning device to carry a first cleaning element to perform a first cleaning operation;

[0008] in a case where the first cleaning operation is completed, controlling the cleaning system to perform a cleaning element replacement operation, the cleaning device belonging to the cleaning system, the cleaning element replacement operation being used to achieve a cleaning requirement for a cleaning area with different attributes or a cleaning requirement completed by a cleaning element with different attributes;

[0009] in a case where the cleaning element replacement operation is completed, controlling the cleaning device to carry a second cleaning element to perform a second cleaning operation.

[0010] In an optional embodiment, the properties of the cleaning areas corresponding to the first cleaning operation and the second cleaning operation are different.

[0011] In an optional embodiment, the method further includes:

[0012] Control the cleaning equipment to carry the first cleaning component and perform cleaning operations on the first cleaning area;

[0013] After the cleaning operation for the first cleaning area is completed, control the cleaning equipment to return to the base station and perform the cleaning component replacement operation;

[0014] After the cleaning component replacement operation is completed, the cleaning equipment is controlled to carry the second cleaning component to clean the second cleaning area. The cleaning sequence corresponding to the first cleaning area takes precedence over the cleaning sequence corresponding to the second cleaning area.

[0015] In one optional embodiment, the cleaning sequence for different cleaning areas is determined based on the ground material properties or degree of dirt properties corresponding to the different cleaning areas.

[0016] In one optional embodiment, the first cleaning component and the second cleaning component have different dry and wet states or materials.

[0017] In an optional embodiment, the method further includes:

[0018] Control the cleaning equipment to carry the first cleaning component and perform the first cleaning operation on the target cleaning area;

[0019] After the first cleaning operation is completed, control the cleaning system to perform a cleaning component replacement operation;

[0020] After the cleaning component replacement operation is completed, the cleaning equipment is controlled to carry the second cleaning component to perform a second cleaning operation on the target cleaning area.

[0021] In an optional embodiment, the cleaning system further includes a base station, and the cleaning component replacement operation includes:

[0022] Control the cleaning equipment to return to the base station;

[0023] Determine the presence status of the cleaning components corresponding to the cleaning tray of the base station;

[0024] Based on the presence status of the cleaning component, control the base station and cleaning equipment to perform the cleaning component replacement operation;

[0025] Once the cleaning component replacement operation is complete, control the cleaning equipment to leave the base station.

[0026] In an optional embodiment, based on the presence status of the cleaning component, the base station and cleaning equipment are controlled to perform a cleaning component replacement operation, including:

[0027] in the case that the cleaning piece presence state indicates that the second cleaning piece is present in the washing tray, controlling the cleaning device to eject the first cleaning piece so that the first cleaning piece is adsorbed on the second cleaning piece;

[0028] controlling the cleaning device to leave the base station;

[0029] controlling the base station to remove the first cleaning piece;

[0030] controlling the cleaning device to return to the base station and adsorb the second cleaning piece.

[0031] In an optional embodiment, the cleaning device ejects the first cleaning piece and adsorbs the second cleaning piece through a second moving rod, the second moving rod is provided with a second magnetic attraction piece, the second magnetic attraction piece and the magnetic attraction piece in the target cleaning piece attract each other, the target cleaning piece is the first cleaning piece or the second cleaning piece, and the magnetic attraction piece in the first cleaning piece and the second cleaning piece attract each other;

[0032] after the first cleaning piece is not in contact with the second magnetic attraction piece on the second moving rod, the attraction force between the first cleaning piece and the second cleaning piece is greater than the attraction force between the first cleaning piece and the second magnetic attraction piece, and the first cleaning piece is adsorbed above the second cleaning piece by the second moving rod;

[0033] the base station adsorbs the first cleaning piece through the first moving rod;

[0034] after the first magnetic attraction piece on the first moving rod is in contact with the first cleaning piece, the attraction force between the first magnetic attraction piece and the first cleaning piece is greater than the attraction force between the first cleaning piece and the second cleaning piece, the attraction force between the washing tray and the second cleaning piece is greater than the attraction force between the first cleaning piece and the second cleaning piece, and the first cleaning piece is adsorbed from above the second cleaning piece to the first moving rod;

[0035] after the second cleaning piece is in contact with the second magnetic attraction piece, the attraction force between the second cleaning piece and the second magnetic attraction piece is greater than the attraction force between the second cleaning piece and the washing tray, and the second cleaning piece is adsorbed from the washing tray to the second moving rod.

[0036] In an optional embodiment, based on the cleaning piece presence state, the base station and the cleaning device are controlled to perform the cleaning piece replacement operation, and the method further comprises:

[0037] in the case that the cleaning piece presence state indicates that the second cleaning piece is not present in the washing tray, controlling the cleaning device to eject the first cleaning piece so that the first cleaning piece is adsorbed on the washing tray;

[0038] controlling the cleaning device to leave the base station;

[0039] controlling the base station to eject the second cleaning piece so that the second cleaning piece is adsorbed on the first cleaning piece;

[0040] The cleaning device is controlled to return to the base station and adsorb the second cleaning element.

[0041] In an optional embodiment, the cleaning device ejects the first cleaning element through the second moving rod and adsorbs the second cleaning element, the second moving rod is provided with a second magnetic attraction element, the second magnetic attraction element and the magnetic attraction element in the target cleaning element are attracted to each other, and the target cleaning element is the first cleaning element or the second cleaning element.

[0042] In the case where the second cleaning element does not exist in the cleaning disc, after the first cleaning element is not in contact with the second magnetic attraction element on the second moving rod, the attraction force between the first cleaning element and the cleaning disc is greater than the attraction force between the first cleaning element and the second magnetic attraction element, and the first cleaning element is adsorbed into the cleaning disc by the second moving rod.

[0043] The base station ejects the second cleaning element through the first moving rod.

[0044] After the first magnetic attraction element on the first moving rod is not in contact with the second cleaning element, the attraction force between the first magnetic attraction element and the second cleaning element is smaller than the attraction force between the first cleaning element and the second cleaning element, and the second cleaning element is adsorbed above the first cleaning element by the first moving rod.

[0045] After the second cleaning element is in contact with the second magnetic attraction element, the attraction force between the second cleaning element and the second magnetic attraction element is greater than the attraction force between the second cleaning element and the first cleaning element, and the attraction force between the second cleaning element and the first cleaning element is smaller than the attraction force between the first cleaning element and the cleaning disc, and the second cleaning element is adsorbed from above the first cleaning element to the second moving rod.

[0046] In an optional embodiment, after the second cleaning operation is completed, the method further comprises: controlling the cleaning system to perform a cleaning element disassembly operation, and controlling the cleaning system to perform a cleaning element disassembly operation, comprising:

[0047] Determining the cleaning element existence state corresponding to the cleaning disc of the base station;

[0048] In the case where the cleaning element existence state indicates that the cleaning element exists in the cleaning disc, the base station is controlled to remove the cleaning element;

[0049] In the case where the cleaning element existence state indicates that the cleaning element does not exist in the cleaning disc, the cleaning device is controlled to eject the carried cleaning element so that the cleaning element is adsorbed on the cleaning disc;

[0050] The cleaning device is controlled to leave the base station.

[0051] In a second aspect, the disclosure also provides a cleaning system for implementing the cleaning device control method described above, the cleaning system comprising: a base station and a cleaning device;

[0052] The base station comprises a first moving rod;

[0053] The cleaning device comprises a second moving rod;

[0054] The first moving rod is arranged above the cleaning device accommodating cavity of the base station, and one end of the first moving rod extending into the cleaning device accommodating cavity is used for adsorbing a mop plate, and the mop plate is used for carrying a cleaning piece;

[0055] The second moving rod is arranged at the bottom of the cleaning device, and one end of the second moving rod extending out of the cleaning device is used for adsorbing the mop plate.

[0056] In an optional embodiment, the cleaning system further comprises a magnetic attraction structure;

[0057] The magnetic attraction structure comprises a first magnetic attraction piece, a second magnetic attraction piece, a third magnetic attraction piece and a fourth magnetic attraction piece;

[0058] The first magnetic attraction piece is arranged at one end of the first moving rod extending into the cleaning device accommodating cavity;

[0059] The second magnetic attraction piece is arranged at one end of the second moving rod extending out of the cleaning device;

[0060] The third magnetic attraction piece is arranged in the mop plate;

[0061] The fourth magnetic attraction piece is arranged in the cleaning plate at the bottom of the cleaning device accommodating cavity.

[0062] In an optional embodiment, when two mop plates are stacked in the cleaning plate, the attractive force between the fourth magnetic attraction piece and the third magnetic attraction piece of the second mop plate is greater than the attractive force between the third magnetic attraction piece of the first mop plate and the third magnetic attraction piece of the second mop plate, the first mop plate is the upper mop plate of the two mop plates, and the second mop plate is the lower mop plate of the two mop plates;

[0063] In the case that the first mop plate does not contact the position where the first magnetic attraction piece is arranged and there is no second mop plate in the cleaning plate, the attractive force between the first magnetic attraction piece and the third magnetic attraction piece of the first mop plate is less than the attractive force between the fourth magnetic attraction piece and the third magnetic attraction piece of the first mop plate, and the fourth magnetic attraction piece is used for adsorbing the first mop plate from the first moving rod into the cleaning plate;

[0064] In the case that the first mop plate does not contact the position where the first magnetic attraction piece is arranged and there is no second mop plate in the cleaning plate, the attractive force between the first magnetic attraction piece and the third magnetic attraction piece of the first mop plate is less than the attractive force between the third magnetic attraction piece of the first mop plate and the third magnetic attraction piece of the second mop plate, and the third magnetic attraction piece of the second mop plate is used for adsorbing the first mop plate above the second mop plate from the first moving rod;

[0065] In a case where the first mop plate is not in contact with the position where the second magnetic member is arranged and there is no second mop plate in the cleaning plate, the attractive force between the second magnetic member and the third magnetic member of the first mop plate is smaller than the attractive force between the fourth magnetic member and the third magnetic member of the first mop plate, and the fourth magnetic member is used to adsorb the first mop plate from the second moving rod to the cleaning plate.

[0066] In a case where the first mop plate is not in contact with the position where the second magnetic member is arranged and there is no second mop plate in the cleaning plate, the attractive force between the second magnetic member and the third magnetic member of the first mop plate is smaller than the attractive force between the fourth magnetic member and the third magnetic member of the first mop plate, and the fourth magnetic member is used to adsorb the first mop plate from the second moving rod to the cleaning plate.

[0067] In a case where the first mop plate is not in contact with the position where the second magnetic member is arranged and there is no second mop plate in the cleaning plate, the attractive force between the second magnetic member and the third magnetic member of the first mop plate is smaller than the attractive force between the fourth magnetic member and the third magnetic member of the first mop plate, and the fourth magnetic member is used to adsorb the first mop plate from the second moving rod to the cleaning plate.

[0068] In a case where the first mop plate is not in contact with the position where the second magnetic member is arranged and there is no second mop plate in the cleaning plate, the attractive force between the second magnetic member and the third magnetic member of the first mop plate is smaller than the attractive force between the fourth magnetic member and the third magnetic member of the first mop plate, and the fourth magnetic member is used to adsorb the first mop plate from the second moving rod to the cleaning plate.

[0069] In a case where the first mop plate is not in contact with the position where the second magnetic member is arranged and there is no second mop plate in the cleaning plate, the attractive force between the second magnetic member and the third magnetic member of the first mop plate is smaller than the attractive force between the fourth magnetic member and the third magnetic member of the first mop plate, and the fourth magnetic member is used to adsorb the first mop plate from the second moving rod to the cleaning plate.

[0070] In a case where the first mop plate is not in contact with the position where the second magnetic member is arranged and there is no second mop plate in the cleaning plate, the attractive force between the second magnetic member and the third magnetic member of the first mop plate is smaller than the attractive force between the fourth magnetic member and the third magnetic member of the first mop plate, and the fourth magnetic member is used to adsorb the first mop plate from the second moving rod to the cleaning plate.

[0071] In a third aspect, the disclosure also provides an electronic device, comprising:

[0072] a processor;

[0073] a memory for storing processor-executable instructions;

[0074] wherein the processor is configured to execute the instructions to implement the cleaning device control method described above.

[0075] In a fourth aspect, the present disclosure also provides a storage medium, which, when instructions in the storage medium are executed by a processor of an electronic device, enables the electronic device to perform the cleaning device control method described above.

[0076] The present disclosure has the following beneficial effects:

[0077] The cleaning device carries the first cleaning element to perform the first cleaning operation. In the case where the first cleaning operation ends, the cleaning system is controlled to perform a cleaning element replacement operation. The cleaning device belongs to the cleaning system, and the cleaning element replacement operation is used to achieve a cleaning requirement for a cleaning area with different attributes or a cleaning requirement completed by different attribute cleaning elements. In the case where the cleaning element replacement operation ends, the cleaning device carries the second cleaning element to perform the second cleaning operation.

[0078] The present disclosure can replace different cleaning elements for different cleaning operations in the cleaning process of the cleaning device, so as to facilitate the implementation of personalized cleaning operations.

[0079] Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the following drawings. BRIEF DESCRIPTION OF DRAWINGS

[0080] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or related art, the drawings needed in the embodiments or related art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor. The drawings herein are incorporated into the specification and form part of the specification, show embodiments consistent with the present disclosure, and together with the specification, serve to explain the principles of the present disclosure, and do not constitute undue limitation on the present disclosure.

[0081] FIG. 1 is a schematic diagram of an implementation environment according to an exemplary embodiment;

[0082] FIG. 2 is a flowchart of a cleaning device control method according to an exemplary embodiment;

[0083] FIG. 3 is a flowchart of a cleaning operation according to a cleaning sequence according to an exemplary embodiment;

[0084] FIG. 4 is a flowchart of a cleaning operation for different ground material attributes of different cleaning areas according to an exemplary embodiment;

[0085] FIG. 5 is a flowchart illustrating a cleaning operation corresponding to a dirt level attribute of different cleaning areas, according to an exemplary embodiment;

[0086] FIG. 6 is a flowchart illustrating a cleaning operation of a target cleaning area using different cleaning members, according to an exemplary embodiment;

[0087] FIG. 7 is a schematic view illustrating a stack of cleaning members, according to an exemplary embodiment;

[0088] FIG. 8 is a flowchart illustrating a mopping cloth dismounting operation of a cleaning system, according to an exemplary embodiment;

[0089] FIG. 9 is a schematic view illustrating a cleaning device control apparatus, according to an exemplary embodiment;

[0090] FIG. 10 is a schematic view illustrating a base station of a cleaning system, according to an exemplary embodiment;

[0091] FIG. 11 is a schematic view illustrating a detailed structure of a base station of a cleaning system, according to an exemplary embodiment;

[0092] FIG. 12 is a schematic view illustrating a cleaning device of a cleaning system, according to an exemplary embodiment;

[0093] FIG. 13 is a schematic view illustrating a detailed structure of a cleaning device of a cleaning system, according to an exemplary embodiment;

[0094] FIG. 14 is a block diagram of an electronic device for cleaning device control, according to an exemplary embodiment.

[0095] The following is a supplementary explanation of the drawings: 1 - base station; 101 - first moving bar; 1011 - first lifting bar; 1012 - first ejection inner bar; 102 - cleaning device accommodating cavity; 103 - washing tray; 2 - cleaning device; 201 - second moving bar; 2011 - second lifting bar; 2012 - second ejection inner bar; 3 - mopping tray. DETAILED DESCRIPTION

[0096] The technical solutions in the embodiments of the present specification will be described clearly and completely in the embodiments of the present specification in combination with the drawings in the embodiments of the present specification. Obviously, the described embodiments are only some of the embodiments of the present specification, rather than all the embodiments. Based on the embodiments in the present specification, all other embodiments obtained by those skilled in the art without creative work belong to the scope of protection of the present application.

[0097] It should be noted that the terms "first", "second" and the like in the description and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or server comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0098] Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numbers in the drawings represent functionally the same or similar elements. Although various aspects of the embodiments are illustrated in the drawings, the drawings are not necessarily drawn to scale unless specifically indicated. The word "exemplary" used herein means "serving as an example, embodiment or illustration". Any embodiment described herein as "exemplary" is not necessarily to be construed as superior or better than other embodiments.

[0099] The term "and / or" herein is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B and C can mean including any one or more elements selected from the set consisting of A, B and C.

[0100] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the specific embodiments below. Those skilled in the art should understand that the present disclosure can also be implemented without some specific details. In some examples, methods, means, elements and circuits well known to those skilled in the art are not described in detail, in order to highlight the main idea of the present disclosure.

[0101] Referring to FIG. 1, FIG. 1 is a schematic diagram of an application environment according to an exemplary embodiment. As shown in FIG. 1, the application environment can include a server 01 and a terminal 02.

[0102] In an optional embodiment, the server 01 can be used for computing processing of the cleaning device control method. Specifically, the server 01 can be a stand-alone physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud service, cloud database, cloud computing, cloud function, cloud storage, network service, cloud communication, middleware service, domain name service, security service, content delivery network (CDN), and big data and artificial intelligence platform.

[0103] In an optional embodiment, the terminal 02 can be used for computing processing in combination with the cleaning device control method of the server 01. Specifically, the terminal 02 can include, but is not limited to, electronic devices such as smart phones, desktop computers, tablet computers, notebook computers, smart speakers, digital assistants, augmented reality (AR) / virtual reality (VR) devices, and smart wearable devices. Optionally, the operating system running on the electronic device can include, but is not limited to, Android system, IOS system, Linux system, Windows system, and Unix system.

[0104] In addition, it should be noted that the application environment shown in FIG. 1 is only one application environment provided by the present disclosure, and other application environments can also be included in actual applications.

[0105] In the embodiments of the present disclosure, the server 01 and the terminal 02 described above can be connected directly or indirectly through wired or wireless communication, which is not limited in the present disclosure.

[0106] FIG. 2 is a schematic diagram of a cleaning device control method according to an exemplary embodiment. The method includes:

[0107] Step S201: Control the cleaning device to carry out a first cleaning operation with a first cleaning element.

[0108] In the embodiments of the present disclosure, the cleaning device can be a sweeping robot, and the first cleaning element can be a mop group, a roller brush, or other cleaning elements for cleaning the ground. In the case where the first cleaning element is a mop group, each mop group includes two mops located on the left and right sides of the bottom of the sweeping robot, respectively. During the cleaning process, the two mops of the first cleaning element rotate around their fixed shafts continuously, and the first cleaning element is in contact with the ground during the rotation process.

[0109] Step S202: In the case where the first cleaning operation ends, the cleaning system is controlled to perform a cleaning element replacement operation, the cleaning device belongs to the cleaning system, and the cleaning element replacement operation is used to achieve a cleaning requirement for different properties of cleaning areas or a cleaning requirement completed by different properties of cleaning elements.

[0110] In the embodiments of the present disclosure, the cleaning system includes a cleaning device and a base station. In the case where the first cleaning operation ends, the cleaning device returns to the base station to replace the cleaning element, and the cleaning element replacement operation is completed by cooperation of the cleaning device and the base station.

[0111] In the embodiments of the present disclosure, the cleaning requirement for different properties of cleaning areas can be a cleaning requirement for cleaning a plurality of cleaning areas in a cleaning order. Specifically, the cleaning order of areas with different ground material properties can be determined according to the ground material properties, and a plurality of areas with different ground material properties can be cleaned in the cleaning order. Alternatively, the cleaning order of areas with different dirt levels can be determined according to the dirt levels, and a plurality of areas with different dirt levels can be cleaned in the cleaning order. The cleaning requirement for different properties of cleaning areas can also be a requirement for dividing a same area according to dirt levels to obtain dirt level properties corresponding to different positions in the area, and then planning a cleaning path of the area in an order from light dirt to heavy dirt to complete cleaning of the area. The cleaning requirement completed by different properties of cleaning elements can be a cleaning requirement for cleaning a same cleaning area using different cleaning elements in sequence.

[0112] Step S203: In the case where the cleaning element replacement operation ends, the cleaning device is controlled to carry the second cleaning element to perform a second cleaning operation.

[0113] In the embodiments of the present disclosure, the second cleaning element can be a mop group, a roller brush or the like used for cleaning the ground. In the case where the second cleaning element is a mop group, each mop group includes two mops. In a cleaning process of a cleaning area by the cleaning device, the cleaning process includes a first cleaning operation and a second cleaning operation. The execution order of the first cleaning operation in the cleaning process is earlier than the execution order of the second cleaning operation in the cleaning process, and the first cleaning operation and the second cleaning operation are respectively completed by different cleaning elements. The cleaning element replacement operation is used to replace the first cleaning element carried by the cleaning device with the second cleaning element, so as to control the cleaning device to carry the second cleaning element to perform the second cleaning operation.

[0114] In an optional embodiment, the first cleaning operation and the second cleaning operation correspond to cleaning areas with different properties, respectively.

[0115] In the embodiments of the present disclosure, the first cleaning operation and the second cleaning operation correspond to different cleaning areas respectively, and the attributes of the cleaning areas are used to indicate the cleaning sequence corresponding to different cleaning areas. For example, the cleaning area corresponding to the first cleaning operation is the bedroom, which is the first cleaning area, and the cleaning area corresponding to the second cleaning operation is the living room, which is the second cleaning area. Alternatively, the cleaning area corresponding to the first cleaning operation is the living room, which is the first cleaning area, and the cleaning area corresponding to the second cleaning operation is the kitchen, which is the second cleaning area. The cleaning sequence can be identified automatically when the cleaning device first cleans, or manually identified by a person. The cleaning device can automatically identify the cleaning sequence by obtaining a corresponding indoor map according to its own movement path, dividing different cleaning areas according to the indoor map, and obtaining the cleaning sequence corresponding to each cleaning area according to the movement sequence. The cleaning sequence can be manually identified by a person by displaying the indoor map through a mobile device such as a mobile phone bound to the cleaning device, naming different areas on the map, and setting the cleaning sequence corresponding to each area. After the cleaning sequence is determined, the cleaning device cleans according to the set cleaning sequence. As shown in FIG. 3, the method further includes:

[0116] Step S301: Control the cleaning device to carry the first cleaning element to perform the cleaning operation on the first cleaning area.

[0117] In the embodiments of the present disclosure, when the first cleaning area is the bedroom, the cleaning device is controlled to carry the first cleaning element for cleaning the bedroom area to perform the cleaning operation on the bedroom area. When the first cleaning area is the living room, the cleaning device is controlled to carry the first cleaning element for cleaning the living room area to perform the cleaning operation on the living room area.

[0118] Step S302: When the cleaning operation on the first cleaning area is completed, control the cleaning device to return to the base station and perform the cleaning element replacement operation.

[0119] In the embodiments of the present disclosure, when the first cleaning area is the bedroom, after the cleaning operation on the bedroom area is completed, the cleaning device is controlled to return to the base station and replace the cleaning element for cleaning the bedroom area with a cleaning element for other areas, such as a cleaning element for the living room area, so as to continue the cleaning of the living room in the current cleaning process. When the first cleaning area is the living room, after the cleaning operation on the living room area is completed, the cleaning device is controlled to return to the base station and replace the cleaning element for cleaning the living room area with a cleaning element for other areas, such as a cleaning element for the kitchen area, so as to continue the cleaning of the kitchen in the current cleaning process.

[0120] Step S303: In the case where the cleaning element replacement operation is completed, the cleaning device is controlled to carry the second cleaning element to perform a cleaning operation on the second cleaning area, and the cleaning sequence corresponding to the first cleaning area is prior to the cleaning sequence corresponding to the second cleaning area.

[0121] In the embodiments of the present disclosure, in the case where the second cleaning area is a living room, the cleaning device is controlled to carry the second cleaning element for cleaning the living room to perform a cleaning operation on the living room area; in the case where the second cleaning area is a kitchen, the cleaning device is controlled to carry the second cleaning element for cleaning the kitchen to perform a cleaning operation on the kitchen area.

[0122] Based on the above, the present disclosure can make the cleaning device switch the mop according to the cleaning sequence of the cleaning area, prevent the same mop from polluting the area with high cleaning demand, and improve the cleaning effect of the cleaning device.

[0123] In an optional embodiment, the cleaning sequence corresponding to different cleaning areas is determined according to the ground material attribute or the dirt degree attribute corresponding to different cleaning areas.

[0124] In an optional embodiment, the attribute of the cleaning area is used to indicate the ground material attribute corresponding to different cleaning areas, for example, the ground material attribute of the cleaning area corresponding to the first cleaning operation is wood floor, the ground material attribute of the cleaning area corresponding to the second cleaning operation is ceramic tile floor, or the ground material attribute of the cleaning area corresponding to the first cleaning operation is a non-carpet area, and the ground material attribute of the cleaning area corresponding to the second cleaning operation is a carpet area. The above ground material attribute identification can automatically identify the ground material when the cleaning device first cleans, or manually identify the ground material by manual identification. The automatic identification of the ground material by the cleaning device can be that a laser emitting device is installed at the bottom of the cleaning device, the laser is vertically emitted downward and the reflected light is obtained, the ground material is obtained according to the scattering degree of the reflected light, the area where the reflected light does not scatter can be determined as a ceramic tile floor area, the area where the scattering degree of the reflected light is lighter can be determined as a wood floor area, and the area where the scattering degree of the reflected light is heavier can be determined as a carpet area; or an image acquisition device can be installed at the bottom of the cleaning device to obtain the image of the ground under the cleaning device, and the obtained image is compared with a plurality of preset different ground material images to obtain the ground material under the cleaning device. The manual identification of the ground material can be that after the cleaning device obtains the corresponding indoor map according to the moving path thereof, the indoor map is displayed through a mobile device such as a mobile phone bound to the cleaning device, and the ground material corresponding to each area is set through an interactive control. After the ground material is determined, the cleaning sequence of the cleaning area of different ground materials can be set again through the interactive control. As shown in FIG. 4, the above method further includes:

[0125] Step S401: Control the cleaning device to carry the first cleaning element to perform cleaning operation on the cleaning area corresponding to the first ground material attribute.

[0126] In the embodiments of the present disclosure, in the case that the first ground material attribute is wood floor, the cleaning device is controlled to carry the first cleaning element for cleaning wood floor to perform cleaning operation on the wood floor area; in the case that the first ground material attribute is non-carpet area, the cleaning device is controlled to carry the first cleaning element for cleaning non-carpet area, such as wet cleaning element, to perform cleaning operation on the non-carpet area.

[0127] Step S402: In the case that the cleaning operation on the cleaning area corresponding to the first ground material attribute is completed, control the cleaning device to return to the base station and perform cleaning element replacement operation.

[0128] In the embodiments of the present disclosure, in the case that the first ground material attribute is wood floor, after the cleaning operation on the wood floor area is completed, the cleaning device is controlled to return to the base station and replace the cleaning element for cleaning the wood floor area with a cleaning element for other ground material, such as a cleaning element for ceramic tile floor, so as to continue the cleaning of the ceramic tile floor in the current cleaning process; in the case that the first ground material attribute is non-carpet area, after the cleaning operation on the non-carpet area is completed, the cleaning device is controlled to return to the base station and replace the cleaning element for cleaning the non-carpet area with a cleaning element for carpet area, such as a dry cleaning element, so as to continue the cleaning of the carpet area in the current cleaning process.

[0129] Step S403: In the case that the cleaning element replacement operation is completed, control the cleaning device to carry the second cleaning element to perform cleaning operation on the cleaning area corresponding to the second ground material attribute.

[0130] In the embodiments of the present disclosure, in the case that the second ground material attribute is ceramic tile floor, the cleaning device is controlled to carry the second cleaning element for cleaning ceramic tile floor to perform cleaning operation on the ceramic tile floor area; in the case that the second ground material attribute is carpet area, the cleaning device is controlled to carry the second cleaning element for cleaning carpet area, such as dry cleaning element, to perform cleaning operation on the carpet area.

[0131] Based on the above, the present disclosure can complete cleaning of different areas by configuring different cleaning elements for different ground materials, can make the cleaning device switch the use of mop according to the floor material of the cleaning area, improve the cleaning effect of the cleaning device, and can also play a protective effect on the floor.

[0132] In an optional embodiment, the attribute of the cleaning area is used to indicate the dirt level attribute corresponding to different cleaning areas, such as the dirt level attribute of the cleaning area corresponding to the first cleaning operation is level one, the dirt level attribute of the cleaning area corresponding to the second cleaning operation is level two, and the higher the level, the higher the dirt level. The identification of the above-mentioned dirt level attribute can automatically identify the dirt level when the cleaning device sweeps for the first time, or manually identify the dirt level by artificial. The way of automatically identifying the ground material when the cleaning device sweeps for the first time can be that the cleaning device obtains the dirt information of the ground below the cleaning device from the scanning device at the bottom of the cleaning device when the cleaning device sweeps the dust, determines the dirt level of different positions according to the dirt information, and obtains the dirt level attribute level corresponding to the cleaning area according to the average value of the dirt level of different positions in each cleaning area. The way of manually identifying the dirt level by artificial can be that after the cleaning device obtains the corresponding indoor map according to its moving path, the indoor map is displayed through a mobile device such as a mobile phone bound with the cleaning device, and the dirt level attribute level corresponding to different areas is set through an interactive control according to the visual dirt level of the user. After the dirt level is determined, the cleaning sequence of the cleaning area with different dirt levels can be set again through the interactive control. As shown in FIG. 5, the above-mentioned method further comprises:

[0133] Step S501: control the cleaning device to carry the first cleaning part to perform cleaning operation on the cleaning area corresponding to the level one dirt level.

[0134] In the embodiment of the present disclosure, in the case where there is a level one dirt level area, the cleaning device is controlled to carry the first cleaning part for cleaning the level one dirt level area to perform cleaning operation on the cleaning area corresponding to the level one dirt level.

[0135] Step S502: in the case where the cleaning operation on the cleaning area corresponding to the level one dirt level ends, control the cleaning device to return to the base station and perform cleaning part replacement operation.

[0136] In the embodiment of the present disclosure, after the cleaning operation on the cleaning area corresponding to the level one dirt level ends, the cleaning device returns to the base station and replaces the first cleaning part with a cleaning part for other dirt levels, so as to continue the cleaning of other areas in the current cleaning process. In the case where there is a level two dirt level area, the cleaning device replaces the cleaning part carried with the second cleaning part for cleaning the level two dirt level area.

[0137] Step S503: in the case where the cleaning part replacement operation ends, control the cleaning device to carry the second cleaning part to perform cleaning operation on the cleaning area corresponding to the level two dirt level.

[0138] Based on the above, the present disclosure can complete cleaning of different areas by configuring different cleaning pieces for different areas with different dirt levels, can switch the use of the mop according to the dirt level of the cleaning area during the cleaning operation of the cleaning device, prevent the area with high dirt level from polluting other areas, and improve the cleaning effect of the cleaning device.

[0139] In an optional embodiment, the first cleaning piece and the second cleaning piece are different in corresponding dry-wet state or material. For example, the first cleaning piece is a wet cleaning piece, and the second cleaning piece is a dry cleaning piece, or the first cleaning piece is a cleaning piece made of a first material, and the second cleaning piece is a cleaning piece made of a second material. As shown in FIG. 6, the method further includes:

[0140] Step S601: controlling the cleaning device to carry the first cleaning piece to perform a first cleaning operation on the target cleaning area.

[0141] In the present disclosure, when the first cleaning piece and the second cleaning piece are different in corresponding dry-wet state, the first cleaning piece can be a wet cleaning piece, i.e., wet mopping is performed on the target cleaning area first; when the first cleaning piece and the second cleaning piece are different in corresponding dry-wet state, the first cleaning piece can be a wet cleaning piece, i.e., wet mopping is performed on the target cleaning area first; when the first cleaning piece and the second cleaning piece are different in material, the material of the first cleaning piece can be a material capable of absorbing a certain amount of cleaning liquid, such as a sponge, i.e., cleaning is performed on the target cleaning area first to remove stubborn stains on the ground.

[0142] Step S602: in the case where the first cleaning operation ends, controlling the cleaning system to perform a cleaning piece replacement operation.

[0143] In the present disclosure, after the first cleaning piece finishes cleaning the target cleaning area, the cleaning device returns to the base station and replaces the first cleaning piece with the second cleaning piece.

[0144] Step S603: in the case where the cleaning piece replacement operation ends, controlling the cleaning device to carry the second cleaning piece to perform a second cleaning operation on the target cleaning area.

[0145] In the present disclosure, when the replaced first cleaning piece is a wet cleaning piece, the second cleaning piece carried by the cleaning device can be a dry cleaning piece, i.e., to absorb excess water stains on the ground; when the replaced first cleaning piece is a cleaning piece made of a first material, the second cleaning piece carried by the cleaning device can be a cleaning piece made of a second material, such as cotton, i.e., to absorb residual cleaning liquid on the ground.

[0146] Based on the above, the present disclosure can use the first cleaning element to remove difficult-to-remove stains and the second cleaning element to quickly dry the floor, thereby reducing water stains or cleaning liquid residues and improving the cleaning effect of the cleaning device.

[0147] In an optional embodiment, the cleaning system further comprises a base station, and the cleaning element replacement operation comprises:

[0148] Step S701: Control the cleaning device to return to the base station.

[0149] Step S702: Determine the presence state of the cleaning element corresponding to the washing tray of the base station.

[0150] In the embodiments of the present disclosure, whether the cleaning element exists on the washing tray has an influence on the operation process of the cleaning device and the base station and the moving distance of the moving rod for controlling the movement of the cleaning element. The way to determine the presence state of the cleaning element corresponding to the washing tray of the base station can be to set a weighing structure in the washing tray. Since each cleaning element has a certain weight, the object on the washing tray can be weighed by the weighing structure to obtain corresponding weight information. Taking the weight corresponding to one cleaning element as a threshold, if the weight indicated by the weight information is much smaller than the threshold, it can be considered that no cleaning element exists in the washing tray; if the weight indicated by the weight information is around the threshold, it can be considered that a cleaning element exists in the washing tray. The way to determine the presence state of the cleaning element corresponding to the washing tray of the base station can be to set an image acquisition device at a position opposite to the washing tray to obtain an image in the washing tray. The acquired image is subjected to a cleaning element recognition operation. If the recognition result indicates that the washing tray is empty, it can be considered that no cleaning element exists in the washing tray; if the recognition result indicates that there is an object in the washing tray, it can be considered that a cleaning element exists in the washing tray.

[0151] Step S703: Based on the presence state of the cleaning element, control the base station and the cleaning device to perform a cleaning element replacement operation.

[0152] In the embodiments of the present disclosure, based on the presence state of the cleaning element, the base station and the cleaning device are controlled to perform a cleaning element replacement operation, which comprises:

[0153] Step S7031: In the case where the presence state of the cleaning element indicates that the second cleaning element exists in the washing tray, control the cleaning device to eject the first cleaning element so that the first cleaning element is adsorbed on the second cleaning element.

[0154] In the embodiments of the present disclosure, the cleaning device is provided with a second moving rod at the bottom. The second moving rod moves vertically in a direction perpendicular to the bottom of the cleaning device. One end of the second moving rod extending out of the cleaning device is used to adsorb a mop tray, and the mop tray is used to carry the cleaning element.

[0155] In the embodiments of the present disclosure, when the presence state of the cleaning element indicates that the second cleaning element exists in the cleaning tray, the second cleaning device at the bottom of the cleaning device is controlled to move downward to eject the first cleaning element, so that the first cleaning element is adsorbed on the second cleaning element in the cleaning tray.

[0156] In the embodiments of the present disclosure, the schematic diagram of the first cleaning element and the second cleaning element is shown in FIG. 7. The lower cleaning element is the second cleaning element, and the cleaning element above the second cleaning element, i.e., the cleaning element in contact with the first moving rod that is lowered, is the first cleaning element.

[0157] Step S7032: controlling the cleaning device to leave the base station.

[0158] In the embodiments of the present disclosure, after the first cleaning element is adsorbed, the second moving rod is retracted, and the cleaning device is controlled to move away from the base station, so that the cleaning device is out of the pile.

[0159] Step S7033: controlling the base station to remove the first cleaning element.

[0160] In the embodiments of the present disclosure, a first moving rod is arranged above the cleaning device accommodating cavity in the base station for accommodating the cleaning device. The first moving rod vertically moves in a direction perpendicular to the ground. One end of the first moving rod that extends into the cleaning device accommodating cavity is used to adsorb a mop tray, and the mop tray is used to carry a cleaning element.

[0161] In the embodiments of the present disclosure, after the cleaning device is out of the pile, the first moving rod is controlled to move downward. After the mop tray of the first cleaning element is adsorbed on one end of the first moving rod, the first moving rod is controlled to rise, so that the first cleaning element is removed from the second cleaning element. When the first cleaning element rises with the first moving rod to the top of the cleaning device accommodating cavity, the first moving rod is controlled to rotate, so that the fitting surface of the first cleaning element on the top of the cleaning device accommodating cavity faces the top of the cleaning device accommodating cavity for cleaning.

[0162] Step S7034: controlling the cleaning device to return to the base station and adsorb the second cleaning element.

[0163] In the embodiments of the present disclosure, after the first cleaning element is removed from the second cleaning element, the cleaning device is controlled to return to the base station, and the second moving rod at the bottom of the cleaning device is controlled to move downward. After the mop tray of the second cleaning element is adsorbed on one end of the second moving rod, the second moving rod is controlled to rise, so that the second cleaning element is carried away.

[0164] Based on the above, in the embodiments of the present disclosure, when the presence state of the cleaning element indicates that the second cleaning element exists in the cleaning tray, the cleaning device is controlled to eject the first cleaning element, so that the first cleaning element is adsorbed on the second cleaning element, thereby realizing the separation of the first cleaning element and the cleaning device. The base station is controlled to remove the first cleaning element, and the cleaning device is controlled to return to the base station and adsorb the second cleaning element, thereby automatically realizing the assembly of the second cleaning element and the cleaning device.

[0165] In the above embodiment, the cleaning device ejects the first cleaning piece by the second moving rod and adsorbs the second cleaning piece, the second moving rod is arranged at the bottom of the cleaning device, and the second moving rod extends from one end of the cleaning device to adsorb the cleaning piece. The second magnetic adsorption piece is arranged on the second moving rod, and the second magnetic adsorption piece is located at the end of the second moving rod extending from the cleaning device. The second magnetic adsorption piece and the magnetic adsorption piece in the target cleaning piece attract each other. The target cleaning piece is the first cleaning piece or the second cleaning piece. The first cleaning piece and the magnetic adsorption piece in the second cleaning piece attract each other. The base station adsorbs the first cleaning piece by the first moving rod. The first moving rod is arranged above the cleaning device accommodating cavity of the base station. The first moving rod extends from one end of the base station and can extend into the cleaning device accommodating cavity. The first moving rod extends from one end of the base station to adsorb the cleaning piece. The first magnetic adsorption piece is arranged on the first moving rod, and the first magnetic adsorption piece is located at the end of the first moving rod extending from the base station. The first magnetic adsorption piece and the magnetic adsorption piece in the target cleaning piece attract each other. The first cleaning piece and the second cleaning piece are both provided with a magnetic adsorption piece. The magnetic adsorption pieces in the first cleaning piece and the second cleaning piece are the same, that is, the magnetic force generated by the first cleaning piece and the second cleaning piece is equal. The cleaning disc is also provided with a magnetic adsorption piece for adsorbing the target cleaning piece in the cleaning disc.

[0166] In the case that the first magnetic adsorption piece directly contacts the target cleaning piece and the second magnetic adsorption piece directly contacts the target cleaning piece, the magnetic force between the above-mentioned components is sorted as follows: the magnetic force between the second magnetic adsorption piece and the target cleaning piece = the magnetic force between the first magnetic adsorption piece and the target cleaning piece > the magnetic force between the cleaning disc and the target cleaning piece > the magnetic force between the target cleaning piece and the target cleaning piece.

[0167] In the case that the first magnetic adsorption piece does not directly contact the target cleaning piece and the second magnetic adsorption piece does not directly contact the target cleaning piece, the magnetic force between the above-mentioned components is sorted as follows: the magnetic force between the cleaning disc and the target cleaning piece > the magnetic force between the target cleaning piece and the target cleaning piece > the magnetic force between the second moving rod and the target cleaning piece = the magnetic force between the first moving rod and the target cleaning piece.

[0168] In the above steps S7031-S7034, the cleaning device ejects the first cleaning piece by the second moving rod. When the first cleaning piece is adsorbed on the end of the second moving rod extending from the cleaning device, the cleaning device controls the second moving rod to move downward, moves the first cleaning piece away from the cleaning device until the first cleaning piece contacts the object below, at this time, the first cleaning piece is controlled to separate from the second magnetic adsorption piece. After the first cleaning piece does not contact the second magnetic adsorption piece on the second moving rod, the attraction force between the first cleaning piece and the second cleaning piece is greater than the attraction force between the first cleaning piece and the second magnetic adsorption piece. The first cleaning piece is adsorbed above the second cleaning piece by the second moving rod, and the cleaning device retracts the second moving rod. Subsequently, the cleaning device leaves the base station.

[0169] The base station adsorbs the first cleaning element by the first moving rod in the following manner: after the cleaning device leaves the base station, the base station controls the first moving rod to move downward until the first moving rod contacts the first cleaning element. After the first magnetic suction element on the first moving rod contacts the first cleaning element, the attraction between the first magnetic suction element and the first cleaning element is greater than the attraction between the first cleaning element and the second cleaning element, the attraction between the cleaning disc and the second cleaning element is greater than the attraction between the first cleaning element and the second cleaning element, and the first cleaning element is adsorbed to the first moving rod from above the second cleaning element. Subsequently, the base station retracts the first moving rod, and the first cleaning element is removed with the first moving rod. Subsequently, the cleaning device is controlled to return to the base station.

[0170] The cleaning device adsorbs the second cleaning element by the second moving rod in the following manner: the cleaning device controls the second moving rod to move downward until the second moving rod contacts the second cleaning element. After the second cleaning element contacts the second magnetic suction element, the attraction between the second cleaning element and the second magnetic suction element is greater than the attraction between the second cleaning element and the cleaning disc, and the second cleaning element is adsorbed to the second moving rod from the cleaning disc.

[0171] In the embodiments of the present disclosure, the cleaning element replacement operation of the base station and the cleaning device based on the cleaning element presence state further includes:

[0172] Step S7035: In the case where the cleaning element presence state indicates that the second cleaning element does not exist in the cleaning disc, the cleaning device is controlled to eject the first cleaning element so that the first cleaning element is adsorbed on the cleaning disc.

[0173] In the embodiments of the present disclosure, in the case where the cleaning element presence state indicates that the second cleaning element does not exist in the cleaning disc, the second moving rod at the bottom of the cleaning device is controlled to move downward to eject the first cleaning element, so that the first cleaning element is adsorbed on the cleaning disc.

[0174] Step S7036: The cleaning device is controlled to leave the base station.

[0175] In the embodiments of the present disclosure, after the first cleaning element is adsorbed, the second moving rod is retracted, and the cleaning device is moved away from the base station, so that the cleaning device is out of the pile.

[0176] Step S7037: The base station is controlled to eject the second cleaning element so that the second cleaning element is adsorbed on the first cleaning element.

[0177] In the embodiments of the present disclosure, after the cleaning device is out of the pile, the first moving rod is controlled to move downward so that the second cleaning element on the first moving rod is adsorbed on the first cleaning element in the cleaning disc, and the first moving rod is controlled to rise to leave the second cleaning element above the first cleaning element.

[0178] Step S7038: The cleaning device is controlled to return to the base station and adsorb the second cleaning element.

[0179] In the embodiments of the present disclosure, after the first cleaning piece is moved away from the second cleaning piece, the cleaning device is controlled to return to the base station, and the second moving rod at the bottom of the cleaning device is controlled to move downward, so that the mop plate of the second cleaning piece is adsorbed at one end of the second moving rod, and then the second moving rod is controlled to rise to take away the second cleaning piece.

[0180] Based on the above, in the embodiments of the present disclosure, the first cleaning piece is ejected by the cleaning device to be adsorbed on the cleaning disc when the second cleaning piece does not exist in the cleaning disc in the presence state of the cleaning piece, so that the separation of the first cleaning piece and the cleaning device can be realized; the second cleaning piece is ejected by the base station to be adsorbed on the first cleaning piece, and the cleaning device is controlled to return to the base station and adsorb the second cleaning piece, so that the assembly of the second cleaning piece and the cleaning device can be automatically realized.

[0181] In the steps S7035-S7038, the cleaning device ejects the first cleaning piece by the second moving rod in the following manner: when the second moving rod adsorbs the first cleaning piece at one end of the cleaning device, the cleaning device controls the second moving rod to move downward, moves the first cleaning piece away from the cleaning device until the first cleaning piece contacts the object below, and then controls the first cleaning piece to separate from the second magnetic attraction piece. After the first cleaning piece does not contact the second magnetic attraction piece on the second moving rod, the attraction force between the first cleaning piece and the cleaning disc is greater than the attraction force between the first cleaning piece and the second magnetic attraction piece, the first cleaning piece is adsorbed into the cleaning disc by the second moving rod, and the cleaning device retracts the second moving rod. Subsequently, the cleaning device leaves the base station.

[0182] The base station ejects the second cleaning piece by the first moving rod in the following manner: when the first moving rod adsorbs the second cleaning piece at one end of the base station, after the cleaning device leaves the base station, the base station controls the first moving rod to move downward until the second cleaning piece adsorbed on the first moving rod contacts the first cleaning piece, and then controls the second cleaning piece to separate from the first magnetic attraction piece. After the first magnetic attraction piece on the first moving rod does not contact the second cleaning piece, the attraction force between the first magnetic attraction piece and the second cleaning piece is less than the attraction force between the first cleaning piece and the second cleaning piece, and the second cleaning piece is adsorbed above the first cleaning piece by the first moving rod. Subsequently, the base station retracts the first moving rod and controls the cleaning device to return to the base station.

[0183] The cleaning device adsorbs the second cleaning piece by the second moving rod in the following manner: the cleaning device controls the second moving rod to move downward until the second moving rod contacts the second cleaning piece. After the second cleaning piece contacts the second magnetic attraction piece, the attraction force between the second cleaning piece and the second magnetic attraction piece is greater than the attraction force between the second cleaning piece and the first cleaning piece, and the attraction force between the second cleaning piece and the first cleaning piece is less than the attraction force between the first cleaning piece and the cleaning disc, so that the second cleaning piece is adsorbed from above the first cleaning piece to the second moving rod.

[0184] Step S704: In the case where the cleaning element replacement operation ends, the cleaning device is controlled to leave the base station.

[0185] In the embodiments of the present disclosure, after the cleaning element replacement operation ends, the cleaning device carrying the second cleaning element is controlled to leave the base station.

[0186] In an optional embodiment, after the second cleaning operation ends, the method further comprises: controlling the cleaning system to perform a mop dismounting operation. As shown in FIG. 8, controlling the cleaning system to perform a mop dismounting operation comprises:

[0187] Step S801: Determine the cleaning element presence state corresponding to the washing tray of the base station.

[0188] In the embodiments of the present disclosure, whether the cleaning element exists on the washing tray has an influence on the operation process of the cleaning device and the base station and the moving distance of the moving rod for controlling the movement of the cleaning element.

[0189] Step S802: In the case where the cleaning element presence state indicates that the cleaning element exists in the washing tray, the base station is controlled to remove the cleaning element.

[0190] In the embodiments of the present disclosure, in the case where the cleaning element presence state indicates that the cleaning element exists in the washing tray, the first moving rod of the base station is controlled to move downward, and after the cleaning element is adsorbed on one end of the first moving rod, the first moving rod is controlled to rise to remove the cleaning element.

[0191] Step S803: In the case where the cleaning element presence state indicates that the cleaning element does not exist in the washing tray, the cleaning device is controlled to eject the carried cleaning element to make the cleaning element adsorbed on the washing tray.

[0192] In the embodiments of the present disclosure, in the case where the cleaning element presence state indicates that the cleaning element does not exist in the washing tray, the second moving rod at the bottom of the cleaning device is controlled to move downward to eject the cleaning element carried by the cleaning device, so that the cleaning element is adsorbed on the washing tray.

[0193] Step S804: Control the cleaning device to leave the base station.

[0194] In the embodiments of the present disclosure, after the above-mentioned mop dismounting operation ends, the cleaning device is controlled to leave the base station.

[0195] Based on the above, in the embodiments of the present disclosure, in the case where the cleaning element presence state indicates that the cleaning element exists in the washing tray, the base station is controlled to remove the cleaning element, and in the case where the cleaning element presence state indicates that the cleaning element does not exist in the washing tray, the cleaning device is controlled to eject the carried cleaning element to make the cleaning element adsorbed on the washing tray, so that the base station and the cleaning device can be flexibly controlled to operate according to the cleaning element presence state corresponding to the washing tray of the base station, and the dismounting of the cleaning element is completed.

[0196] FIG. 9 is a block diagram of a cleaning device control apparatus according to an exemplary embodiment. Referring to FIG. 9, the apparatus includes a first control module 901, a second control module 902, and a third control module 903, wherein

[0197] The first control module 901 is configured to control the cleaning device to carry the first cleaning element to perform a first cleaning operation.

[0198] The second control module 902 is configured to control the cleaning system to perform a cleaning element replacement operation in a case where the first cleaning operation ends, the cleaning device belonging to the cleaning system, the cleaning element replacement operation being used to meet a cleaning requirement for a cleaning area with different attributes or a cleaning requirement completed by different attributes of cleaning elements.

[0199] The third control module 903 is configured to control the cleaning device to carry the second cleaning element to perform a second cleaning operation in a case where the cleaning element replacement operation ends.

[0200] In an optional embodiment, the first cleaning operation and the second cleaning operation correspond to cleaning areas with different attributes, respectively.

[0201] In an optional embodiment, the attribute of the cleaning area is used to indicate a cleaning sequence corresponding to different cleaning areas, and the apparatus further includes:

[0202] A fourth control module is configured to control the cleaning device to carry the first cleaning element to perform a cleaning operation on a first cleaning area.

[0203] A fifth control module is configured to control the cleaning system to perform a cleaning element replacement operation in a case where the cleaning operation on the first cleaning area ends.

[0204] A sixth control module is configured to control the cleaning device to carry the second cleaning element to perform a cleaning operation on a second cleaning area in a case where the cleaning element replacement operation ends, the cleaning sequence corresponding to the first cleaning area being prior to the cleaning sequence corresponding to the second cleaning area.

[0205] In an optional embodiment, the cleaning sequence corresponding to different cleaning areas is determined according to a ground material attribute or a dirtiness attribute corresponding to different cleaning areas.

[0206] In an optional embodiment, the first cleaning element and the second cleaning element correspond to different dry-wet states or materials, respectively.

[0207] In an optional embodiment, the apparatus further includes:

[0208] A seventh control module is configured to control the cleaning device to carry the first cleaning element to perform a first cleaning operation on a target cleaning area.

[0209] An eighth control module is configured to control the cleaning system to perform a cleaning element replacement operation when the first cleaning operation ends.

[0210] A ninth control module is configured to control the cleaning device to carry out a second cleaning operation on the target cleaning area with the second cleaning element when the cleaning element replacement operation ends.

[0211] In an optional embodiment, the cleaning system further comprises a base station, and the device further comprises:

[0212] A tenth control module is configured to control the cleaning device to return to the base station.

[0213] A first determination module is configured to determine a cleaning element presence state corresponding to a cleaning tray of the base station.

[0214] An eleventh control module is configured to control the base station and the cleaning device to perform a cleaning element replacement operation based on the cleaning element presence state.

[0215] A twelfth control module is configured to control the cleaning device to leave the base station when the cleaning element replacement operation ends.

[0216] In an optional embodiment, the eleventh control module comprises:

[0217] A first control submodule is configured to control the cleaning device to eject the first cleaning element so that the first cleaning element is adsorbed on the second cleaning element when the cleaning element presence state indicates that the second cleaning element is present in the cleaning tray.

[0218] A second control submodule is configured to control the cleaning device to leave the base station.

[0219] A third control submodule is configured to control the base station to remove the first cleaning element.

[0220] A fourth control submodule is configured to control the cleaning device to return to the base station and adsorb the second cleaning element.

[0221] In an optional embodiment, the cleaning device ejects the first cleaning piece by the second moving rod and adsorbs the second cleaning piece, the second moving rod is provided with a second magnetic adsorption piece, the second magnetic adsorption piece and the magnetic adsorption piece in the target cleaning piece attract each other, the target cleaning piece is the first cleaning piece or the second cleaning piece, the first cleaning piece and the magnetic adsorption piece in the second cleaning piece attract each other; after the first cleaning piece is not in contact with the second magnetic adsorption piece on the second moving rod, the attraction between the first cleaning piece and the second cleaning piece is greater than the attraction between the first cleaning piece and the second magnetic adsorption piece, the first cleaning piece is adsorbed above the second cleaning piece by the second moving rod; the base station adsorbs the first cleaning piece by the first moving rod; after the first magnetic adsorption piece on the first moving rod is in contact with the first cleaning piece, the attraction between the first magnetic adsorption piece and the first cleaning piece is greater than the attraction between the first cleaning piece and the second cleaning piece, the attraction between the washing disc and the second cleaning piece is greater than the attraction between the first cleaning piece and the second cleaning piece, and the first cleaning piece is adsorbed from above the second cleaning piece to the first moving rod; after the second cleaning piece is in contact with the second magnetic adsorption piece, the attraction between the second cleaning piece and the second magnetic adsorption piece is greater than the attraction between the second cleaning piece and the washing disc, and the second cleaning piece is adsorbed from the washing disc to the second moving rod.

[0222] In an optional embodiment, the eleventh control module further comprises:

[0223] The fifth control submodule is configured to control the cleaning device to eject the first cleaning piece so that the first cleaning piece is adsorbed on the washing disc when the cleaning piece presence state indicates that the second cleaning piece does not exist in the washing disc.

[0224] The sixth control submodule is configured to control the cleaning device to leave the base station.

[0225] The seventh control submodule is configured to control the base station to eject the second cleaning piece so that the second cleaning piece is adsorbed on the first cleaning piece.

[0226] The eighth control submodule is configured to control the cleaning device to return to the base station and adsorb the second cleaning piece.

[0227] In an optional embodiment, the cleaning device ejects the first cleaning piece by the second moving rod and adsorbs the second cleaning piece, the second moving rod is provided with a second magnetic adsorption piece, the second magnetic adsorption piece and the magnetic adsorption piece in the target cleaning piece attract each other, the target cleaning piece is the first cleaning piece or the second cleaning piece; in the case that the second cleaning piece does not exist in the washing disc, after the first cleaning piece is not in contact with the second magnetic adsorption piece on the second moving rod, the attraction between the first cleaning piece and the washing disc is greater than the attraction between the first cleaning piece and the second magnetic adsorption piece, and the first cleaning piece is adsorbed into the washing disc by the second moving rod; the base station ejects the second cleaning piece by the first moving rod; after the first magnetic adsorption piece on the first moving rod is not in contact with the second cleaning piece, the attraction between the first magnetic adsorption piece and the second cleaning piece is less than the attraction between the first cleaning piece and the second cleaning piece, and the second cleaning piece is adsorbed above the first cleaning piece by the first moving rod; after the second cleaning piece is in contact with the second magnetic adsorption piece, the attraction between the second cleaning piece and the second magnetic adsorption piece is greater than the attraction between the second cleaning piece and the first cleaning piece, the attraction between the second cleaning piece and the first cleaning piece is less than the attraction between the first cleaning piece and the washing disc, and the second cleaning piece is adsorbed from above the first cleaning piece to the second moving rod.

[0228] In an optional embodiment, the apparatus further comprises:

[0229] The second determination module is configured to determine the presence state of the cleaning piece corresponding to the washing disc of the base station.

[0230] The thirteenth control module is configured to, in the case that the presence state of the cleaning piece indicates that the cleaning piece exists in the washing disc, control the base station to move away the cleaning piece.

[0231] The fourteenth control module is configured to, in the case that the presence state of the cleaning piece indicates that the cleaning piece does not exist in the washing disc, control the cleaning device to eject the carried cleaning piece so that the cleaning piece is adsorbed on the washing disc.

[0232] The fifteenth control module is configured to control the cleaning device to leave the base station.

[0233] In the embodiments of the present application, the term "module" or "unit" refers to a computer program or a part of a computer program with a predetermined function, and works together with other related parts to achieve a predetermined target, and can be implemented entirely or partially by using software, hardware (such as a processing circuit or a memory) or a combination thereof. Similarly, one processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be a part of an overall module or unit that includes the functions of the module or unit.

[0234] The present disclosure also provides a cleaning system for implementing the cleaning device control method described above, the cleaning system comprising: a base station 1 and a cleaning device 2.

[0235] FIG. 10 is a schematic diagram of a base station of a cleaning system according to an exemplary embodiment. As shown in FIG. 10, the base station 1 includes a first moving rod 101. The first moving rod 101 is disposed above a cleaning device accommodating cavity 102 of the base station 1. An end of the first moving rod 101 extends into the cleaning device accommodating cavity 102 for adsorbing a mop 3. The mop 3 is used to carry cleaning pieces.

[0236] In the embodiments of the present disclosure, the first moving rod 101 is disposed in the base station structure above the cleaning device accommodating cavity 102 of the base station 1. As shown in FIG. 11, the first moving rod 101 includes a first lifting rod 1011 and a first ejection inner rod 1012. The first ejection inner rod 1012 is sleeved in the first lifting rod 1011. An end of the first lifting rod 1011 or the first ejection inner rod 1012 extends into the cleaning device accommodating cavity 102 for adsorbing the mop 3. The mop 3 is used to carry cleaning pieces.

[0237] In the embodiments of the present disclosure, the first lifting rod 1011 moves vertically along a direction perpendicular to the ground. The first ejection inner rod 1012 is sleeved in the first lifting rod 1011 and moves vertically on the opening side of the first lifting rod 1011.

[0238] FIG. 12 is a schematic diagram of a cleaning device of a cleaning system according to an exemplary embodiment. As shown in FIG. 12, the cleaning device 2 includes a second moving rod 201. The second moving rod 201 is disposed at the bottom of the cleaning device 2. An end of the second moving rod 201 extends out of the cleaning device 2 for adsorbing the mop 3.

[0239] In the embodiments of the present disclosure, the second moving rod 201 is disposed at the bottom of the cleaning device 2. As shown in FIG. 13, the second moving rod 201 includes a second lifting rod 2011 and a second ejection inner rod 2012. The second ejection inner rod 2012 is sleeved in the second lifting rod 2011. An end of the second lifting rod 2011 or the second ejection inner rod 2012 extends out of the cleaning device 2 for adsorbing the mop 3.

[0240] In the embodiments of the present disclosure, the second lifting rod 2011 moves vertically along a direction perpendicular to the bottom of the cleaning device 2. The second ejection inner rod 2012 is sleeved in the second lifting rod 2011 and moves vertically on the opening side of the second lifting rod 2011.

[0241] In an optional embodiment, the cleaning system further includes a magnetic attraction structure. The magnetic attraction structure includes a first magnetic attraction piece, a second magnetic attraction piece, a third magnetic attraction piece, and a fourth magnetic attraction piece.

[0242] In the embodiments of the present disclosure, the first magnetic attraction member is arranged at one end of the first moving rod 101 extending into the cleaning equipment accommodating cavity 102. Specifically, the first magnetic attraction member can be arranged at the end of the first lifting rod 1011 extending into the cleaning equipment accommodating cavity 102, or the end of the first ejection inner rod 1012 extending into the cleaning equipment accommodating cavity 102.

[0243] In the embodiments of the present disclosure, the second magnetic attraction member is arranged at one end of the second moving rod 201 extending out of the cleaning equipment 2. Specifically, the second magnetic attraction member can be arranged at the end of the second lifting rod 2011 extending out of the cleaning equipment 2, or the end of the second ejection inner rod 2012 extending out of the cleaning equipment 2.

[0244] In the embodiments of the present disclosure, the third magnetic attraction member is arranged in the mop plate 3, that is, the third magnetic attraction member is arranged in the mop plate of the first cleaning member and the second cleaning member.

[0245] In the embodiments of the present disclosure, the fourth magnetic attraction member is arranged in the cleaning plate 103 at the bottom of the cleaning equipment accommodating cavity 102. Specifically, the fourth magnetic attraction member can be arranged in the cleaning plate 103 at a position corresponding to the first moving rod 101 or the second moving rod 201.

[0246] In an optional embodiment, when the first magnetic attraction member is in direct contact with the mop plate 3, and the second magnetic attraction member is in direct contact with the mop plate 3, the magnetic force between the above-mentioned components is ranked as follows: the magnetic force between the second magnetic attraction member and the mop plate 3 = the magnetic force between the first magnetic attraction member and the mop plate 3 > the magnetic force between the cleaning plate and the mop plate 3 > the magnetic force between the mop plate 3 and the mop plate 3.

[0247] In an optional embodiment, when the first magnetic attraction member is not in direct contact with the mop plate 3, and the second magnetic attraction member is not in direct contact with the mop plate 3, the magnetic force between the above-mentioned components is ranked as follows: the magnetic force between the cleaning plate and the mop plate 3 > the magnetic force between the mop plate 3 and the mop plate 3 > the magnetic force between the second magnetic attraction member and the mop plate 3 = the magnetic force between the first magnetic attraction member and the mop plate 3.

[0248] In the embodiments of the present disclosure, when two cleaning members are stacked in the cleaning plate 103, that is, two mop plates 3 are stacked, the attractive force between the fourth magnetic attraction member and the third magnetic attraction member of the second mop plate is greater than the attractive force between the third magnetic attraction member of the first mop plate and the third magnetic attraction member of the second mop plate, the first mop plate being the upper mop plate 3 of the two mop plates, and the second mop plate being the lower mop plate 3 of the two mop plates.

[0249] In the case that the first mop plate is not in contact with the position where the first magnetic attraction member is arranged and there is no second mop plate in the cleaning plate 103, the attractive force between the first magnetic attraction member and the third magnetic attraction member of the first mop plate is less than the attractive force between the fourth magnetic attraction member and the third magnetic attraction member of the first mop plate, and the fourth magnetic attraction member is used to adsorb the first mop plate from the first moving rod 101 into the cleaning plate 103.

[0250] In the case that the first mop plate is not in contact with the position where the first magnetic member is arranged and the second mop plate is present in the cleaning plate 103, the attractive force between the first magnetic member and the third magnetic member of the first mop plate is smaller than the attractive force between the third magnetic member of the first mop plate and the third magnetic member of the second mop plate, and the third magnetic member of the second mop plate is used to adsorb the first mop plate above the second mop plate by the first moving rod 101;

[0251] In the case that the first mop plate is not in contact with the position where the second magnetic member is arranged and the second mop plate is not present in the cleaning plate 103, the attractive force between the second magnetic member and the third magnetic member of the first mop plate is smaller than the attractive force between the fourth magnetic member and the third magnetic member of the first mop plate, and the fourth magnetic member is used to adsorb the first mop plate in the cleaning plate 103 by the second moving rod 201;

[0252] In the case that the first mop plate is not in contact with the position where the second magnetic member is arranged and the second mop plate is present in the cleaning plate 103, the attractive force between the second magnetic member and the third magnetic member of the first mop plate is smaller than the attractive force between the third magnetic member of the first mop plate and the third magnetic member of the second mop plate, and the third magnetic member of the second mop plate is used to adsorb the first mop plate above the second mop plate by the second moving rod 201;

[0253] In the case that the first mop plate is in contact with the position where the first magnetic member is arranged and the second mop plate is not present below the first mop plate, the attractive force between the first magnetic member and the third magnetic member of the first mop plate is greater than the attractive force between the third magnetic member of the first mop plate and the fourth magnetic member, and the first magnetic member is used to adsorb the mop plate 3 in the cleaning plate 103 to the first moving rod 101;

[0254] In the case that the first mop plate is in contact with the position where the first magnetic member is arranged and the second mop plate is present below the first mop plate, the attractive force between the first magnetic member and the third magnetic member of the first mop plate is greater than the attractive force between the third magnetic member of the first mop plate and the third magnetic member of the second mop plate, and the first magnetic member is used to adsorb the mop plate 3 above the second mop plate to the first moving rod 101;

[0255] In the case that the first mop plate is in contact with the position where the second magnetic member is arranged and the second mop plate is not present below the first mop plate, the attractive force between the second magnetic member and the third magnetic member of the first mop plate is greater than the attractive force between the third magnetic member of the first mop plate and the fourth magnetic member, and the second magnetic member is used to adsorb the mop plate 3 in the cleaning plate 103 to the second moving rod 201;

[0256] In the case that the first mop plate contacts the position where the second magnetic attraction member is arranged and the second mop plate exists below the first mop plate, the attractive force between the second magnetic attraction member and the third magnetic attraction member of the first mop plate is greater than the attractive force between the third magnetic attraction member of the first mop plate and the third magnetic attraction member of the second mop plate, and the second magnetic attraction member is used to attract the mop plate 3 from above the second mop plate to the second moving rod 201.

[0257] In the embodiments of the present disclosure, the first magnetic attraction member is arranged at the end of the first lifting rod 1011 extending into the cleaning equipment accommodating cavity 102, the second magnetic attraction member is arranged at the end of the second lifting rod 2011 extending out of the cleaning equipment 2, and the second cleaning member exists in the cleaning plate 103, i.e., the mop plate 3 exists in the cleaning plate 103. In this case, the specific process of the above cleaning member replacement operation is as follows:

[0258] When the second moving rod 201 extends out of the cleaning equipment 2 at one end and the first cleaning member is attracted by the second magnetic attraction member at the end of the second lifting rod 2011, the cleaning equipment 2 controls the second lifting rod 2011 and the second ejection inner rod 2012 to move downward at the same time, moves the first cleaning member away from the cleaning equipment 2 until the first cleaning member contacts the object below it, at this time, the second ejection inner rod 2012 is controlled to be stationary, and the second lifting rod 2011 is retracted upward, so that the first cleaning member is stopped by the second ejection inner rod 2012, so as to move the third magnetic attraction member in the mop plate 3 of the first cleaning member away from the second magnetic attraction member at the end of the second lifting rod 2011. After the third magnetic attraction member in the mop plate 3 of the first cleaning member is not in contact with the second magnetic attraction member at the end of the second lifting rod 2011, the attractive force between the second magnetic attraction member and the third magnetic attraction member in the mop plate 3 of the first cleaning member is less than the attractive force between the third magnetic attraction member in the mop plate 3 of the first cleaning member and the third magnetic attraction member in the mop plate 3 of the second cleaning member, and the third magnetic attraction member in the mop plate 3 of the second cleaning member is used to attract the first cleaning member above the second cleaning member. At this time, the cleaning equipment retracts the second ejection inner rod 2012. Subsequently, the cleaning equipment 2 leaves the base station 1.

[0259] After the cleaning device 2 leaves the base station 1, the base station 1 controls the first lifting rod 1011 and the first ejection inner rod 1012 to move downward simultaneously until the first lifting rod 1011 contacts the first cleaning element. After the first magnetic suction element on the first lifting rod 1011 contacts the first cleaning element, the attractive force between the first magnetic suction element and the third magnetic suction element in the mop plate 3 of the first cleaning element is greater than the attractive force between the third magnetic suction element in the mop plate 3 of the first cleaning element and the third magnetic suction element in the mop plate 3 of the second cleaning element, and the attractive force between the fourth magnetic suction element of the cleaning plate 103 and the third magnetic suction element in the mop plate 3 of the second cleaning element is greater than the attractive force between the third magnetic suction element in the mop plate 3 of the first cleaning element and the third magnetic suction element in the mop plate 3 of the second cleaning element, so that the first cleaning element is attracted to the first lifting rod 1011 from above the second cleaning element. Subsequently, the base station 1 simultaneously retracts the first lifting rod 1011 and the first ejection inner rod 1012, and the first cleaning element is removed with the first lifting rod 1011. Subsequently, the cleaning device 2 is controlled to return to the base station 1.

[0260] The cleaning device 2 controls the second lifting rod 2011 and the second ejection inner rod 2012 to move downward simultaneously until the second lifting rod 2011 contacts the second cleaning element. After the second cleaning element contacts the second magnetic suction element at the end of the second lifting rod 2011, the attractive force between the third magnetic suction element in the mop plate 3 of the second cleaning element and the second magnetic suction element is greater than the attractive force between the third magnetic suction element in the mop plate 3 of the second cleaning element and the fourth magnetic suction element of the cleaning plate 103, so that the second cleaning element is attracted to the second lifting rod 2011 from the cleaning plate 103.

[0261] In the embodiments of the present disclosure, the first magnetic suction element is arranged at the end of the first lifting rod 1011 extending into the cleaning device accommodating cavity 102, the second magnetic suction element is arranged at the end of the second lifting rod 2011 extending out of the cleaning device 2, and the cleaning plate 103 does not contain the second cleaning element, i.e., the cleaning plate 103 does not contain the mop plate 3. The specific process of the above cleaning element replacement operation is as follows:

[0262] When the second moving rod 201 extends to the end of the cleaning device 2 and is attracted to the first cleaning element by the second magnetic attraction member at the end of the second lifting rod 201, the cleaning device 2 controls the second lifting rod 201 and the second ejection inner rod 2012 to move downward at the same time, and moves the first cleaning element away from the cleaning device 2 until the first cleaning element contacts the object below it. At this time, the second ejection inner rod 2012 is controlled to be stationary, and the second lifting rod 201 is retracted upward, so that the first cleaning element is stopped by the second ejection inner rod 2012, and the third magnetic attraction member in the mop 3 of the first cleaning element is away from the second magnetic attraction member at the end of the second lifting rod 201. After the third magnetic attraction member in the mop 3 of the first cleaning element is not in contact with the second magnetic attraction member at the end of the second lifting rod 201, the attraction force between the second magnetic attraction member and the third magnetic attraction member in the mop 3 of the first cleaning element is smaller than the attraction force between the third magnetic attraction member in the mop 3 of the first cleaning element and the fourth magnetic attraction member of the cleaning disc 103, and the fourth magnetic attraction member of the cleaning disc 103 is used to attract the first cleaning element into the cleaning disc 103. At this time, the cleaning device 2 retracts the second ejection inner rod 2012. Subsequently, the cleaning device 2 leaves the base station 1.

[0263] The first moving rod 101 extends into the cleaning device accommodating cavity 102, and is attracted to the second cleaning element by the first magnetic attraction member at the end of the first lifting rod 101. After the cleaning device 2 leaves the base station 1, the base station 1 controls the first lifting rod 101 and the first ejection inner rod 1012 to move downward at the same time until the second cleaning element contacts the first cleaning element in the cleaning disc 103. At this time, the first ejection inner rod 1012 is controlled to be stationary, and the first lifting rod 101 is retracted upward, so that the second cleaning element is stopped by the first ejection inner rod 1012, and the third magnetic attraction member in the mop 3 of the second cleaning element is away from the first magnetic attraction member at the end of the first lifting rod 101. After the third magnetic attraction member in the mop 3 of the second cleaning element is not in contact with the first magnetic attraction member at the end of the first lifting rod 101, the attraction force between the first magnetic attraction member and the third magnetic attraction member in the mop 3 of the second cleaning element is smaller than the attraction force between the third magnetic attraction member in the mop 3 of the first cleaning element and the third magnetic attraction member in the mop 3 of the second cleaning element, and the attraction force between the third magnetic attraction member in the mop 3 of the first cleaning element and the fourth magnetic attraction member of the cleaning disc 103 is greater than the attraction force between the third magnetic attraction member in the mop 3 of the first cleaning element and the third magnetic attraction member in the mop 3 of the second cleaning element. The third magnetic attraction member in the mop 3 of the first cleaning element is used to attract the second cleaning element above the first cleaning element, and at this time the base station 1 retracts the first ejection inner rod 1012. Subsequently, the cleaning device 2 is controlled to return to the base station 1.

[0264] The cleaning device 2 controls the second lifting rod 2011 and the second ejection inner rod 2012 to move downward simultaneously until the second lifting rod 2011 contacts the second cleaning element. After the second cleaning element contacts the second magnetic element at the end of the second lifting rod 2011, the attractive force between the third magnetic element in the mop 3 of the second cleaning element and the second magnetic element is greater than the attractive force between the third magnetic element in the mop 3 of the second cleaning element and the fourth magnetic element of the cleaning disc 103, and the second cleaning element is adsorbed to the second lifting rod 2011 by the cleaning disc 103.

[0265] In the embodiment of the present disclosure, the first magnetic element is arranged at the end of the first ejection inner rod 1012 extending into the cleaning device accommodating cavity 102, the second magnetic element is arranged at the end of the second ejection inner rod 2012 extending out of the cleaning device 2, and the cleaning disc 103 contains the second cleaning element, i.e., the cleaning disc 103 contains the mop 3. The specific process of the above cleaning element replacement operation is as follows:

[0266] When the first cleaning element is adsorbed by the second magnetic element at the end of the second ejection inner rod 2012 at the end of the second moving rod 201 extending out of the cleaning device, the cleaning device 2 controls the second lifting rod 2011 and the second ejection inner rod 2012 to move downward simultaneously, moves the first cleaning element away from the cleaning device 2 until the first cleaning element contacts the object below it, at this time, the second lifting rod 2011 is controlled to be stationary, the second ejection inner rod 2012 is retracted upward, and the first cleaning element is stopped by the second lifting rod 2011 to move the third magnetic element in the mop 3 of the first cleaning element away from the second magnetic element at the end of the second ejection inner rod 2012. After the third magnetic element in the mop 3 of the first cleaning element is not in contact with the second magnetic element at the end of the second ejection inner rod 2012, the attractive force between the second magnetic element and the third magnetic element in the mop 3 of the first cleaning element is less than the attractive force between the third magnetic element in the mop 3 of the first cleaning element and the third magnetic element in the mop 3 of the second cleaning element, and the third magnetic element in the mop 3 of the second cleaning element is used to adsorb the first cleaning element above the second cleaning element, at this time the cleaning device retracts the second lifting rod 2011. Subsequently, the cleaning device 2 leaves the base station 1.

[0267] After the cleaning device 2 leaves the base station 1, the base station 1 controls the first lifting rod 1011 and the first ejection inner rod 1012 to move downward simultaneously until the first ejection inner rod 1012 contacts the first cleaning element. After the first magnetic suction element on the first ejection inner rod 1012 contacts the first cleaning element, the attractive force between the first magnetic suction element and the third magnetic suction element in the mop plate 3 of the first cleaning element is greater than the attractive force between the third magnetic suction element in the mop plate 3 of the first cleaning element and the third magnetic suction element in the mop plate 3 of the second cleaning element, the attractive force between the fourth magnetic suction element of the cleaning plate 103 and the third magnetic suction element in the mop plate 3 of the second cleaning element is greater than the attractive force between the third magnetic suction element in the mop plate 3 of the first cleaning element and the third magnetic suction element in the mop plate 3 of the second cleaning element, and the first cleaning element is attracted to the first ejection inner rod 1012 from above the second cleaning element. Subsequently, the base station 1 simultaneously retracts the first lifting rod 1011 and the first ejection inner rod 1012, and the first cleaning element is removed with the first ejection inner rod 1012. Subsequently, the cleaning device 2 is controlled to return to the base station 1.

[0268] The cleaning device 2 controls the second lifting rod 2011 and the second ejection inner rod 2012 to move downward simultaneously until the second ejection inner rod 2012 contacts the second cleaning element. After the second cleaning element contacts the second magnetic suction element at the end of the second ejection inner rod 2012, the attractive force between the third magnetic suction element in the mop plate 3 of the second cleaning element and the second magnetic suction element is greater than the attractive force between the third magnetic suction element in the mop plate 3 of the second cleaning element and the fourth magnetic suction element of the cleaning plate 103, and the second cleaning element is attracted to the second ejection inner rod 2012 from the cleaning plate 103.

[0269] In the embodiments of the present disclosure, the first magnetic suction element is arranged at the end of the first ejection inner rod 1012 extending into the cleaning device accommodating cavity 102, the second magnetic suction element is arranged at the end of the second ejection inner rod 2012 extending out of the cleaning device 2, and there is no second cleaning element in the cleaning plate 103, i.e., there is no mop plate 3 in the cleaning plate 103. The specific process of the above cleaning element replacement operation is as follows:

[0270] When the second moving rod 201 extends to the end of the cleaning device 2 and the first cleaning element is adsorbed by the second magnetic attraction element at the end of the second ejection inner rod 2012, the cleaning device 2 controls the second lifting rod 2011 and the second ejection inner rod 2012 to move downward at the same time, and moves the first cleaning element away from the cleaning device 2 until the first cleaning element contacts the object below it. At this time, the second lifting rod 2011 is controlled to be stationary, and the second ejection inner rod 2012 is retracted upward, so that the first cleaning element is stopped by the second lifting rod 2011, and the third magnetic attraction element in the mop 3 of the first cleaning element is away from the second magnetic attraction element at the end of the second ejection inner rod 2012. After the third magnetic attraction element in the mop 3 of the first cleaning element is not in contact with the second magnetic attraction element at the end of the second ejection inner rod 2012, the attraction force between the second magnetic attraction element and the third magnetic attraction element in the mop 3 of the first cleaning element is smaller than the attraction force between the third magnetic attraction element in the mop 3 of the first cleaning element and the fourth magnetic attraction element of the cleaning disc 103, and the fourth magnetic attraction element of the cleaning disc 103 is used to adsorb the first cleaning element into the cleaning disc 103. At this time, the cleaning device 2 retracts the second lifting rod 2011. Subsequently, the cleaning device 2 leaves the base station 1.

[0271] The end of the first moving rod 101 extends into the cleaning device accommodating cavity 102 and is adsorbed by the second cleaning element through the first magnetic attraction element at the end of the first ejection inner rod 1012. After the cleaning device 2 leaves the base station 1, the base station 1 controls the first lifting rod 1011 and the first ejection inner rod 1012 to move downward at the same time until the second cleaning element contacts the first cleaning element in the cleaning disc 103. At this time, the first lifting rod 1011 is controlled to be stationary, and the first ejection inner rod 1012 is retracted upward, so that the second cleaning element is stopped by the first lifting rod 1011, and the third magnetic attraction element in the mop 3 of the second cleaning element is away from the first magnetic attraction element at the end of the first ejection inner rod 1012. After the third magnetic attraction element in the mop 3 of the second cleaning element is not in contact with the first magnetic attraction element at the end of the first ejection inner rod 1012, the attraction force between the first magnetic attraction element and the third magnetic attraction element in the mop 3 of the second cleaning element is smaller than the attraction force between the third magnetic attraction element in the mop 3 of the first cleaning element and the third magnetic attraction element in the mop 3 of the second cleaning element, and the attraction force between the third magnetic attraction element in the mop 3 of the first cleaning element and the fourth magnetic attraction element of the cleaning disc 103 is greater than the attraction force between the third magnetic attraction element in the mop 3 of the first cleaning element and the third magnetic attraction element in the mop 3 of the second cleaning element. The third magnetic attraction element in the mop 3 of the first cleaning element is used to adsorb the second cleaning element above the first cleaning element, and at this time the base station 1 retracts the first lifting rod 1011. Subsequently, the cleaning device 2 is controlled to return to the base station 1.

[0272] The cleaning device 2 controls the second lifting rod 2011 and the second ejection inner rod 2012 to move downward at the same time until the second lifting rod 2011 is in contact with the second cleaning piece. After the second cleaning piece is in contact with the second magnetic suction piece at the end of the second ejection inner rod 2012, the attractive force between the third magnetic suction piece in the mop 3 of the second cleaning piece and the second magnetic suction piece is greater than the attractive force between the third magnetic suction piece in the mop 3 of the second cleaning piece and the fourth magnetic suction piece of the cleaning disc 103, and the second cleaning piece is adsorbed to the second ejection inner rod 2012 by the cleaning disc 103.

[0273] In an example embodiment, an electronic device is also provided, comprising: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the cleaning device control method as in the embodiments of the present disclosure.

[0274] FIG. 14 is a block diagram of an electronic device for cleaning device control according to an example embodiment, which can be a terminal, and its internal structure can be as shown in FIG. 14. The electronic device includes a processor, a memory, a network interface, a display screen, and an input device connected through a system bus. Among them, the processor of the electronic device is configured to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The network interface of the electronic device is configured to communicate with external terminals through network connection. The computer program is executed by the processor to implement a cleaning device control method. The display screen of the electronic device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic device can be a touch layer overlaid on the display screen, or a key, trackball or touchpad arranged on the shell of the electronic device, or an external keyboard, touchpad or mouse, etc.

[0275] Those skilled in the art can understand that the structure shown in FIG. 14 is only a block diagram of part of the structure related to the scheme of the present disclosure, and does not constitute a limitation on the electronic device to which the scheme of the present disclosure is applied. A specific electronic device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0276] In an example embodiment, a storage medium is also provided, when the instructions in the storage medium are executed by the processor of the electronic device, the electronic device can execute the cleaning device control method in the embodiments of the present disclosure.

[0277] In an example embodiment, a computer program product containing instructions is also provided, when it runs on a computer, the computer executes the cleaning device control method in the embodiments of the present disclosure.

[0278] 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, and the computer program can be stored in a non-volatile computer readable storage medium. When the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, storage, databases, or other media in the embodiments provided by the present disclosure can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in many forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0279] Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. The present disclosure is intended to cover any variations, uses, or adaptations of the present disclosure following the general principles thereof and including such departures from the present disclosure that come within known, accepted, and customary practice in the art to which the present disclosure pertains. The specification and examples are to be regarded as illustrative only, and the true scope and spirit of the present disclosure are indicated by the claims.

[0280] It should be understood that the present disclosure is not limited to the precise structures as herein described and illustrated in the drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the present disclosure is limited only by the claims appended hereto.

Claims

1. A cleaning apparatus control method in which, The method comprises: controlling the cleaning device to carry a first cleaning element to perform a first cleaning operation; in a case where the first cleaning operation ends, controlling the cleaning system to perform a cleaning element replacement operation, the cleaning device belonging to the cleaning system, the cleaning element replacement operation being used to achieve a cleaning requirement of a cleaning area with different attributes or a cleaning requirement completed by different attributes of cleaning elements; in a case where the cleaning element replacement operation ends, controlling the cleaning device to carry a second cleaning element to perform a second cleaning operation.

2. The cleaning device control method of claim 1, wherein: The first cleaning operation and the second cleaning operation correspond to cleaning areas with different attributes respectively.

3. The cleaning device control method according to claim 2, wherein, The attribute of the cleaning area is used to indicate a cleaning sequence corresponding to different cleaning areas, and the method further comprises: controlling the cleaning device to carry a first cleaning element to perform a cleaning operation on a first cleaning area; in a case where the cleaning operation on the first cleaning area ends, controlling the cleaning system to perform a cleaning element replacement operation; in a case where the cleaning element replacement operation ends, controlling the cleaning device to carry a second cleaning element to perform a cleaning operation on a second cleaning area, the cleaning sequence corresponding to the first cleaning area being prior to the cleaning sequence corresponding to the second cleaning area.

4. The cleaning device control method according to claim 3, wherein: the cleaning sequence corresponding to different cleaning areas is determined according to a ground material attribute or a dirt degree attribute corresponding to different cleaning areas.

5. The cleaning device control method of claim 1, wherein: The first cleaning element and the second cleaning element correspond to different dry and wet states or materials respectively.

6. The cleaning device control method of claim 5, wherein, The method further comprises: controlling the cleaning device to carry a first cleaning element to perform a first cleaning operation on a target cleaning area; in a case where the first cleaning operation ends, controlling the cleaning system to perform a cleaning element replacement operation; in a case where the cleaning element replacement operation ends, controlling the cleaning device to carry a second cleaning element to perform a second cleaning operation on the target cleaning area.

7. The cleaning device control method according to any one of claims 1, 3, 6, wherein, The cleaning system further comprises a base station, and the cleaning element replacement operation comprises: controlling the cleaning device to return to the base station; determining a cleaning element presence state corresponding to a cleaning disc of the base station; based on the cleaning element presence state, controlling the base station and the cleaning device to perform a cleaning element replacement operation; in a case where the cleaning element replacement operation ends, controlling the cleaning device to leave the base station.

8. The cleaning device control method according to claim 7, wherein The controlling the base station and the cleaning device to perform a cleaning element replacement operation based on the cleaning element presence state comprises: in a case where the cleaning element presence state indicates that the second cleaning element exists in the cleaning disc, controlling the cleaning device to eject the first cleaning element so that the first cleaning element is adsorbed on the second cleaning element; controlling the cleaning device to leave the base station; controlling the base station to remove the first cleaning element; controlling the cleaning device to return to the base station and adsorb the second cleaning element.

9. The cleaning device control method according to claim 8, wherein: The cleaning device ejects the first cleaning piece through a second moving rod and adsorbs the second cleaning piece, the second moving rod is provided with a second magnetic adsorption piece, the second magnetic adsorption piece and the magnetic adsorption piece in the target cleaning piece attract each other, the target cleaning piece is the first cleaning piece or the second cleaning piece, and the magnetic adsorption piece in the first cleaning piece and the magnetic adsorption piece in the second cleaning piece attract each other; After the first cleaning piece is not in contact with the second magnetic adsorption piece on the second moving rod, the attraction between the first cleaning piece and the second cleaning piece is greater than the attraction between the first cleaning piece and the second magnetic adsorption piece, and the first cleaning piece is adsorbed above the second cleaning piece by the second moving rod; The base station adsorbs the first cleaning piece through a first moving rod; After the first magnetic adsorption piece on the first moving rod is in contact with the first cleaning piece, the attraction between the first magnetic adsorption piece and the first cleaning piece is greater than the attraction between the first cleaning piece and the second cleaning piece, the attraction between the cleaning disc and the second cleaning piece is greater than the attraction between the first cleaning piece and the second cleaning piece, and the first cleaning piece is adsorbed above the second cleaning piece by the first moving rod; After the second cleaning piece is in contact with the second magnetic adsorption piece, the attraction between the second cleaning piece and the second magnetic adsorption piece is greater than the attraction between the second cleaning piece and the cleaning disc, and the second cleaning piece is adsorbed to the second moving rod by the cleaning disc.

10. The cleaning device control method of claim 7, wherein, The base station and the cleaning device are controlled to perform cleaning piece replacement operation based on the cleaning piece presence state, and the method further includes: In the case that the cleaning piece presence state indicates that the second cleaning piece does not exist in the cleaning disc, the cleaning device is controlled to eject the first cleaning piece, so that the first cleaning piece is adsorbed on the cleaning disc; The cleaning device is controlled to leave the base station; The base station is controlled to eject the second cleaning piece, so that the second cleaning piece is adsorbed on the first cleaning piece; The cleaning device is controlled to return to the base station and adsorb the second cleaning piece.

11. The cleaning device control method according to claim 10, wherein: The cleaning device ejects the first cleaning piece through a second moving rod and adsorbs the second cleaning piece, the second moving rod is provided with a second magnetic adsorption piece, the second magnetic adsorption piece and the magnetic adsorption piece in the target cleaning piece attract each other, the target cleaning piece is the first cleaning piece or the second cleaning piece, and the magnetic adsorption piece in the first cleaning piece and the magnetic adsorption piece in the second cleaning piece attract each other; In the case that the second cleaning piece does not exist in the cleaning disc, after the first cleaning piece is not in contact with the second magnetic adsorption piece on the second moving rod, the attraction between the first cleaning piece and the cleaning disc is greater than the attraction between the first cleaning piece and the second magnetic adsorption piece, and the first cleaning piece is adsorbed in the cleaning disc by the second moving rod; The base station ejects the second cleaning piece through a first moving rod; After the first magnetic attraction member on the first moving rod is not in contact with the second cleaning member, the attraction force between the first magnetic attraction member and the second cleaning member is less than the attraction force between the first cleaning member and the second cleaning member, and the second cleaning member is attracted to above the first cleaning member by the first moving rod; After the second cleaning member is in contact with the second magnetic attraction member, the attraction force between the second cleaning member and the second magnetic attraction member is greater than the attraction force between the second cleaning member and the first cleaning member, and the attraction force between the second cleaning member and the first cleaning member is less than the attraction force between the first cleaning member and the cleaning disc, and the second cleaning member is attracted to the second moving rod from above the first cleaning member.

12. The cleaning device control method of claim 1, wherein, After the second cleaning operation is completed, the method further comprises: controlling the cleaning system to perform a cleaning member disassembly operation, wherein the control of the cleaning system to perform the cleaning member disassembly operation comprises: determining the existence state of the cleaning member corresponding to the cleaning disc of the base station; in the case that the existence state of the cleaning member indicates that there is a cleaning member in the cleaning disc, controlling the base station to remove the cleaning member; in the case that the existence state of the cleaning member indicates that there is no cleaning member in the cleaning disc, controlling the cleaning device to eject the carried cleaning member so that the cleaning member is attracted to the cleaning disc; controlling the cleaning device to leave the base station.

13. A cleaning system for implementing the cleaning device control method according to any one of claims 1-12, the cleaning system comprising: a base station (1) and a cleaning device (2); the base station (1) comprises a first moving rod (101); the cleaning device (2) comprises a second moving rod (201); the first moving rod (101) is arranged above the cleaning device accommodating cavity (102) of the base station (1), one end of the first moving rod (101) extending into the cleaning device accommodating cavity (102) is used for attracting a mop disc (3), and the mop disc (3) is used for carrying a cleaning member; the second moving rod (201) is arranged at the bottom of the cleaning device (2), and one end of the second moving rod (201) extending out of the cleaning device (2) is used for attracting the mop disc (3).

14. The cleaning system of claim 13, wherein, the cleaning system further comprises a magnetic attraction structure; the magnetic attraction structure comprises a first magnetic attraction member; the first magnetic attraction member is arranged at one end of the first moving rod (101) extending into the cleaning device accommodating cavity (102).

15. The cleaning system of claim 14, wherein, the magnetic attraction structure further comprises a second magnetic attraction member; the second magnetic attraction member is arranged at one end of the second moving rod (201) extending out of the cleaning device (2).

16. The cleaning system of claim 15, wherein, the magnetic attraction structure further comprises a third magnetic attraction member; the third magnetic attraction member is arranged in the mop disc (3).

17. The cleaning system of claim 16, wherein, the magnetic attraction structure further comprises a fourth magnetic attraction member; the fourth magnetic attraction member is arranged in the cleaning disc (103) at the bottom of the cleaning device accommodating cavity (102).

18. The cleaning system according to claim 17, wherein: When two mops (3) are stacked in the cleaning tray (103), the attractive force between the fourth magnetic member and the third magnetic member of the second mop is greater than the attractive force between the third magnetic member of the first mop and the third magnetic member of the second mop, the first mop being the upper mop (3) of the two mops, and the second mop being the lower mop (3) of the two mops.

19. The cleaning system of claim 17, wherein: When the first mop is not in contact with the position where the first magnetic member is arranged and there is no second mop in the cleaning tray (103), the attractive force between the first magnetic member and the third magnetic member of the first mop is less than the attractive force between the fourth magnetic member and the third magnetic member of the first mop, the fourth magnetic member being used to attract the first mop from the first moving rod (101) into the cleaning tray (103).

20. The cleaning system of claim 16, wherein: When the first mop is not in contact with the position where the first magnetic member is arranged and there is a second mop in the cleaning tray (103), the attractive force between the first magnetic member and the third magnetic member of the first mop is less than the attractive force between the third magnetic member of the first mop and the third magnetic member of the second mop, the third magnetic member of the second mop being used to attract the first mop from the first moving rod (101) above the second mop.

21. The cleaning system of claim 17, wherein: When the first mop is not in contact with the position where the second magnetic member is arranged and there is no second mop in the cleaning tray (103), the attractive force between the second magnetic member and the third magnetic member of the first mop is less than the attractive force between the fourth magnetic member and the third magnetic member of the first mop, the fourth magnetic member being used to attract the first mop from the second moving rod (201) into the cleaning tray (103).

22. The cleaning system of claim 16, wherein: When the first mop is not in contact with the position where the second magnetic member is arranged and there is a second mop in the cleaning tray (103), the attractive force between the second magnetic member and the third magnetic member of the first mop is less than the attractive force between the third magnetic member of the first mop and the third magnetic member of the second mop, the third magnetic member of the second mop being used to attract the first mop from the second moving rod (201) above the second mop.

23. The cleaning system of claim 17, wherein: When the first mop is in contact with the position where the first magnetic member is arranged and there is no second mop below the first mop, the attractive force between the first magnetic member and the third magnetic member of the first mop is greater than the attractive force between the third magnetic member of the first mop and the fourth magnetic member, the first magnetic member being used to attract the mop (3) from the cleaning tray (103) to the first moving rod (101).

24. The cleaning system of claim 16, wherein: In a case where the first mop plate is in contact with a position where the first magnetic attraction member is arranged and there is no second mop plate under the first mop plate, the attractive force between the first magnetic attraction member and the third magnetic attraction member of the first mop plate is greater than the attractive force between the third magnetic attraction member of the first mop plate and the third magnetic attraction member of the second mop plate, and the first magnetic attraction member is used to attract the mop plate (3) from above the second mop plate to the first moving rod (101).

25. The cleaning system of claim 17, wherein: In a case where the first mop plate is in contact with a position where the second magnetic attraction member is arranged and there is no second mop plate under the first mop plate, the attractive force between the second magnetic attraction member and the third magnetic attraction member of the first mop plate is greater than the attractive force between the third magnetic attraction member of the first mop plate and the fourth magnetic attraction member, and the second magnetic attraction member is used to attract the mop plate (3) from inside the cleaning plate (103) to the second moving rod (201).

26. The cleaning system of claim 16, wherein: In a case where the first mop plate is in contact with a position where the second magnetic attraction member is arranged and there is no second mop plate under the first mop plate, the attractive force between the second magnetic attraction member and the third magnetic attraction member of the first mop plate is greater than the attractive force between the third magnetic attraction member of the first mop plate and the third magnetic attraction member of the second mop plate, and the second magnetic attraction member is used to attract the mop plate (3) from above the second mop plate to the second moving rod (201).

27. An electronic device, comprising: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the cleaning device control method of any one of claims 1-12.

28. A storage medium, wherein, The instructions in the storage medium, when executed by the processor of the electronic device, enable the electronic device to perform the cleaning device control method of any one of claims 1-12.

Images