Control method and apparatus for cleaning device, and program product, medium and cleaning device

Abstract

A control method and apparatus for a cleaning device, and a program product, a medium and a cleaning device. The method comprises: step 210, in the process of a cleaning device executing a cleaning task on a floor to be cleaned, if the cleaning device receives a switching instruction, controlling the cleaning device to switch from a non-long-pile carpet cleaning mode to a long-pile carpet cleaning mode, wherein the switching instruction is triggered by a user, or is actively triggered when the cleaning device travels to a long-pile carpet area from a non-long-pile carpet area; and step 220, in the long-pile carpet cleaning mode, controlling the cleaning device to adjust the body height thereof to a first body height and then execute a cleaning action, wherein the first body height is greater than a second body height of the cleaning device in the non-long-pile carpet cleaning mode. In this way, the cleaning effect of a cleaning device cleaning a floor can be improved.

Description

Cleaning device control method, apparatus, program product, medium, and cleaning device

[0001] Cross-reference to Related Applications

[0002] This application is based on and claims priority to Chinese Patent Application No. 202410852328.X, filed on June 27, 2024, the entire contents of which is incorporated herein by reference. TECHNICAL FIELD

[0003] The present application belongs to the technical field of cleaning device control, and particularly relates to a cleaning device control method, apparatus, program product, medium, and cleaning device. BACKGROUND

[0004] Currently, in the process of cleaning equipment (such as a sweeping machine or a mopping machine) performing a ground cleaning task, sometimes a scenario of existing carpet is encountered. Since some carpets have relatively long pile, the cleaning equipment walking on the carpet is affected, and thus the cleaning equipment performing a cleaning action is affected.

[0005] SUMMARY

[0006] Embodiments of the present application provide a cleaning device control method, apparatus, computer program product, computer readable storage medium, and cleaning device, thereby at least to some extent improving the cleaning effect of the cleaning device cleaning the ground.

[0007] Other characteristics and advantages of the present application will become apparent from the following detailed description, or will be learned by practice of the present application.

[0008] According to a first aspect of embodiments of the present application, a cleaning device control method is provided, the method comprising: if the cleaning device receives a switching instruction in the process of the cleaning device performing a cleaning task on a to-be-cleaned ground, controlling the cleaning device to switch from a non-long-pile-carpet cleaning mode to a long-pile-carpet cleaning mode, wherein the switching instruction is triggered by a user or is triggered by the cleaning device when the cleaning device travels from a non-long-pile-carpet area to a long-pile-carpet area; in the long-pile-carpet cleaning mode, controlling the cleaning device to perform a cleaning action after adjusting a body height thereof to a first body height, the first body height being higher than a second body height of the cleaning device in the non-long-pile-carpet cleaning mode.

[0009] In some embodiments of the application, based on the foregoing scheme, the floor to be cleaned includes a non-carpet area and at least one carpet area, and the method further comprises: in response to receiving an instruction to perform a cleaning task on the floor to be cleaned, controlling the cleaning device to sequentially perform a cleaning action on each carpet area in the order of the position distribution of the carpet areas; and after cleaning the at least one carpet area is completed, controlling the cleaning device to perform a cleaning action on the non-carpet area.

[0010] In some embodiments of the application, based on the foregoing scheme, the carpet area includes a long-pile carpet area and a short-pile carpet area, and the method further comprises: if the cleaning device moves away from the long-pile carpet area, controlling the cleaning device to switch from the long-pile carpet cleaning mode to the non-long-pile carpet cleaning mode; and in the non-long-pile carpet cleaning mode, controlling the cleaning device to adjust the height of the body to the second body height and then perform a cleaning action.

[0011] In some embodiments of the application, based on the foregoing scheme, the carpet area includes a long-pile carpet area and a short-pile carpet area, and the method further comprises: if the cleaning device moves from the long-pile carpet area to the non-long-pile carpet area, controlling the cleaning device to switch from the long-pile carpet cleaning mode to the non-long-pile carpet cleaning mode; if the cleaning device moves away from one long-pile carpet area and moves towards another long-pile carpet area, controlling the cleaning device to remain in the long-pile carpet cleaning mode; and in the non-long-pile carpet cleaning mode, controlling the cleaning device to adjust the height of the body to the second body height and then perform a cleaning action.

[0012] In some embodiments of the application, based on the foregoing scheme, the floor to be cleaned includes a non-carpet area and at least one carpet area, and the carpet area includes a long-pile carpet area and a short-pile carpet area, and the method further comprises: in response to receiving an instruction to perform a cleaning task on the floor to be cleaned, controlling the cleaning device to sequentially perform a cleaning action on each long-pile carpet area, wherein, in the process of the cleaning device moving away from one long-pile carpet area and moving towards another long-pile carpet area, the cleaning device is controlled to remain in the long-pile carpet cleaning mode; after cleaning each long-pile carpet area is completed, controlling the cleaning device to sequentially perform a cleaning action on each short-pile carpet area, wherein, when the cleaning device moves away from a long-pile carpet area, or when the cleaning device moves from a long-pile carpet area to a short-pile carpet area, the cleaning device is controlled to switch from the long-pile carpet cleaning mode to the non-long-pile carpet cleaning mode; and after cleaning each short-pile carpet area is completed, controlling the cleaning device to perform a cleaning action on the non-carpet area.

[0013] In some embodiments of the present application, based on the foregoing scheme, the method further comprises: if there is an obstacle space in any one of the shaggy carpet areas, controlling the cleaning device to adjust its body height to a third body height and then travel to the obstacle space to perform a cleaning action in the obstacle space, the height of the obstacle space being lower than the first body height, the third body height being higher than or equal to the second body height and lower than the first body height.

[0014] In some embodiments of the present application, based on the foregoing scheme, the area of the obstacle space is greater than a preset area threshold.

[0015] In some embodiments of the present application, based on the foregoing scheme, the method further comprises: if the third body height is equal to the second body height, and the number of failures of the cleaning device to travel to the obstacle space is higher than a preset number threshold, controlling the cleaning device to stop traveling to the obstacle space.

[0016] In some embodiments of the present application, based on the foregoing scheme, the method further comprises: obtaining shaggy carpet area setting data provided by a user; and setting a shaggy carpet area in the to-be-cleaned ground according to the shaggy carpet area setting data.

[0017] In some embodiments of the present application, based on the foregoing scheme, the method further comprises: when the cleaning device performs a cleaning action in a current position according to a non-shaggy carpet cleaning mode, obtaining an electrical signal value of a motion component in the cleaning device, the motion component including at least one of a cleaning main brush, a cleaning side brush, and a walking wheel; and if the electrical signal value is greater than a preset electrical signal threshold, determining the current position as a shaggy carpet position.

[0018] In some embodiments of the present application, based on the foregoing scheme, the method further comprises: obtaining a shaggy carpet position distributed in any one of the carpet areas of the to-be-cleaned ground; and determining whether the any one of the carpet areas is a shaggy carpet area according to the number or area of distribution of the shaggy carpet position in the any one of the carpet areas.

[0019] In some embodiments of the present application, based on the foregoing scheme, the method further comprises: when the cleaning device performs a cleaning action in a current position, if the current position is determined as a shaggy carpet position, determining the area where the shaggy carpet position is located as a shaggy carpet area.

[0020] In some embodiments of the present application, based on the foregoing scheme, the controlling the cleaning device to adjust the body height to the first body height and then perform the cleaning action comprises: obtaining a carpet characteristic value of the long-pile carpet area, the carpet characteristic value being used to represent the pile length in the long-pile carpet area, and the carpet characteristic value being positively correlated with the electrical signal value; determining the first body height according to the carpet characteristic value, and controlling the cleaning device to adjust the body height to the first body height and then perform the cleaning action, the first body height being positively correlated with the carpet characteristic value.

[0021] According to a second aspect of embodiments of the present application, a cleaning device control apparatus is provided, the apparatus comprising: a first control unit configured to, in a process in which the cleaning device performs a cleaning task on a floor to be cleaned, if the cleaning device receives a switching instruction, control the cleaning device to switch from a non-long-pile carpet cleaning mode to a long-pile carpet cleaning mode, wherein the switching instruction is triggered by a user or is triggered by the cleaning device when the cleaning device travels from a non-long-pile carpet area to a long-pile carpet area; and a second control unit configured to, in the long-pile carpet cleaning mode, control the cleaning device to adjust the body height to a first body height and then perform a cleaning action, the first body height being higher than a second body height of the cleaning device in the non-long-pile carpet cleaning mode.

[0022] According to a third aspect of embodiments of the present application, a computer program product is provided, the computer program product comprising computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform operations implemented by the method according to any one of the first aspect.

[0023] According to a fourth aspect of embodiments of the present application, a computer-readable storage medium is provided, the computer-readable storage medium storing at least one computer program instruction, the at least one computer program instruction being loaded and executed by a processor to implement operations performed by the method according to any one of the first aspect.

[0024] According to a fifth aspect of embodiments of the present application, a cleaning device is provided, the cleaning device comprising one or more processors and one or more memories, the one or more memories storing at least one computer program instruction, the at least one computer program instruction being loaded and executed by the one or more processors to implement operations performed by the method according to any one of the first aspect.

[0025] Based on the technical scheme provided in the present application, when the cleaning device receives the switching instruction, the cleaning device is controlled to switch from the non-long-pile carpet cleaning mode to the long-pile carpet cleaning mode, that is, the cleaning device is controlled to lift the body height to the first body height and then perform the cleaning action on the long-pile carpet area. On the one hand, the contact force between the cleaning main brush and the cleaning side brush in the cleaning device and the long-pile carpet can be reduced, thereby reducing the friction between the cleaning device and the long-pile carpet, improving the smoothness of the cleaning main brush and the cleaning side brush when sweeping the long-pile carpet, and enabling the cleaning main brush and the cleaning side brush in the cleaning device to fully clean the dirt in the long-pile carpet, thereby enhancing the cleaning effect on the long-pile carpet. On the other hand, since the body of the cleaning device is lifted to the first body height, the contact area between the mop of the cleaning device and the long-pile carpet can be reduced, thereby avoiding the pollution of the long-pile carpet by the dirt on the mop, and indirectly enhancing the cleaning effect of the cleaning device on the long-pile carpet. In general, when cleaning the long-pile carpet, the cleaning device is lifted to the first body height and then the long-pile carpet is cleaned, which can enhance the cleaning effect on the ground to a certain extent.

[0026] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0027] The drawings incorporated into the specification and forming part of the specification, show embodiments consistent with the present application, and together with the specification, serve to explain the principles of the present application. It is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor. In the drawings:

[0028] Fig. 1 shows a schematic diagram of a cleaning device cleaning the ground, which can apply the embodiments of the present application;

[0029] Fig. 2 shows a flowchart of a cleaning device control method in the embodiments of the present application;

[0030] Fig. 3 shows a schematic diagram of a cleaning device cleaning the ground, which can apply the embodiments of the present application;

[0031] Fig. 4 shows a schematic diagram of a cleaning device cleaning the ground, which can apply the embodiments of the present application;

[0032] Fig. 5 shows a detailed flowchart of a cleaning device control method in the embodiments of the present application;

[0033] Fig. 6 shows a block diagram of a cleaning device control apparatus in the embodiments of the present application;

[0034] Fig. 7 shows a structural schematic diagram of a cleaning device in the embodiments of the present application. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present application will be clearly and completely described in combination with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the protection scope of the present application.

[0036] In addition, the described features, structures or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, many specific details are provided to give a full understanding of the embodiments of the present application. However, a person of ordinary skill in the art will realize that the technical solutions of the present application can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. can be used. In other cases, well-known methods, devices, implementations or operations are not shown or described in detail to avoid obscuring the aspects of the present application.

[0037] The block diagrams shown in the accompanying drawings are only functional entities, and do not necessarily correspond to physically independent entities. That is, the functional entities can be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices. It should be noted that in the accompanying drawings, some components that do not affect the explanation of the technical solutions of the present application are omitted to ensure the simplicity of the drawings.

[0038] The flowcharts shown in the accompanying drawings are only exemplary illustrations, and do not necessarily include all contents and operations / steps, nor do they necessarily be executed in the described order. For example, some operations / steps can be further divided, and some operations / steps can be combined or partially combined, so the actual execution order can be changed according to the actual situation.

[0039] In the description of the present application, it should be understood that the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "multiple" is two or more.

[0040] Currently, during the process of performing a ground cleaning task by a cleaning device (such as a sweeper or a mop), a carpeted area may be encountered. Since some carpets have long pile, the cleaning device may be affected in walking on the carpet, and thus the cleaning device may be affected in performing a cleaning action. Therefore, when cleaning the ground, the cleaning device is generally controlled to bypass the carpet, and the carpet is not cleaned. However, this may result in that dirt on the carpet cannot be cleaned completely, and thus the ground cleaning effect is poor. Therefore, how to enhance the ground cleaning effect is a technical problem to be solved.

[0041] In order for those skilled in the art to better understand the present application, first, the application scenario involved in the present application will be briefly described in conjunction with FIG. 1.

[0042] Referring to FIG. 1, a schematic diagram of a scenario in which a cleaning device cleans the ground is shown.

[0043] In the present application, the cleaning device 102 involved can be a sweeper, a mop, or a sweeper-mop integrated machine, and the present application does not make a specific limitation thereon. In addition, the shape of the body of the cleaning device can be circular, square, or other shapes, and the present application does not make a specific limitation thereon.

[0044] As shown in FIG. 1, in some embodiments of the present application, the ground to be cleaned 101 can include a carpet area A, a carpet area B, a carpet area C, a carpet area D, a carpet area E, and an area other than the carpet area. Among them, the carpet area A and the carpet area B are long pile carpet areas, and the carpet area C, the carpet area D, and the carpet area E are short pile carpet areas. In the prior art, during the process of cleaning the ground to be cleaned 101, the cleaning device 102 only cleans the area other than the carpet area, and bypasses the carpet area. Further, some prior art only cleans the area other than the long pile carpet area, and bypasses the long pile carpet area.

[0045] It should be noted that, for an actual long pile carpet, it can refer to a carpet whose pile length exceeds a set length threshold. Conversely, a short pile carpet can be a carpet whose pile length is less than or equal to a set length threshold.

[0046] It should be noted that the carpet area, the long pile carpet area, and the short pile carpet area mentioned in the present application cannot be understood in a narrow sense from a literal meaning. That is, the carpet area mentioned in the present application can refer to a ground area having similar characteristics to a carpet, the long pile carpet area can refer to a ground area having similar characteristics to a long pile carpet, and the short pile carpet area can refer to a ground area having similar characteristics to a short pile carpet.

[0047] In the prior art, the cleaning device adopts a bypass strategy for the carpet, which causes the stains or debris on the carpet to be unable to be cleaned completely, thereby resulting in poor cleaning effect of the floor. In this case, the cleaning device control method is proposed to enhance the cleaning effect of the floor, which is a technical problem to be solved.

[0048] Referring to FIG. 2, a flowchart of the cleaning device control method in the embodiment of the present application is shown, which can be executed by a device with computing processing function. Referring to FIG. 2, the cleaning device control method at least includes steps 210 to 220, which are described in detail as follows:

[0049] In step 210, if the cleaning device receives a switching instruction during the execution of the cleaning task on the floor to be cleaned, the cleaning device is controlled to switch from the non-long-pile carpet cleaning mode to the long-pile carpet cleaning mode, wherein the switching instruction is triggered by the user or the cleaning device is automatically triggered when it travels from the non-long-pile carpet area to the long-pile carpet area.

[0050] In step 220, in the long-pile carpet cleaning mode, the cleaning device is controlled to adjust the height of the body to a first body height and then perform a cleaning action, wherein the first body height is higher than a second body height of the cleaning device in the non-long-pile carpet cleaning mode.

[0051] In the present application, the cleaning device can be controlled to switch from the non-long-pile carpet cleaning mode to the long-pile carpet cleaning mode in response to receiving a switching instruction. The switching instruction can be triggered in at least two ways. One way is triggered by the user, such as triggering the switching instruction through the cleaning device control APP or triggering the switching instruction through voice control. Another way is that the cleaning device is automatically triggered when it travels from the non-long-pile carpet area to the long-pile carpet area, such as triggering the switching instruction when the cleaning device detects the long-pile carpet area through its own sensor or when the cleaning device travels to the location of the long-pile carpet area memorized in history.

[0052] In the present application, if the cleaning device enters the long-pile carpet cleaning mode, the height of the body of the cleaning device is first lifted from the second body height to the first body height, and then the cleaning action on the long-pile carpet area is performed. It should be noted that in some embodiments, the walking wheels and universal wheels in the cleaning device can realize the lifting of the body of the cleaning device in combination with the rudder, and the specific implementation principle will not be described herein.

[0053] It should be noted that the long-pile carpet area in the present application refers to the area occupied by the long-pile carpet in the floor to be cleaned, such as areas A and B shown in FIG. 1, and the short-pile carpet area refers to the area occupied by the short-pile carpet in the floor to be cleaned, such as areas C, D and E shown in FIG. 1. It can be further understood that the carpet area in the present application includes the long-pile carpet area and the short-pile carpet area, and the non-carpet area refers to the area other than the carpet area in the floor to be cleaned, such as area F shown in FIG. 1. The non-long-pile carpet area refers to the area other than the long-pile carpet area in the floor to be cleaned, such as areas C, D, E and F shown in FIG. 1.

[0054] In the present application, when the cleaning device receives the switching instruction, the cleaning device is controlled to switch from the non-long-pile carpet cleaning mode to the long-pile carpet cleaning mode, that is, the cleaning device is controlled to lift the body height to the first body height and then perform the cleaning action on the long-pile carpet area. On the one hand, the contact force between the cleaning main brush and the cleaning side brush in the cleaning device and the long-pile carpet can be reduced, thereby reducing the friction between the cleaning device and the long-pile carpet, improving the smoothness of the cleaning main brush and the cleaning side brush when sweeping the long-pile carpet, and enabling the cleaning main brush and the cleaning side brush in the cleaning device to fully clean the dirt in the long-pile carpet, thereby enhancing the cleaning effect on the long-pile carpet. On the other hand, since the body of the cleaning device is lifted to the first body height, the contact area between the mop of the cleaning device and the long-pile carpet can be reduced, thereby avoiding the pollution of the long-pile carpet by the dirt on the mop (for example, avoiding the wetting of the long-pile carpet by the water on the mop), and indirectly enhancing the cleaning effect of the cleaning device on the long-pile carpet. In general, when cleaning the long-pile carpet, the present application lifts the cleaning device to the first body height and then cleans the long-pile carpet, which can enhance the cleaning effect on the floor to a certain extent.

[0055] In the present application, the floor to be cleaned can include a non-carpet area and at least one carpet area, and the carpet area can include a long-pile carpet area and a short-pile carpet area.

[0056] In an embodiment of the present application, the following steps 231 to 232 can also be performed:

[0057] Step 231: in response to receiving an instruction to perform a cleaning task on the floor to be cleaned, the cleaning device is controlled to sequentially perform a cleaning action on each carpet area in the order of the position distribution of the carpet area.

[0058] Step 232: after the cleaning of the at least one carpet area is completed, the cleaning device is controlled to perform a cleaning action on the non-carpet area.

[0059] In this embodiment, after receiving a user's instruction to perform a cleaning task on the floor to be cleaned, the cleaning device may first clean the carpet area. During the cleaning of the carpet area, the mop is not wetted; the device proceeds directly to the carpet area to avoid wetting the carpet with moisture from the mop, thus preventing the carpet from becoming moldy and smelly later. In some cases, if the floor to be cleaned includes multiple carpet areas, the cleaning device can be controlled to perform cleaning actions on each carpet area sequentially according to their location. That is, after the cleaning device finishes cleaning one carpet area, it can select the nearest carpet area to clean until all carpet areas are cleaned, at which point the cleaning device can be controlled to perform cleaning actions on the non-carpet areas. It should be noted that the nearest carpet area selected by the cleaning device may be a long-pile carpet area or a short-pile carpet area.

[0060] In this application, during the process of controlling the cleaning device to perform cleaning actions on each carpet area in sequence, the cleaning actions can be performed randomly on each carpet area instead of following the order of the carpet area's location.

[0061] To enable those skilled in the art to better understand this embodiment, it will be described below with reference to FIG3.

[0062] Referring to Figure 3, a schematic diagram of a scenario in which the cleaning equipment of the present application embodiment can be used to clean the floor is shown.

[0063] As shown in Figure 3, the cleaning equipment cleans the carpets in the following order: short-pile carpet area C → short-pile carpet area D → long-pile carpet area B → long-pile carpet area A → short-pile carpet area E → non-carpet area F.

[0064] In this embodiment, steps 2311 to 2312 may also be performed:

[0065] Step 2311: If the cleaning device leaves the long-pile carpet area, control the cleaning device to switch from long-pile carpet cleaning mode to non-long-pile carpet cleaning mode.

[0066] Step 2312: In the non-pile carpet cleaning mode, the cleaning device is controlled to adjust its body height to the second body height before performing the cleaning action.

[0067] Specifically, the cleaning device can be separated from the long-pile carpet area (it should be noted that in the present application, the separation of the cleaning device from the long-pile carpet area can refer to the separation of the entire cleaning device body from the long-pile carpet area, or the separation of the cleaning part of the cleaning device, such as a mop, from the long-pile carpet area, or the separation of the entire cleaning device body from the long-pile carpet area within a small distance, and specifically, the timing of the separation of the cleaning device from the long-pile carpet area can be arbitrary in the present application, which is not limited in the present application), that is, whether the next carpet area is a long-pile carpet area or a non-long-pile carpet area, the cleaning device is controlled to switch from the long-pile carpet cleaning mode to the non-long-pile carpet cleaning mode, that is, the height of the cleaning device body is controlled to be lowered from the first body height to the second body height, and after the height of the cleaning device body is adjusted to the second body height, the cleaning operation is performed.

[0068] It should be noted that in the present application, the cleaning operation can be performed immediately after the height of the cleaning device body is adjusted to the second body height, or the cleaning operation can be performed after the cleaning device travels to another carpet area that needs to be cleaned.

[0069] In the present embodiment, the following steps 2313 to 2315 can also be performed:

[0070] Step 2313: If the cleaning device travels from a long-pile carpet area to a non-long-pile carpet area, the cleaning device is controlled to switch from the long-pile carpet cleaning mode to the non-long-pile carpet cleaning mode.

[0071] Step 2314: If the cleaning device leaves one long-pile carpet area and travels to another long-pile carpet area, the cleaning device is controlled to remain in the long-pile carpet cleaning mode.

[0072] Step 2315: In the non-long-pile carpet cleaning mode, the cleaning device is controlled to perform a cleaning operation after the height of the cleaning device body is adjusted to the second body height.

[0073] Specifically, when the cleaning device travels from a long-pile carpet area to a non-long-pile carpet area, i.e., the next carpet area is a non-long-pile carpet area, the cleaning device is controlled to switch from the long-pile carpet cleaning mode to the non-long-pile carpet cleaning mode, i.e., the cleaning device is controlled to lower the height of the machine body from the first machine body height to the second machine body height. When the cleaning device travels from one long-pile carpet area to another long-pile carpet area, i.e., the next carpet area is a long-pile carpet area, the cleaning device is controlled to remain in the long-pile carpet cleaning mode, i.e., the machine body of the cleaning device is kept at the first machine body height, and the cleaning action is performed, so as to avoid repeated lifting of the machine body of the cleaning device, and affect the service life of components (such as walking wheels, universal wheels, steering gears, etc.) of the cleaning device used for lifting the machine body.

[0074] In an embodiment of the present application, the following steps 233 to 235 can also be performed:

[0075] Step 233: In response to receiving an instruction to perform a cleaning task on the ground to be cleaned, the cleaning device is controlled to sequentially perform a cleaning action on each long-pile carpet area, wherein, when the cleaning device travels from one long-pile carpet area to another long-pile carpet area, the cleaning device is controlled to remain in the long-pile carpet cleaning mode.

[0076] Step 234: After cleaning each long-pile carpet area, the cleaning device is controlled to sequentially perform a cleaning action on each short-pile carpet area, wherein, when the cleaning device travels from a long-pile carpet area, or when the cleaning device travels from a long-pile carpet area to a short-pile carpet area, the cleaning device is controlled to switch from the long-pile carpet cleaning mode to the non-long-pile carpet cleaning mode.

[0077] Step 235: After cleaning each short-pile carpet area, the cleaning device is controlled to perform a cleaning action on the non-carpet area.

[0078] In order for those skilled in the art to better understand the present embodiment, the following will be described in conjunction with FIG. 4.

[0079] Referring to FIG. 4, a schematic diagram of a scenario in which a cleaning device cleans a ground according to an embodiment of the present application is shown.

[0080] As shown in FIG. 4, the order of the carpet areas cleaned by the cleaning device is: long-pile carpet area A→ long-pile carpet area B→ short-pile carpet area C→ short-pile carpet area D→ short-pile carpet area E→ non-carpet area F.

[0081] In this embodiment, the cleaning device can first perform cleaning on the long-pile carpet area after receiving the instruction from the user to perform the cleaning task on the to-be-cleaned ground. During the cleaning process on the long-pile carpet area, the mop is not wetted, and the cleaning device directly goes to the long-pile carpet area to avoid wetting the carpet with water on the mop and prevent the carpet from mildewing and emitting odor in the later period. In addition, during the process in which the cleaning device leaves one long-pile carpet area and goes to another long-pile carpet area, the cleaning device is controlled to keep in the long-pile carpet cleaning mode, that is, the body of the cleaning device is kept at the first body height, so as to avoid repeatedly lifting the body height of the cleaning device and affect the service life of the parts (such as walking wheels, universal wheels, steering gears, etc.) of the cleaning device used for lifting the body.

[0082] After the cleaning on each long-pile carpet area is completed, the cleaning device can be controlled to sequentially perform cleaning actions on each short-pile carpet area. During the cleaning process on the short-pile carpet area, the mop is not wetted, and the cleaning device directly goes to the short-pile carpet area to avoid wetting the carpet with water on the mop and prevent the carpet from mildewing and emitting odor in the later period. In addition, when the cleaning device leaves the long-pile carpet area or goes from the long-pile carpet area to the short-pile carpet area, the cleaning device is controlled to switch from the long-pile carpet cleaning mode to the non-long-pile carpet cleaning mode, that is, the cleaning device is controlled to lower the height of the body from the first body height to the second body height and then perform the cleaning action. After the cleaning on each short-pile carpet area is completed, the cleaning device can be controlled to perform the cleaning action on the non-carpet area.

[0083] It should be noted that, in this application, when the cleaning device performs the cleaning action on the carpet area, the cleaning device can clean the carpet area along the boundary of the carpet area first and then clean the carpet area along the "Z" shaped path, or the cleaning device can clean the carpet area along other cleaning paths, which are not limited in this application.

[0084] In actual application, the user can only open the carpet cleaning mode in the cleaning device control APP, and then the scheme described in steps 231 to 232 can be realized. If the user further opens the long-pile carpet cleaning mode under the carpet cleaning mode, the scheme described in steps 233 to 235 can be performed.

[0085] In an embodiment of this application, the following step 240 can also be performed:

[0086] Step 240, if there is an obstacle space in any one of the long-pile carpet regions, the cleaning device is controlled to adjust its body height to a third body height and then travel to the obstacle space to perform a cleaning action in the obstacle space, the height of the obstacle space is lower than the first body height, the third body height is higher than or equal to the second body height and lower than the first body height.

[0087] In the present application, if there are some obstacle spaces in the long-pile carpet region, such as the bottom space of a stool placed in the long-pile carpet region, the bottom space of a sofa, the bottom space of a decorative piece, etc., the cleaning device can be controlled to adjust its body height to a third body height and then travel to the obstacle space to perform a cleaning action in the obstacle space. It should be noted that the height of the obstacle space can refer to the height at the entrance of the obstacle space, or the height of the lowest position of the entire obstacle space. Since the body height of the cleaning device is the first body height at this time, the cleaning device cannot travel to the obstacle space with a height lower than its own body height, so the cleaning device can be controlled to adjust its body height to a third body height lower than the first body height and higher than or equal to the second body height. This provides the possibility for the cleaning device to travel to the inside of the obstacle space to perform a supplementary cleaning action.

[0088] After the cleaning device travels to the obstacle space, the cleaning device can be directly controlled to perform a cleaning action at the third body height, or the cleaning device can be controlled to adjust its body height from the third body height to a suitable fourth body height before performing a cleaning action if the internal height of the obstacle space is higher than the third body height.

[0089] In the present application, by considering the case where there are obstacle spaces in the long-pile carpet region and controlling the cleaning device to adjust its body height to a third body height before traveling to the inside of the obstacle space to perform a cleaning action, the cleaning area missed by the cleaning device can be reduced, the cleaning coverage rate can be improved, and the floor cleaning effect can be enhanced.

[0090] It should be noted that in some specific embodiments, the third body height can be directly equal to the second body height, and the second body height can be the lowest height of the cleaning device.

[0091] In the present application, the area of the obstacle space can be greater than a preset area threshold (such as 0.3m 2 For example, 0.1m 2If the area of the obstacle space is smaller than the preset area threshold, the cleaning device can be controlled to not enter the obstacle space to perform the cleaning action. In this way, the cleaning efficiency of the cleaning device can be improved, and the stability of the cleaning device in performing the cleaning action can be improved.

[0092] In this embodiment, the following step 241 can also be performed:

[0093] If the third body height is equal to the second body height, and the number of times that the cleaning device fails to enter the obstacle space is higher than the preset number threshold, the cleaning device can be controlled to stop entering the obstacle space.

[0094] It should be noted that in some embodiments, the second body height can be the lowest height of the cleaning device.

[0095] If the third body height is equal to the second body height, and the number of times that the cleaning device fails to enter the obstacle space is higher than the preset number threshold, the cleaning device can be controlled to stop entering the obstacle space.

[0096] Further, in this application, the obstacle space that the cleaning device cannot enter can be recorded, and the next time the cleaning device cleans to the position of the obstacle space, the cleaning device will not attempt to enter the obstacle space to perform the cleaning action, so as to improve the cleaning efficiency of the cleaning device.

[0097] Further, in this application, the cleaning device can perform the cleaning action at least in the following four situations:

[0098] The first situation is that the cleaning device can perform the cleaning action after cleaning each long-pile carpet area.

[0099] In a second timing, the cleaning device can perform a supplementary sweeping action on the obstacle space in the long-pile carpet area in each range after cleaning of the long-pile carpet area in the range is completed. It should be noted that the to-be-cleaned ground can be divided into a plurality of to-be-cleaned ranges.

[0100] In a third timing, the cleaning device can perform a supplementary sweeping action on the obstacle space in all long-pile carpet areas in the to-be-cleaned ground after cleaning of all long-pile carpet areas in the to-be-cleaned ground is completed.

[0101] In a fourth timing, the cleaning device can perform a supplementary sweeping action on the obstacle space in all long-pile carpet areas in the to-be-cleaned ground after cleaning of all long-pile carpet areas and non-long-pile carpet areas in the to-be-cleaned ground is completed. In this embodiment, it can be understood that when the cleaning device performs a cleaning action on the long-pile carpet area, some originally passable obstacle spaces can also be unable to pass due to the lifting of the machine body to the first machine body height. Therefore, based on the technical solution in this embodiment, the cleaning device performs a supplementary sweeping action, which can reduce the area of missed cleaning and enhance the ground cleaning effect.

[0102] In an embodiment of the present application, the following steps 251 to 252 can also be performed:

[0103] Step 251: Obtain long-pile carpet area setting data provided by a user.

[0104] Step 252: Set a long-pile carpet area in the to-be-cleaned ground according to the long-pile carpet area setting data.

[0105] In the present application, a user can provide long-pile area setting data for the cleaning device according to the actual situation, that is, can set which areas are carpet areas and further set which areas are long-pile carpet areas in the map of the to-be-cleaned ground.

[0106] In an embodiment, a user can select a corresponding area as a long-pile carpet area in the map of the to-be-cleaned ground displayed in the APP to provide long-pile carpet area setting data for the cleaning device.

[0107] In another embodiment, the cleaning device can also issue a prompt to a user through an APP or a voice prompt function of the cleaning device after detecting a long-pile carpet area, and ask whether the detected area is set as a long-pile carpet area. If the user confirms, the setting data of the area as a long-pile carpet area is obtained.

[0108] After the cleaning device obtains the long-pile carpet area setting data, a long-pile carpet area can be set in the to-be-cleaned ground according to the obtained long-pile carpet area setting data.

[0109] In the embodiment, the user can participate in the process of setting the long-pile carpet area in the to-be-cleaned ground, the actual needs of the user for cleaning the specific long-pile carpet area are met, and the user experience is improved.

[0110] In an embodiment of the present application, the following steps 261 to 262 can also be performed:

[0111] In step 261, when the cleaning device performs a cleaning action in the current position according to the non-long-pile carpet cleaning mode, an electrical signal value of a motion component in the cleaning device is obtained, the motion component including at least one of a cleaning main brush, a cleaning side brush, and a walking wheel.

[0112] In step 262, if the electrical signal value is greater than a preset electrical signal threshold value, the current position is determined as a long-pile carpet position.

[0113] In the present application, if the cleaning device performs a cleaning action in the long-pile carpet area according to the non-long-pile carpet cleaning mode, that is, the cleaning device performs a cleaning action in the long-pile carpet area at the second body height, the situation that the contact force between the motion component of the cleaning device and the carpet pile in the long-pile carpet area is too large due to the low body height of the cleaning device may exist, thereby the friction force is too large, which increases the negative moment of the motion component such as the cleaning main brush, the cleaning side brush, and the walking wheel in the cleaning device, and further causes the electrical signal value of the motion component in the cleaning device to rise. It should be noted that the electrical signal value can be a current value, a voltage value, or a power value. Therefore, if the electrical signal value of the motion component obtained when the cleaning device performs a cleaning action in the current position according to the non-long-pile carpet cleaning mode is greater than a preset electrical signal threshold value, it indicates that the current position of the cleaning device is a long-pile carpet position.

[0114] In the present application, the preset electrical signal threshold value can be 800 mA, 700 mA, or 900 mA, which is not limited in the present application.

[0115] Further, in the embodiment, the following steps 2631 to 2632 can also be performed:

[0116] In step 2631, a long-pile carpet position distributed in any one carpet area of the to-be-cleaned ground is obtained.

[0117] In step 2632, whether the any one carpet area is a long-pile carpet area is determined according to the number or the distribution area of the long-pile carpet positions in the any one carpet area.

[0118] In the present application, it can be determined in advance by the ultrasonic sensor in the cleaning device which area in the to-be-cleaned ground is a carpet area, and on this basis, the long pile carpet position of any carpet area in the to-be-cleaned ground can be obtained, and it can be determined whether the any carpet area is a long pile carpet area.

[0119] Specifically, in an embodiment, whether a carpet area is a long pile carpet area can be determined according to the number of long pile carpet positions distributed in the carpet area. For example, if the number of long pile carpet positions distributed in a carpet area accounts for more than a preset threshold (for example, it can be 70%, 75%, or 25%, which is not limited in the present application), it is determined that the carpet area is a long pile carpet area.

[0120] In another embodiment, whether a carpet area is a long pile carpet area can also be determined according to the area of long pile carpet positions distributed in the carpet area. For example, if the area of long pile carpet positions distributed in a carpet area accounts for more than a preset threshold (for example, it can be 70%, 75%, or 25%, which is not limited in the present application), it is determined that the carpet area is a long pile carpet area.

[0121] In the present application, if it is determined that a carpet area is a long pile carpet area, information that the carpet area is a long pile carpet area can be saved, so that the cleaning device can perform cleaning action on the carpet area according to the long pile carpet cleaning mode next time. Or the user can be reminded and guided in the App to set the long pile carpet cleaning mode for the carpet area, and if the user sets the long pile carpet cleaning mode for the carpet area, the cleaning device can perform cleaning action on the carpet area according to the long pile carpet cleaning mode subsequently.

[0122] Further, in the present embodiment, the following step 2641 can also be performed:

[0123] Step 2641, when the cleaning device performs cleaning action at the current position, if the current position is determined to be a long pile carpet position, the area where the long pile carpet position is located is determined to be a long pile carpet area.

[0124] In step 2641, if the distribution of the carpet area in the to-be-cleaned ground is not known in advance, the cleaning device can also directly determine the area where the long-pile carpet position is located as the long-pile carpet area if it is determined that the current position is a long-pile carpet position based on the electrical signal value (such as the current value of the cleaning main brush) of the cleaning device motion component when the cleaning device performs the cleaning action at the current position, and then automatically perform the cleaning action on the area according to the long-pile carpet cleaning mode, thereby improving the cleaning efficiency of the cleaning device. Further, a map including the long-pile carpet area can also be drawn based on the determined long-pile carpet positions in the to-be-cleaned ground, and the user no longer needs to specify. The cleaning device can subsequently refer to the map to perform the cleaning action on each long-pile carpet area according to the long-pile carpet cleaning mode.

[0125] In step 220 as shown in FIG. 2, the cleaning device is controlled to adjust the body height to a first body height and then perform the cleaning action, where the first body height can be a fixed value or a variable value.

[0126] In the embodiment where the first body height is a variable value, the control of the cleaning device to adjust the body height to the first body height and then perform the cleaning action can be performed according to steps 221 to 222 as follows:

[0127] In step 221, the carpet characteristic value of the long-pile carpet area is obtained, where the carpet characteristic value is used to represent the length of the pile in the long-pile carpet area, and the carpet characteristic value is positively correlated with the electrical signal value.

[0128] In step 222, the first body height is determined according to the carpet characteristic value, and the cleaning device is controlled to adjust the body height to the first body height and then perform the cleaning action, where the first body height is positively correlated with the carpet characteristic value.

[0129] In this application, since the electrical signal value of the cleaning device at each position in the to-be-cleaned ground can reflect the length of the pile in the carpet at that position to some extent, and in the long-pile carpet area, the length of the pile in the carpet can be represented by the carpet characteristic value. Therefore, specifically, the larger the electrical signal value, the larger the carpet characteristic value of the carpet area at that position, and the longer the length of the pile in the carpet. At this time, by positively correlating the first body height with the carpet characteristic value and determining the first body height based on the determined carpet characteristic value, the cleaning component in the cleaning device can maintain a relatively appropriate distance from the pile in the long-pile carpet area after the body height of the cleaning device is adjusted to the first body height. This enables the cleaning main brush and the cleaning side brush in the cleaning device to fully clean the dirt in the long-pile carpet during the cleaning action, thereby enhancing the cleaning effect on the long-pile carpet.

[0130] In order to make the skilled in the art more clearly understand the present application, the present application also provides an embodiment as shown in Figure 5, in particular, referring to Figure 5, a detailed flowchart of the cleaning equipment control method in the embodiment of the present application is shown.

[0131] Based on the control scheme of the cleaning equipment proposed in the present application, in actual application, the problem of poor cleaning effect of the cleaning equipment on the long pile carpet in the prior scheme can be solved, the cleaning equipment can be better avoided to wet the mop and even pollute the carpet, the cleaning effect of the long pile carpet is strengthened, and thus the cleaning effect is improved. Meanwhile, the control scheme of the cleaning equipment proposed in the present application can also avoid the problems of misrecognition and missed scanning in the obstacle space through strategy, and to some extent, the recognition ability of the cleaning equipment (i.e. the length of the pile in the carpet) is enhanced, which provides support for enhancing the floor cleaning effect.

[0132] The device embodiment of the present application is introduced below, which can be used to execute the cleaning equipment control method in the above-mentioned embodiments of the present application. For the details not disclosed in the device embodiment of the present application, please refer to the above-mentioned embodiments of the cleaning equipment control method of the present application.

[0133] Referring to Figure 6, a block diagram of the cleaning equipment control device in the embodiment of the present application is shown.

[0134] As shown in Figure 6, the cleaning equipment control device 600 according to the embodiment of the present application comprises a first control unit 601 and a second control unit 602.

[0135] The first control unit 601 is configured to, if the cleaning equipment receives a switching instruction during the process of performing the cleaning task on the floor to be cleaned, control the cleaning equipment to switch from the non-long pile carpet cleaning mode to the long pile carpet cleaning mode, wherein the switching instruction is triggered by the user or is triggered automatically when the cleaning equipment travels from the non-long pile carpet area to the long pile carpet area; the second control unit 602 is configured to, in the long pile carpet cleaning mode, control the cleaning equipment to perform the cleaning action after adjusting the body height of the cleaning equipment to the first body height, wherein the first body height is higher than the second body height of the cleaning equipment in the non-long pile carpet cleaning mode.

[0136] In some embodiments of the present application, based on the foregoing scheme, the floor to be cleaned comprises a non-carpet area and at least one carpet area, and the device further comprises a third control unit configured to, in response to receiving an instruction to perform a cleaning task on the floor to be cleaned, control the cleaning equipment to sequentially perform a cleaning action on each carpet area according to the position distribution order of the carpet area; and after the cleaning of the at least one carpet area is completed, control the cleaning equipment to perform a cleaning action on the non-carpet area.

[0137] In some embodiments of the present application, based on the foregoing scheme, the carpet area includes a long-pile carpet area and a short-pile carpet area, and the third control unit is configured to: if the cleaning device moves from the long-pile carpet area to the non-carpet area, control the cleaning device to switch from the long-pile carpet cleaning mode to the non-carpet cleaning mode; if the cleaning device moves from one long-pile carpet area to another long-pile carpet area, control the cleaning device to remain in the long-pile carpet cleaning mode; and in the non-carpet cleaning mode, control the cleaning device to perform the cleaning action after adjusting the body height to the second body height.

[0138] In some embodiments of the present application, based on the foregoing scheme, the carpet area includes a long-pile carpet area and a short-pile carpet area, and the third control unit is configured to: if the cleaning device moves from the long-pile carpet area to the non-carpet area, control the cleaning device to switch from the long-pile carpet cleaning mode to the non-carpet cleaning mode; if the cleaning device moves from one long-pile carpet area to another long-pile carpet area, control the cleaning device to remain in the long-pile carpet cleaning mode; and in the non-carpet cleaning mode, control the cleaning device to perform the cleaning action after adjusting the body height to the second body height.

[0139] In some embodiments of the present application, based on the foregoing scheme, the carpet area includes a long-pile carpet area and a short-pile carpet area, and the third control unit is configured to: if the cleaning device moves from the long-pile carpet area to the non-carpet area, control the cleaning device to switch from the long-pile carpet cleaning mode to the non-carpet cleaning mode; if the cleaning device moves from one long-pile carpet area to another long-pile carpet area, control the cleaning device to remain in the long-pile carpet cleaning mode; and in the non-carpet cleaning mode, control the cleaning device to perform the cleaning action after adjusting the body height to the second body height.

[0140] In some embodiments of the present application, based on the foregoing scheme, the device further includes a fourth control unit configured to: if there is an obstacle space in any one of the long-pile carpet areas, control the cleaning device to move to the obstacle space after adjusting the body height to a third body height, so as to perform the cleaning action in the obstacle space, the height of the obstacle space being lower than the first body height, and the third body height being higher than or equal to the second body height and lower than the first body height.

[0141] In some embodiments of the present application, based on the foregoing scheme, the area of the obstacle space is greater than a preset area threshold.

[0142] In some embodiments of the present application, based on the foregoing scheme, the fourth control unit is configured to: if the third body height is equal to the second body height, and the number of failures of the cleaning device to travel to the obstacle space is higher than a preset number threshold, control the cleaning device to stop traveling to the obstacle space.

[0143] In some embodiments of the present application, based on the foregoing scheme, the device further comprises a setting unit configured to: obtain long-pile carpet area setting data provided by a user; and set a long-pile carpet area in the to-be-cleaned ground according to the long-pile carpet area setting data.

[0144] In some embodiments of the present application, based on the foregoing scheme, the device further comprises a determination unit configured to: obtain an electrical signal value of a motion component in the cleaning device when the cleaning device performs a cleaning action in a current position according to a non-long-pile carpet cleaning mode, the motion component comprising at least one of a cleaning main brush, a cleaning side brush, and a walking wheel; and determine that the current position is a long-pile carpet position if the electrical signal value is greater than a preset electrical signal threshold.

[0145] In some embodiments of the present application, based on the foregoing scheme, the setting unit is configured to: obtain long-pile carpet positions distributed in any one carpet area of the to-be-cleaned ground; and determine whether the any one carpet area is a long-pile carpet area according to a distribution quantity or a distribution area of the long-pile carpet positions in the any one carpet area.

[0146] In some embodiments of the present application, based on the foregoing scheme, the setting unit is configured to: if the current position is determined to be a long-pile carpet position when the cleaning device performs a cleaning action in the current position, determine a region in which the long-pile carpet position is located as a long-pile carpet region.

[0147] In some embodiments of the present application, based on the foregoing scheme, the second control unit 602 is configured to: obtain a carpet characteristic value of the long-pile carpet region, the carpet characteristic value being used to represent a pile length in the long-pile carpet region, the carpet characteristic value being positively correlated with the electrical signal value; determine the first body height according to the carpet characteristic value, and control the cleaning device to perform a cleaning action after adjusting the body height of the cleaning device to the first body height, the first body height being positively correlated with the carpet characteristic value.

[0148] Based on the same inventive concept, the embodiment of the present application provides a computer program product, which comprises computer instructions stored in a computer readable storage medium and adapted to be read and executed by a processor to enable a computer device having the processor to perform the operations performed by the method as described above.

[0149] Based on the same inventive concept, the embodiment of the present application provides a computer readable storage medium, which stores at least one computer program instruction, and the at least one computer program instruction is loaded and executed by a processor to enable the processor to perform the operations performed by the method as described above.

[0150] Based on the same inventive concept, the embodiment of the present application further provides a cleaning device, referring to FIG. 7, which shows a structural schematic diagram of the cleaning device in the embodiment of the present application, the cleaning device comprises one or more memories 704, one or more processors 702, and at least one computer program (computer program instructions) stored in the memory 704 and executable on the processor 702, and the processor 702 executes the computer program to implement the method as described above.

[0151] In FIG. 7, a bus architecture (represented by a bus 700) can include any number of interconnecting buses and bridges, and the bus 700 links together various circuits such as the processor 702 represented by one or more processors and the memory 704 represented by a memory. The bus 700 can also link together various other circuits such as peripheral devices, voltage stabilizers, and power management circuits, which are well known in the art and thus, are not further described herein. The bus interface 705 provides an interface between the bus 700 and the receiver 701 and the transmitter 703. The receiver 701 and the transmitter 703 can be the same element, i.e., a transceiver, which provides a unit for communicating with various other devices on a transmission medium. The processor 702 is responsible for managing the bus 700 and general processing, while the memory 704 can be used to store data used by the processor 702 in performing operations.

[0152] The functions described herein can be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions can be stored on or transferred over as one or more instructions or code on a computer-readable medium. Other examples and implementations are within the scope and spirit of the disclosure and appended claims. For example, due to the nature of software, functions described above can be implemented using software executed by a processor, hardware, firmware, hardwiring, or combinations of any of these. Features implementing functions can also be physically located at various positions, including being distributed such that portions of functions are implemented at different physical locations. Also, as used herein, including in the claims, "or" as used in a list of items prefaced by "comprising" to indicate a disjunctive list means each single item in the list has been recited before "or" one or more additional disjunctive items also have been recited. However, "or" in such a phrase does not mean that the list is inclusive of at least one of the items. Further, as used herein, "comprising" is to be interpreted as including the more restrictive terms "consisting of" and "consisting essentially of."

[0153] In several embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. Among them, the above-mentioned device embodiments are only schematic, for example, the division of the units can be a logical function division, and other division manners can be used in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed units can be indirect coupling or communication connection through some interfaces, units or modules, and can be electrical or other forms.

[0154] The units described as separate components can or can not be physically separated, and the components of the control device can or can not be physical units, i.e. can be located in one place or can be distributed on a plurality of units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0155] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the methods described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store computer program instructions.

[0156] The above merely provides an example of the present application, and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall fall into the scope of claims of the present application.

Claims

1. A cleaning device control method characterized by, The method comprises: If the cleaning device receives a switching instruction during the process of performing the cleaning task on the to-be-cleaned ground, the cleaning device is controlled to switch from the non-long-pile-carpet cleaning mode to the long-pile-carpet cleaning mode, wherein the switching instruction is triggered by a user or the cleaning device actively triggers the switching instruction when the cleaning device travels from a non-long-pile-carpet area to a long-pile-carpet area; In the long-pile-carpet cleaning mode, the cleaning device is controlled to perform a cleaning action after adjusting the height of the body to a first body height, which is higher than a second body height of the cleaning device in the non-long-pile-carpet cleaning mode.

2. The method of claim 1, wherein, The to-be-cleaned ground comprises a non-carpet area and at least one carpet area, and the method further comprises: In response to receiving an instruction to perform a cleaning task on the to-be-cleaned ground, the cleaning device is controlled to sequentially perform a cleaning action on each carpet area in the order of the position distribution of the carpet areas; After the cleaning of the at least one carpet area is completed, the cleaning device is controlled to perform a cleaning action on the non-carpet area.

3. The method of claim 2, wherein, The carpet area comprises a long-pile-carpet area and a short-pile-carpet area, and the method further comprises: If the cleaning device leaves the long-pile-carpet area, the cleaning device is controlled to switch from the long-pile-carpet cleaning mode to the non-long-pile-carpet cleaning mode; In the non-long-pile-carpet cleaning mode, the cleaning device is controlled to perform a cleaning action after adjusting the height of the body to the second body height.

4. The method of claim 2, wherein, The carpet area comprises a long-pile-carpet area and a short-pile-carpet area, and the method further comprises: If the cleaning device travels from a long-pile-carpet area to a non-long-pile-carpet area, the cleaning device is controlled to switch from the long-pile-carpet cleaning mode to the non-long-pile-carpet cleaning mode; If the cleaning device leaves one long-pile-carpet area and travels to another long-pile-carpet area, the cleaning device is controlled to remain in the long-pile-carpet cleaning mode; In the non-long-pile-carpet cleaning mode, the cleaning device is controlled to perform a cleaning action after adjusting the height of the body to the second body height. The to-be-cleaned ground comprises a non-carpet area and at least one carpet area, and the carpet area comprises a long-pile-carpet area and a short-pile-carpet area, and the method further comprises:

5. The method of claim 1, wherein, In response to receiving an instruction to perform a cleaning task on the to-be-cleaned ground, the cleaning device is controlled to sequentially perform a cleaning action on each long-pile-carpet area, wherein the cleaning device is controlled to remain in the long-pile-carpet cleaning mode during the process of the cleaning device leaving one long-pile-carpet area and traveling to another long-pile-carpet area; After the cleaning of each long-pile-carpet area is completed, the cleaning device is controlled to sequentially perform a cleaning action on each short-pile-carpet area, wherein the cleaning device is controlled to switch from the long-pile-carpet cleaning mode to the non-long-pile-carpet cleaning mode when the cleaning device leaves a long-pile-carpet area or travels from a long-pile-carpet area to a short-pile-carpet area; After the cleaning of each short-pile-carpet area is completed, the cleaning device is controlled to perform a cleaning action on the non-carpet area. The method further comprises:

6. The method according to any one of claims 1-5, characterized in that, ​ If there is an obstacle space in any of the shaggy carpet areas, the cleaning device is controlled to travel to the obstacle space after adjusting its body height to a third body height, to perform a cleaning action in the obstacle space, the height of the obstacle space being lower than the first body height, the third body height being higher than or equal to the second body height and lower than the first body height.

7. The method of claim 6, wherein, The area of the obstacle space is greater than a preset area threshold.

8. The method according to claim 6 or 7, characterized in that, The method further comprises: If the third body height is equal to the second body height, and the number of failures of the cleaning device to travel to the obstacle space is higher than a preset number threshold, the cleaning device is controlled to stop traveling to the obstacle space.

9. The method according to any one of claims 1-8, characterized in that, The method further comprises: Obtaining shaggy carpet area setting data provided by a user; According to the shaggy carpet area setting data, a shaggy carpet area is set in the surface to be cleaned.

10. The method according to any one of claims 1 to 8, characterized in that, The method further comprises: When the cleaning device performs a cleaning action in a current position in a non-shaggy carpet cleaning mode, an electrical signal value of a moving component in the cleaning device is obtained, the moving component including at least one of a main cleaning brush, a side cleaning brush, and a walking wheel; If the electrical signal value is greater than a preset electrical signal threshold, the current position is determined as a shaggy carpet position.

11. The method of claim 10, wherein, The method further comprises: Obtaining shaggy carpet positions distributed in any of the carpet areas of the surface to be cleaned; According to the number or area of the shaggy carpet positions distributed in the any of the carpet areas, it is determined whether the any of the carpet areas is a shaggy carpet area.

12. The method according to claim 10 or 11, characterized in that, The method further comprises: When the cleaning device performs a cleaning action in a current position, if the current position is determined as a shaggy carpet position, an area where the shaggy carpet position is located is determined as a shaggy carpet area.

13. The method according to any one of claims 10-12, characterized in that, The control of the cleaning device to perform a cleaning action after adjusting its body height to a first body height comprises: Obtaining a carpet characteristic value of the shaggy carpet area, the carpet characteristic value being used to represent the length of the pile in the shaggy carpet area, the carpet characteristic value being positively correlated with the electrical signal value; According to the carpet characteristic value, the first body height is determined, and the cleaning device is controlled to perform a cleaning action after adjusting its body height to the first body height, the first body height being positively correlated with the carpet characteristic value.

14. A cleaning device control apparatus characterized by comprising: The device comprises: A first control unit is configured to, if the cleaning device receives a switching instruction during a cleaning task performed on a surface to be cleaned, control the cleaning device to switch from a non-shaggy carpet cleaning mode to a shaggy carpet cleaning mode, wherein the switching instruction is triggered by a user or triggered by the cleaning device when the cleaning device travels from a non-shaggy carpet area to a shaggy carpet area; A second control unit is configured to, in the shaggy carpet cleaning mode, control the cleaning device to perform a cleaning action after adjusting its body height to a first body height, the first body height being higher than a second body height of the cleaning device in the non-shaggy carpet cleaning mode.

15. A computer program product, characterised in that, The computer program product comprises computer instructions stored in a computer readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform the method of any one of claims 1 to 13.

16. A computer-readable storage medium, characterized in that, The computer readable storage medium stores at least one program code, which is loaded and executed by the processor to implement the operations performed by the method of any one of claims 1 to 13.

17. A cleaning apparatus, characterized by The cleaning device comprises one or more processors and one or more memories, and the one or more memories store at least one program code, which is loaded and executed by the one or more processors to implement the method of any one of claims 1 to 13.

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