Cleaning device control method and apparatus, cleaning device, and readable storage medium

Abstract

A cleaning device control method and apparatus (700), a cleaning device (800), a readable storage medium, a chip, a computer program product, and a computer program. The cleaning device control method comprises: controlling a cleaning device (800) to clean a first area to be cleaned, wherein when different cleaning processes are performed on said first area, cleaning directions of the cleaning device (800) for said first area are not completely consistent.

Description

Control method and device of cleaning equipment, cleaning equipment and readable storage medium

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese Patent Application No. 202410903901.5, filed on July 5, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to the field of smart home, in particular to a control method and device of cleaning equipment, cleaning equipment, readable storage medium, chip, computer program product and computer program. BACKGROUND

[0004] In recent years, with the rapid development of computer technology and artificial intelligence science, intelligent robot technology has gradually become a hot spot in the field of modern robot research. Among them, the cleaning robot as a more practical one in intelligent robots, can automatically complete the ground cleaning work by relying on certain artificial intelligence.

[0005] The cleaning robot obtains surrounding environment information through a sensing device, establishes a first to-be-cleaned area, and cleans the first to-be-cleaned area according to a certain direction. Due to the existence of gaps caused by the joint of ground laying materials in the first to-be-cleaned area, and other reasons causing unevenness, the cleaning equipment may have cleaning dead angles and garbage falling caused by the interference between the cleaning module and the above-mentioned area when cleaning the above-mentioned area. Cleaning the same cleaning direction each time will cause the above-mentioned area to be long-term uncleaned or long-term exist garbage falling problem, affecting user experience.

[0006] SUMMARY

[0007] Therefore, the embodiments of the present disclosure provide a control method and device of cleaning equipment, cleaning equipment, readable storage medium, chip, computer program product and computer program, which realize the switching of cleaning direction in different cleaning processes, reduce cleaning omission and garbage residue, and improve cleaning coverage effect.

[0008] In a first aspect, the embodiments of the present disclosure provide a control method of cleaning equipment, comprising:

[0009] controlling the cleaning equipment to clean a first to-be-cleaned area; wherein the cleaning direction of the cleaning equipment to the first to-be-cleaned area is not completely the same in different cleaning processes of the first to-be-cleaned area.

[0010] In a second aspect, the embodiments of the present disclosure provide a control device of cleaning equipment, comprising:

[0011] The control module is configured to control the cleaning device to clean a first to-be-cleaned area, wherein the cleaning direction of the cleaning device to the first to-be-cleaned area is not completely same in different cleaning processes of the first to-be-cleaned area.

[0012] In a third aspect, the embodiments of the present disclosure provide a cleaning device, comprising a processor and a memory, the memory stores programs or instructions executable on the processor, and the programs or instructions are executed by the processor to implement the steps of the control method of the cleaning device according to any one of the embodiments of the first aspect.

[0013] In a fourth aspect, the embodiments of the present disclosure provide a readable storage medium, the readable storage medium stores programs or instructions, and the programs or instructions are executed by the processor to implement the steps of the control method of the cleaning device according to any one of the embodiments of the first aspect.

[0014] In a fifth aspect, the embodiments of the present disclosure provide a chip, comprising a processor and a communication interface, the communication interface and the processor are coupled, the processor is configured to run programs or instructions to implement the control method of the cleaning device according to any one of the embodiments of the first aspect.

[0015] In a sixth aspect, the embodiments of the present disclosure provide a computer program product stored in a storage medium, and the program product is executed by at least one processor to implement the control method of the cleaning device according to any one of the embodiments of the first aspect.

[0016] In a seventh aspect, the embodiments of the present disclosure provide a computer program, comprising computer program codes, when the computer program codes are run on a computer, the computer is caused to execute the control method of the cleaning device according to any one of the embodiments of the first aspect.

[0017] In the embodiments of the present disclosure, for the cleaning of the first to-be-cleaned area, the cleaning direction is switched in different cleaning processes, and the cleaning is not always performed in the same direction. The embodiments of the present disclosure provide a scheme of dynamic switching of the cleaning direction, the cleaning device switches the cleaning direction in different cleaning processes of the first to-be-cleaned area, so that the first to-be-cleaned area can be cleaned in different cleaning directions, and the cleaning opportunity of the first to-be-cleaned area is relatively equal, the cleaning omission and garbage residue are reduced, and the cleaning coverage effect is improved.

[0018] The above description is only a summary of the technical solutions of the embodiments of the present disclosure, in order to more clearly understand the technical means of the present disclosure, the embodiments of the present disclosure can be implemented according to the content of the description, and in order to make the above and other purposes, features and advantages of the present disclosure more obvious and easy to understand, the specific embodiments of the present disclosure are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings, which are included to provide a further understanding of the disclosure and constitute a part of the disclosure, illustrate embodiments of the disclosure and serve to explain the principles of the disclosure, and do not constitute improper limitations on the disclosure. In the drawings:

[0020] Fig. 1 shows a flowchart of a control method of a cleaning device according to an embodiment of the disclosure;

[0021] Fig. 2 shows a flowchart of a control method of a cleaning device according to an embodiment of the disclosure;

[0022] Fig. 3 shows a schematic diagram of a cleaning method of a first cleaning area according to an embodiment of the disclosure;

[0023] Fig. 4 shows a schematic diagram of a cleaning method of a first cleaning area according to an embodiment of the disclosure;

[0024] Fig. 5 shows a schematic diagram of a cleaning method of a plurality of sub-areas according to an embodiment of the disclosure;

[0025] Fig. 6 shows a schematic diagram of a cleaning method of a plurality of sub-areas according to an embodiment of the disclosure;

[0026] Fig. 7 shows a structural block diagram of a control device of a cleaning device according to an embodiment of the disclosure;

[0027] Fig. 8 shows a structural block diagram of a cleaning device according to an embodiment of the disclosure. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the disclosure will be described clearly below with reference to the accompanying drawings in the embodiments of the disclosure. Obviously, the described embodiments are only some of the embodiments of the disclosure, rather than all the embodiments. Based on the embodiments in the disclosure, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the disclosure.

[0029] The terms "first", "second", and the like in the specification and claims of the disclosure are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the disclosure can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are usually a category, and do not limit the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / ", generally represents a "or" relationship between the front and rear associated objects.

[0030] In the related art, in different cleaning processes, the cleaning device first cleans along the periphery of the first to-be-cleaned area, and then cleans the first to-be-cleaned area according to a preset moving track in a set direction. The preset moving track includes a zigzag track or a bow-shaped track. After the cleaning process is completed, when the cleaning device performs the cleaning process on the area again, the cleaning device still cleans according to the cleaning route and the cleaning direction of the last time.

[0031] In the same cleaning direction each time, the cleaning dead angle existing in the last cleaning process is still not cleaned this time. After a period of time, stubborn stains are formed in the area, which are difficult to clean.

[0032] The cleaning device control method, device, cleaning device, readable storage medium, chip, computer program product and computer program provided by the embodiments of the present disclosure will be described in detail below in combination with the drawings, specific embodiments and application scenarios.

[0033] The first aspect embodiment of the present disclosure provides a cleaning device control method, which includes a sweeping robot, a mopping robot, a sweeping and mopping integrated machine and the like. As shown in FIG. 1, the method includes:

[0034] Step 101, controlling the cleaning device to clean the first to-be-cleaned area; wherein in different cleaning processes of the first to-be-cleaned area, the cleaning direction of the cleaning device to the first to-be-cleaned area is not completely the same.

[0035] In this embodiment, for the cleaning of the first to-be-cleaned area, the cleaning direction of the cleaning device is not completely the same in different cleaning processes, that is, at least one cleaning direction switching is performed in different cleaning processes, and cleaning is not always performed in the same direction.

[0036] In some embodiments, in the first cleaning process of the first to-be-cleaned area, the cleaning device is controlled to move in a first direction of the first to-be-cleaned area, in the second cleaning process of the first to-be-cleaned area, the cleaning device is controlled to move in a second direction of the first to-be-cleaned area, and the first direction is different from the second direction, so as to realize the switching of the cleaning direction in different cleaning processes.

[0037] The embodiments of the present disclosure provide a cleaning direction dynamic switching scheme. The cleaning device switches the cleaning direction in different cleaning processes of the first to-be-cleaned area, ensures that the first to-be-cleaned area can be cleaned in different cleaning directions, reduces cleaning omission and garbage residue, improves cleaning coverage effect, and improves user experience.

[0038] In one embodiment of this disclosure, the different cleaning processes are different cleaning processes within the same cleaning task. For example, the first cleaning process and the second cleaning process are different cleaning processes within the same cleaning task.

[0039] In this embodiment, the cleaning equipment may need to repeatedly clean the first area to be cleaned in a single cleaning task. A cleaning task refers to a complete cleaning cycle initiated by the cleaning equipment, from start to finish. In related technologies, when repeatedly cleaning the first area to be cleaned, the cleaning direction is the same for each cleaning process. However, in this embodiment, the cleaning direction is switched between different cleaning processes within the same cleaning task. That is, the cleaning direction is switched when repeatedly cleaning the first area to be cleaned under the same cleaning task, allowing for repeated cleaning from different directions, which improves the stain removal capability.

[0040] In some embodiments, in response to a first cleaning task control command, cleaning information for the current cleaning task carried in the first cleaning task control command is determined. This cleaning information includes parameters such as the number of cleaning processes, cleaning direction, cleaning route, and cleaning mode. If the cleaning information determines that the cleaning task includes at least two cleaning processes, the cleaning equipment is controlled to perform at least two cleaning processes. For example, the at least two cleaning processes include a first cleaning process and a second cleaning process. In the first cleaning process, the cleaning equipment performs a zigzag cleaning along a first direction, and in the second cleaning process, it performs a zigzag cleaning along a second direction perpendicular to the first direction.

[0041] It should be noted that when repeatedly cleaning the first area to be cleaned, the cleaning trajectory in the related technology includes a "well" shaped trajectory. Although vertical cleaning can be performed, the "well" shape will take longer to clean. The embodiments of this disclosure will ensure the cleaning effect while avoiding taking longer to clean, thus improving the cleaning efficiency.

[0042] In one embodiment of this disclosure, different cleaning processes are different cleaning tasks. For example, the first cleaning process and the second cleaning process are different cleaning tasks. In one embodiment, the first cleaning process and the second cleaning process can be different cleaning tasks within the same time period, or different cleaning tasks within different time periods. The time period can be calculated in days, weeks, months, etc.

[0043] In this embodiment, the first cleaning process and the second cleaning process are two different cleaning tasks, and the cleaning direction is switched under the different cleaning tasks.

[0044] In some embodiments, on the first day, in response to the second cleaning task control instruction, one-time complete cleaning (i.e., the first cleaning process) is performed on the first to-be-cleaned area in the first direction. On the second day, in response to the third cleaning task control instruction, one-time complete cleaning (i.e., the second cleaning process) is performed on the first to-be-cleaned area in the second direction.

[0045] Alternatively, on the same day, at a first time, in response to the second cleaning task control instruction, one-time complete cleaning (i.e., the first cleaning process) is performed on the first to-be-cleaned area in the first direction. At a second time, in response to the third cleaning task control instruction, one-time complete cleaning (i.e., the second cleaning process) is performed on the first to-be-cleaned area in the second direction.

[0046] In the embodiments of the present disclosure, the switching of the cleaning direction under different cleaning tasks can improve the dirt cleaning capability.

[0047] In an embodiment of the present disclosure, the two cleaning processes with different cleaning directions are two adjacent cleaning processes, for example, the first cleaning process and the second cleaning process are two adjacent cleaning processes; or, the two cleaning processes with different cleaning directions are two spaced cleaning processes, for example, the first cleaning process and the second cleaning process are two spaced cleaning processes.

[0048] In this embodiment, the two cleaning processes with different cleaning directions can be two adjacent cleaning processes or two spaced cleaning processes. The two cleaning processes can be different cleaning processes in the same cleaning task or different cleaning tasks.

[0049] The two cleaning processes with different cleaning directions can be two adjacent cleaning processes, for example, the first cleaning process is the last cleaning process or the last cleaning task of the second cleaning process, and the second cleaning process is the next cleaning process or the next cleaning task of the first cleaning process, so as to realize the rotation switching of the cleaning direction in the two cleaning processes.

[0050] The two cleaning processes with different cleaning directions can also be two spaced cleaning processes, for example, the first cleaning process and the second cleaning process are spaced by a preset number of cleaning processes. In some embodiments, a cleaning task includes five cleaning processes, the first cleaning process is the first cleaning process of the cleaning task, and the second cleaning process is the fourth cleaning process of the cleaning task, which is spaced by two cleaning processes (the second cleaning process and the third cleaning process). The first cleaning process, the second cleaning process, and the third cleaning process are all cleaning in the first direction, and the fourth cleaning process and the fifth cleaning process are all cleaning in the second direction.

[0051] In the embodiments of the present disclosure, the two cleaning processes with different cleaning directions can be two adjacent or spaced cleaning processes, so that the switching of the cleaning direction is flexibly controlled, the cleaning coverage effect is improved, and the omission of the cleaning area and the residual garbage are reduced.

[0052] In one embodiment of the present disclosure, the included angle between the different cleaning directions is 0-180 degrees.

[0053] In this embodiment, the included angle between the different cleaning directions is 0-180 degrees, that is, the different cleaning directions have a certain angle, so as to avoid cleaning the first cleaning area in one cleaning direction all the time, and improve the cleaning effect.

[0054] In one embodiment of the present disclosure, the included angle between the different cleaning directions is 90 degrees.

[0055] In this embodiment, the included angle between the different cleaning directions can be 90 degrees, that is, the different cleaning directions are perpendicular directions. By cleaning in the perpendicular directions, the cleaning effect on the first cleaning area is better, and the problem of long-term lack of cleaning or long-term existence of garbage falling on the first cleaning area is solved.

[0056] As a refinement and expansion of the above-mentioned embodiments, the embodiments of the present disclosure provide another control method of a cleaning device, as shown in FIG. 2, the method comprises:

[0057] Step 201, when performing a first cleaning process on the first cleaning area, controlling the cleaning device to move along a first direction of the first cleaning area;

[0058] Step 202, after the first cleaning process is completed, recording the first direction as a historical cleaning direction;

[0059] Step 203, when performing a second cleaning process on the first cleaning area, determining a second direction according to the historical cleaning direction, and controlling the cleaning device to move along the second direction of the first cleaning area, the first direction being different from the second direction.

[0060] In this embodiment, the cleaning device performs a first cleaning process on the first cleaning area along a first direction, and after the first cleaning process is completed, records the first direction of the cleaning process as a historical cleaning direction. When performing a second cleaning process, the recorded historical cleaning direction is determined, and the cleaning direction of the current cleaning process is determined according to the historical cleaning direction, so that the cleaning direction of the current cleaning process (i.e. the second direction) is different from the historical cleaning direction (i.e. the first direction).

[0061] In the above manner, the switching of the cleaning direction in different cleaning processes is realized, the cleaning is performed from different directions, and the stain cleaning ability is improved.

[0062] In one embodiment of the present disclosure, when the included angle between the first direction and the second direction is 90 degrees, the first direction is the length direction of the first to-be-cleaned region, and the second direction is the width direction of the first to-be-cleaned region; or, the first direction is the width direction of the first to-be-cleaned region, and the second direction is the length direction of the first to-be-cleaned region. The length direction of the first to-be-cleaned region and the width direction of the first to-be-cleaned region are perpendicular to each other.

[0063] In some embodiments, when the first to-be-cleaned region is subjected to the first cleaning process, zigzag filling cleaning is performed along the geometric long side of the first to-be-cleaned region as the first direction, and the first direction is recorded, as shown in FIG. 3. When the first to-be-cleaned region is subjected to the second cleaning process, the second direction is determined according to the first direction, that is, zigzag filling cleaning is performed along the geometric width side of the first to-be-cleaned region as the second direction, as shown in FIG. 4.

[0064] Of course, zigzag filling cleaning can also be performed along the geometric width side of the first to-be-cleaned region as the first direction in the first cleaning process. Zigzag filling cleaning is performed along the geometric long side of the first to-be-cleaned region as the second direction in the second cleaning process.

[0065] In one embodiment, if the first to-be-cleaned region includes at least two sub-regions, when the at least two sub-regions are subjected to the first cleaning process, the at least two sub-regions are moved along the first direction of each sub-region. When the at least two sub-regions are subjected to the second cleaning process, the at least two sub-regions are moved along the second direction of each sub-region. As shown in FIG. 5, in the first cleaning process, zigzag filling cleaning is performed along the geometric long side of each sub-region as the first direction. In the second cleaning process, zigzag filling cleaning is performed along the geometric width side of each sub-region as the second direction, as shown in FIG. 6.

[0066] According to the cleaning method in different directions twice in the embodiments of the present disclosure, better cleaning effect can be ensured.

[0067] In one embodiment of the present disclosure, the control of the cleaning device to clean the first to-be-cleaned region includes:

[0068] The first target information includes at least one of the following: environmental information of the first to-be-cleaned region, user setting information of the cleaning direction, and system setting information of the cleaning direction.

[0069] If it is determined according to the first target information that the cleaning direction needs to be switched when the first to-be-cleaned region is cleaned, the cleaning device is controlled to clean the first to-be-cleaned region, and the cleaning direction is not completely the same when the first to-be-cleaned region is subjected to different cleaning processes.

[0070] In this embodiment, according to the first target information including the environmental information of the first to-be-cleaned area, the user setting information of the cleaning direction, the system setting information of the cleaning direction, etc., it is determined whether the cleaning direction switching is needed when the first to-be-cleaned area is cleaned, that is, whether the cleaning mode with cleaning direction switching is adopted. If it is determined that the cleaning direction switching is not needed, the cleaning is performed in the first direction when the first to-be-cleaned area is cleaned, and the direction switching is not performed in different cleaning processes to meet the needs of the cleaning scene. If it is determined that the cleaning direction switching is needed, the cleaning direction switching can be performed in different cleaning processes when the first to-be-cleaned area is cleaned, so as to reduce the cleaning omission and garbage residue and improve the cleaning coverage effect.

[0071] In one embodiment of the present disclosure, when the first target information includes the environmental information of the first to-be-cleaned area, it is determined according to the first target information that the cleaning direction switching is needed when the first to-be-cleaned area is cleaned, including:

[0072] If the environmental information is that there is a laying material joint area or an uneven area in the first to-be-cleaned area, it is determined that the cleaning direction switching is needed when the first to-be-cleaned area is cleaned.

[0073] In this embodiment, the environmental information of the first to-be-cleaned area includes information about whether there is a laying material (such as tiles, floor) joint area or an uneven area in the first to-be-cleaned area. When it is determined according to the environmental information that there is no laying material joint area or uneven area in the first to-be-cleaned area, the cleaning can be performed in the same direction. When it is determined according to the environmental information that there is a laying material joint area or an uneven area in the first to-be-cleaned area, in order to prevent the problems of cleaning dead angle and garbage falling caused by the interference between the cleaning module and the above-mentioned area, the cleaning direction switching in different cleaning processes is adopted when the first to-be-cleaned area is cleaned, so as to improve the stain cleaning ability and improve the user experience.

[0074] In one embodiment of the present disclosure, when the first target information includes the user setting information or the system setting information, it is determined according to the first target information that the cleaning direction switching is needed when the first to-be-cleaned area is cleaned, including:

[0075] If the user setting information or the system setting information is to perform the cleaning direction switching, it is determined that the cleaning direction switching is needed when the first to-be-cleaned area is cleaned.

[0076] In this embodiment, the system setting information and the user setting information include performing the cleaning direction switching and / or not performing the cleaning direction switching, that is, whether the cleaning mode with cleaning direction switching is adopted can be determined according to the system setting information or the user setting information.

[0077] The system setting information can be stored in the cleaning device, and the user setting information is set by the user before the cleaning control, i.e., the current user setting information. The user setting information can be set directly by the user on the cleaning device, or set by the user through the user terminal and then sent to the cleaning device by the user terminal.

[0078] The system setting information includes system default information and / or user historical setting information. The system setting information stored in the cleaning device can be system default information, such as default parameters when the cleaning device is shipped; or can be information set by the user last time or some time before, i.e., user historical setting information. In this case, the user historical setting information is determined based on the user identity of the current user, and the stored setting information is matched with the user identity, so as to determine the user historical setting information. By quickly identifying the cleaning habit of the user according to the user historical setting information, the cleaning is more in line with the cleaning habit of the user, and the user experience is improved.

[0079] If it is determined to switch the cleaning direction according to the user setting information or the system setting information, the cleaning direction is switched during the cleaning process, so as to improve the stain cleaning ability.

[0080] In an embodiment of the present disclosure, the method further includes: obtaining second target information during the process of controlling the cleaning device to clean the first to-be-cleaned area, the second target information including at least one of the following: adjustment information of the cleaning direction of the user to the first to-be-cleaned area, and the cleanliness of a target area of the first to-be-cleaned area, the target area including a laying material joint area or an uneven area; determining a target direction according to the second target information, and continuing cleaning according to the target direction.

[0081] In this embodiment, during the cleaning process of the first to-be-cleaned area, the user can adjust the cleaning direction or adjust the cleaning direction according to the cleanliness of the target area. If no adjustment is made, the cleaning continues according to the cleaning direction switching scheme.

[0082] If the user thinks that the current cleanliness of the target area is not enough, the cleaning direction is adjusted on the cleaning device or the user terminal, for example, setting the first direction as the target direction, or setting the second direction as the target direction. Alternatively, the cleaning device detects the cleanliness of the target area, and if it is determined that the cleanliness is less than a preset threshold, the direction is automatically adjusted, for example, the first direction is set as the target direction, or the second direction is set as the target direction. The target direction is determined by the target area, for example, if the laying material joint gap is not cleaned well, the direction parallel to the gap is set as the target direction to improve the cleaning effect of the gap.

[0083] After the target direction is determined, the subsequent cleaning is performed in the target direction as the fixed direction, and the direction switching is not performed until the cleaning is completed or the direction switching is performed after the cleaning is performed for a preset number of times. The subsequent cleaning can include continuing to clean the part of the first to-be-cleaned area that has not been cleaned or continuing to perform the cleaning process that has not been performed.

[0084] In this way, the cleaning direction can be adjusted according to the user's intention or the cleanliness during the cleaning process, more flexible cleaning control is achieved, and the cleaning effect is ensured.

[0085] In an embodiment of the present disclosure, the method further includes: controlling the cleaning device to clean a second to-be-cleaned area, and a cleaning direction of the second to-be-cleaned area is different from the cleaning direction of the first to-be-cleaned area.

[0086] In this embodiment, the cleaning device can also clean the second to-be-cleaned area, and the second to-be-cleaned area is different from the first to-be-cleaned area, for example, the first to-be-cleaned area is a room, and the second to-be-cleaned area is another room. That is, when the cleaning device cleans different to-be-cleaned areas, the cleaning direction is different, and different cleaning directions can be set according to the needs of different rooms and the user's living habits, to improve the flexibility of cleaning.

[0087] In an embodiment of the present disclosure, the controlling the cleaning device to clean the first to-be-cleaned area includes: controlling the cleaning device to move according to a preset moving track to clean the first to-be-cleaned area; and the preset moving track includes a zigzag track or a bow-shaped track.

[0088] In this embodiment, the cleaning device cleans the first to-be-cleaned area, and can move according to the preset moving track inside the first to-be-cleaned area, for example, moves according to a zigzag track or a bow-shaped track, to clean the first to-be-cleaned area.

[0089] In different cleaning processes, the cleaning device moves according to the preset moving track inside the first to-be-cleaned area along different cleaning directions. For example, as shown in FIG. 3, in a first cleaning process, the cleaning device performs zigzag cleaning along the length direction of the first to-be-cleaned area; and as shown in FIG. 4, in a second cleaning process, the cleaning device performs zigzag cleaning along the width direction of the first to-be-cleaned area.

[0090] It should be noted that when performing the cleaning task, after the first to-be-cleaned area is determined, the cleaning device first cleans along the periphery of the first to-be-cleaned area, and then cleans in the first to-be-cleaned area along the preset direction according to the preset moving track.

[0091] As a specific implementation of the control method of the cleaning device, the second aspect of the present disclosure provides a control device of a cleaning device. As shown in FIG. 7, the control device 700 of the cleaning device comprises: a control module 701, configured to control the cleaning device to clean a first to-be-cleaned area; wherein the cleaning direction of the cleaning device to the first to-be-cleaned area is not completely same in different cleaning processes of the first to-be-cleaned area.

[0092] In some embodiments, the different cleaning processes are different cleaning processes in a same cleaning task; or, the different cleaning processes are different cleaning tasks.

[0093] In some embodiments, the two cleaning processes with different cleaning directions are two adjacent cleaning processes; or, the two cleaning processes with different cleaning directions are two spaced cleaning processes.

[0094] In some embodiments, the included angle between the different cleaning directions is 0-180 degrees.

[0095] In some embodiments, the included angle between the different cleaning directions is 90 degrees.

[0096] In some embodiments, the control module 701 is specifically configured to:

[0097] when performing a first cleaning process on the first to-be-cleaned area, control the cleaning device to move along a first direction of the first to-be-cleaned area;

[0098] when performing a second cleaning process on the first to-be-cleaned area, control the cleaning device to move along a second direction of the first to-be-cleaned area, the first direction being different from the second direction.

[0099] In some embodiments, when the included angle between the first direction and the second direction is 90 degrees,

[0100] the first direction is a length direction of the first to-be-cleaned area, and the second direction is a width direction of the first to-be-cleaned area; or,

[0101] the first direction is a width direction of the first to-be-cleaned area, and the second direction is a length direction of the first to-be-cleaned area.

[0102] In some embodiments, the control module 701 is further configured to: after the first cleaning process is completed, record the first direction as a historical cleaning direction; and before the second cleaning process, determine the second direction according to the historical cleaning direction.

[0103] In some embodiments, the first area to be cleaned comprises at least two sub-areas; the control module 701 is specifically configured to: when performing the first cleaning process on the at least two sub-areas, move along a first direction of each sub-area; and when performing the second cleaning process on the at least two sub-areas, move along a second direction of each sub-area.

[0104] In some embodiments, the apparatus further comprises an information acquisition module configured to acquire first target information, the first target information comprising at least one of: environmental information of the first area to be cleaned, user setting information of the cleaning direction, and system setting information of the cleaning direction.

[0105] The control module 701 is specifically configured to: if it is determined according to the first target information that the cleaning direction needs to be switched when cleaning the first area to be cleaned, control the cleaning device to clean the first area to be cleaned, and the cleaning direction is not completely the same when different cleaning processes are performed on the first area to be cleaned.

[0106] In some embodiments, when the first target information comprises the environmental information of the first area to be cleaned, the control module 701 is specifically configured to: if the environmental information indicates that there is a laying material joint area in the first area to be cleaned or that there is an uneven area in the first area to be cleaned, determine that the cleaning direction needs to be switched when cleaning the first area to be cleaned.

[0107] In some embodiments, when the first target information comprises the user setting information or the system setting information, the control module 701 is specifically configured to: if the user setting information or the system setting information indicates that the cleaning direction needs to be switched, determine that the cleaning direction needs to be switched when cleaning the first area to be cleaned.

[0108] In some embodiments, the information acquisition module is further configured to acquire second target information during the process of controlling the cleaning device to clean the first area to be cleaned, the second target information comprising at least one of: user adjustment information of the cleaning direction of the first area to be cleaned, and a cleanliness level of a target area of the first area to be cleaned, the target area comprising a laying material joint area or an uneven area; and the control module 701 is specifically configured to determine a target direction according to the second target information, and continue cleaning according to the target direction.

[0109] In some embodiments, the control module 701 is further configured to control the cleaning device to clean a second area to be cleaned, the cleaning direction of the second area to be cleaned being different from the cleaning direction of the first area to be cleaned.

[0110] In some embodiments, the control module 701 is specifically configured to control the cleaning device to move according to a preset moving track to clean the first area to be cleaned; and the preset moving track comprises a zigzag track or a bow-shaped track.

[0111] The control device 700 of the cleaning device in the embodiments of the present disclosure can be a cleaning device, or can be a component in the cleaning device, for example, an integrated circuit or a chip. The control device 700 of the cleaning device provided in the embodiments of the present disclosure can implement the various processes implemented by the control method embodiments of the cleaning device of FIGS. 1 and 2, and thus repeated details are not described herein.

[0112] The third aspect of the embodiments of the present disclosure provides a cleaning device. As shown in FIG. 8, the cleaning device 800 includes a processor 801 and a memory 802, and the memory 802 stores a program or instructions executable on the processor 801. The program or instructions are executed by the processor 801 to implement the various steps of any of the control method embodiments of the cleaning device described above, and achieve the same technical effects. Thus, repeated details are not described herein.

[0113] The memory 802 can be used to store software programs and various data. The memory 802 can mainly include a first storage area storing programs or instructions and a second storage area storing data. The first storage area can store an operating system, application programs or instructions required by at least one function (such as a sound playing function, an image playing function, etc.), and the like. In addition, the memory 802 can include a volatile memory or a non-volatile memory, or the memory 802 can include both volatile and non-volatile memories. The non-volatile memory can be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically EPROM (EEPROM), or a flash memory. The volatile memory can be a Random Access Memory (RAM), a Static RAM (SRAM), a Dynamic RAM (DRAM), a Synchronous DRAM (SDRAM), a Double Data Rate SDRAM (DDR SDRAM), an Enhanced SDRAM (ESDRAM), a Synch link DRAM (SLDRAM), and a Direct Rambus RAM (DRRAM). The memory 802 in the embodiments of the present disclosure includes but is not limited to these and any other suitable types of memory.

[0114] The processor 801 can include one or more processing units; in some embodiments, the processor 801 integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to an operating system, a user interface, and an application program, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It can be understood that the above-mentioned modem processor can also not be integrated into the processor 801.

[0115] The fourth aspect of the present disclosure provides a readable storage medium, and the readable storage medium stores a program or instructions, the program or instructions are executed by a processor to implement each process of the control method of the cleaning device according to any one of the above embodiments, and the same technical effects can be achieved. To avoid repetition, details are not repeated here.

[0116] The fifth aspect of the present disclosure provides a chip, and the chip includes a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run a program or instructions to implement each process of the control method of the cleaning device according to any one of the above embodiments, and the same technical effects can be achieved. To avoid repetition, details are not repeated here.

[0117] It should be understood that the chip mentioned in the embodiments of the present disclosure can also be referred to as a system-level chip, a system chip, a chip system, or a system-on-chip, etc.

[0118] The sixth aspect of the present disclosure provides a computer program product, and the program product is stored in a storage medium, and the program product is executed by at least one processor to implement each process of the control method of the cleaning device according to any one of the above embodiments, and the same technical effects can be achieved. To avoid repetition, details are not repeated here.

[0119] The seventh aspect of the present disclosure provides a computer program, and the computer program includes computer program code, when the computer program code runs on a computer, the computer program code makes the computer execute each process of the control method of the cleaning device according to any one of the above embodiments, and the same technical effects can be achieved. To avoid repetition, details are not repeated here.

[0120] It should be noted that the above-mentioned embodiments of the control method of the cleaning device are also applicable to the control device, the cleaning device, the readable storage medium, the chip, the computer program product and the computer program of the embodiments of the present disclosure, and details are not repeated here.

[0121] All embodiments of the present disclosure can be executed independently or in combination with other embodiments, and all are considered to be within the scope of protection required by the present disclosure.

[0122] It should be noted that, in the present document, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element. Furthermore, it is to be understood that the method and apparatus of the present disclosure are not limited in terms of the order, in which the functions are carried out, and can include a different order, or can comprise functions performed at substantially the same time. For example, the described method can be performed in a different order than described, and / or various steps can be combined, omitted, or added, and / or the described method can be performed by different entities than described. Furthermore, features described with respect to certain examples can be combined in other examples.

[0123] The embodiments of the present disclosure are described above with reference to the accompanying drawings, but the present disclosure is not limited to the specific embodiments described above, and the specific embodiments described above are merely illustrative, rather than limiting, and a person of ordinary skill in the art can make many forms under the inspiration of the present disclosure without departing from the purpose of the present disclosure and the scope protected by the claims.

Claims

1. A control method of a cleaning device, comprising: controlling the cleaning device to clean a first cleaning area; wherein the cleaning direction of the cleaning device to the first cleaning area is not completely same in different cleaning processes to the first cleaning area.

2. The method of claim 1, wherein the different cleaning processes are different cleaning processes in a same cleaning task; or the different cleaning processes are different cleaning tasks.

3. The method of claim 1 or 2, wherein the two cleaning processes with different cleaning directions are two adjacent cleaning processes; or the two cleaning processes with different cleaning directions are two spaced cleaning processes.

4. The method of any one of claims 1 to 3, wherein the included angle between the different cleaning directions is 0 to 180 degrees.

5. The method of claim 4, wherein the included angle between the different cleaning directions is 90 degrees.

6. The method of any one of claims 1 to 5, wherein the controlling the cleaning device to clean a first cleaning area comprises: controlling the cleaning device to move along a first direction of the first cleaning area when performing a first cleaning process to the first cleaning area; and controlling the cleaning device to move along a second direction of the first cleaning area when performing a second cleaning process to the first cleaning area, the first direction being different from the second direction.

7. The method of claim 6, wherein when the included angle between the first direction and the second direction is 90 degrees, the first direction is a length direction of the first cleaning area, and the second direction is a width direction of the first cleaning area; or the first direction is a width direction of the first cleaning area, and the second direction is a length direction of the first cleaning area.

8. The method of claim 6, further comprising: recording the first direction as a historical cleaning direction after the first cleaning process is completed; and determining the second direction according to the historical cleaning direction before the second cleaning process.

9. The method of any one of claims 6 to 8, wherein the first cleaning area comprises at least two sub-areas; and the controlling the cleaning device to move along a first direction of the first cleaning area when performing a first cleaning process to the first cleaning area comprises: moving along a first direction of each of the at least two sub-areas when performing a first cleaning process to the at least two sub-areas; and the controlling the cleaning device to move along a second direction of the first cleaning area when performing a second cleaning process to the first cleaning area comprises: moving along a second direction of each of the at least two sub-areas when performing a second cleaning process to the at least two sub-areas.

10. The method of any one of claims 1 to 5, wherein the controlling the cleaning device to clean a first cleaning area comprises: obtaining first target information, the first target information comprising at least one of the following: environmental information of the first to-be-cleaned area, user setting information of the cleaning direction, system setting information of the cleaning direction; if it is determined according to the first target information that the first to-be-cleaned area needs to switch the cleaning direction during cleaning, controlling the cleaning device to clean the first to-be-cleaned area, and the cleaning direction of the cleaning device is not completely the same during different cleaning processes of the first to-be-cleaned area.

11. The method of claim 10, wherein when the first target information comprises the environmental information of the first to-be-cleaned area, determining according to the first target information that the first to-be-cleaned area needs to switch the cleaning direction during cleaning comprises: if the environmental information is that the first to-be-cleaned area has a laying material joint area or an uneven area, it is determined that the first to-be-cleaned area needs to switch the cleaning direction during cleaning.

12. The method of claim 10, wherein when the first target information comprises the user setting information or the system setting information, determining according to the first target information that the first to-be-cleaned area needs to switch the cleaning direction during cleaning comprises: if the user setting information or the system setting information is to switch the cleaning direction, it is determined that the first to-be-cleaned area needs to switch the cleaning direction during cleaning.

13. The method of any one of claims 1 to 12, wherein the method further comprises: during the process of controlling the cleaning device to clean the first to-be-cleaned area, obtaining second target information, the second target information comprising at least one of the following: user adjustment information of the cleaning direction of the first to-be-cleaned area, cleanliness of a target area of the first to-be-cleaned area, the target area comprising a laying material joint area or an uneven area; determining a target direction according to the second target information, and continuing cleaning according to the target direction.

14. The method of any one of claims 1 to 13, wherein the method further comprises: controlling the cleaning device to clean a second to-be-cleaned area, the cleaning direction of the second to-be-cleaned area being different from the cleaning direction of the first to-be-cleaned area.

15. The method of any one of claims 1 to 14, wherein the controlling the cleaning device to clean the first to-be-cleaned area comprises: controlling the cleaning device to move according to a preset movement trajectory to clean the first to-be-cleaned area; wherein the preset movement trajectory comprises a zigzag trajectory or a bow trajectory.

16. A control device of a cleaning device, comprising: a control module configured to control the cleaning device to clean a first to-be-cleaned area; wherein the cleaning direction of the cleaning device is not completely the same during different cleaning processes of the first to-be-cleaned area. 17.A cleaning device comprising a processor and a memory, the memory storing programs or instructions that are run on the processor, the programs or instructions being executed by the processor to implement the steps of the control method of the cleaning device according to any one of claims 1 to 15. 18.A readable storage medium having programs or instructions stored thereon, the programs or instructions being executed by a processor to implement the steps of the control method of the cleaning device according to any one of claims 1 to 15. 19.A chip comprising a processor and a communication interface, wherein the communication interface and the processor are coupled, the processor is configured to run programs or instructions to implement the control method of the cleaning device according to any one of claims 1 to 15. 20.A computer program product, wherein the program product is stored in a storage medium, the program product is executed by at least one processor to implement the control method of the cleaning device according to any one of claims 1 to 15. 21.A computer program comprising computer program code, when the computer program code is run on a computer, causes the computer to perform the control method of the cleaning device according to any one of claims 1 to 15.

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