Control method for cleaning component, and cleaning component, storage medium and electronic device

Abstract

A control method for a cleaning component, and a cleaning component, a computer-readable storage medium and an electronic device. The cleaning component comprises a magnet, the cleaning component is detachably arranged on a lifting sleeve in a cleaning module, the lifting sleeve is at least partially made of a material which generates a magnetic force with the magnet, and a driving electric motor and a magneto-sensitive sensor are further provided in the cleaning module. The control method for a cleaning component comprises: after a cleaning component control instruction is received, collecting, by means of a magneto-sensitive sensor, magnetic induction data generated by a magnet, so as to detect an initial position of a target cleaning component (S110), wherein the cleaning component control instruction comprises an installation instruction or a removal instruction; and on the basis of the type of the cleaning component control instruction and in combination with at least one of mileage data of a driving electric motor and the magnetic induction data, controlling the target cleaning component to move from the initial position to a desired position, so as to implement an installation or removal operation on the target cleaning component (S120).

Description

Control method of cleaning assembly, cleaning device, storage medium, and electronic device Cross-reference to Related Applications

[0001] This application claims priority to Chinese Patent Application No. 202411244846.X, filed on September 5, 2024, the disclosure of which is incorporated herein in its entirety as part of the present application. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of smart home, and in particular, to a control method of cleaning assembly, a cleaning device, a computer readable storage medium, and an electronic device. BACKGROUND

[0003] With the rapid development and progress of computer and Internet technology, related smart home devices are constantly innovating and breaking through, and various cleaning devices have emerged as the times require.

[0004] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present disclosure. SUMMARY

[0005] The purpose of the present disclosure is to provide a control method of cleaning assembly, a cleaning device, a computer readable storage medium, and an electronic device.

[0006] Other characteristics and advantages of the present disclosure will become apparent from the following detailed description, or will be learned by practice of the present disclosure.

[0007] According to a first aspect of the present disclosure, a control method of a cleaning assembly is provided, the cleaning assembly comprising a magnet, the cleaning assembly being detachably arranged on a lifting sleeve in a cleaning module by the magnet, the lifting sleeve being at least partially composed of a first material generating a magnetic force with the magnet, the cleaning module further being provided with a driving motor and a magnetic sensor, the driving motor being used to drive the lifting sleeve to lift, the method comprising:

[0008] After receiving a cleaning assembly control instruction, the initial position of a target cleaning assembly is detected by magnetic induction data collected by the magnetic sensor, the magnetic induction data being generated by the magnet; the cleaning assembly control instruction comprises an installation instruction or a disassembly instruction;

[0009] According to the type of the cleaning assembly control instruction, combined with the mileage data of the driving motor and the magnetic induction data, the target cleaning assembly is controlled to move from the initial position to a desired position, so as to realize the installation or disassembly operation of the target cleaning assembly.

[0010] In the example embodiment of the present disclosure, the cleaning module is further provided with a light sensing sensor for collecting light intensity data, the position of the lifting sleeve affects the light intensity data, and the method further comprises:

[0011] After receiving the cleaning assembly control instruction, the initial position of the target cleaning assembly is detected by combining the magnetic induction data with the light intensity data;

[0012] According to the type of the cleaning assembly control instruction, the target cleaning assembly is controlled to move from the initial position to a desired position by combining the mileage data of the driving motor, the magnetic induction data and the light intensity data, so as to realize the installation or disassembly operation of the target cleaning assembly.

[0013] In the example embodiment of the present disclosure, the target cleaning assembly comprises a cleaning assembly to be installed;

[0014] According to the type of the cleaning assembly control instruction, the target cleaning assembly is controlled to move from the initial position to a desired position by combining the mileage data of the driving motor, the magnetic induction data and the light intensity data, so as to realize the installation or disassembly operation of the target cleaning assembly.

[0015] When the type of the cleaning assembly control instruction is the installation instruction, it is determined whether the relative positional relationship between the initial position of the cleaning assembly to be installed and the lifting sleeve satisfies an installation condition according to the magnetic induction data combined with the light intensity data;

[0016] If the installation condition is satisfied, the lifting sleeve is controlled to descend to the initial position by the driving motor to adsorb the cleaning assembly to be installed;

[0017] The lifting sleeve is controlled to ascend to a first desired position by the driving motor to realize the installation operation of the cleaning assembly to be installed.

[0018] In the example embodiment of the present disclosure, the determination of whether the relative positional relationship between the initial position of the cleaning assembly to be installed and the lifting sleeve satisfies the installation condition according to the magnetic induction data combined with the light intensity data comprises:

[0019] When the magnetic induction data is greater than a magnetic induction threshold value and the light intensity data is less than a light intensity threshold value, it is determined that the relative positional relationship satisfies the installation condition;

[0020] When the magnetic induction data is less than or equal to the magnetic induction threshold value or the light intensity data is greater than or equal to the light intensity threshold value, it is determined that the relative positional relationship does not satisfy the installation condition.

[0021] In an example embodiment of the present disclosure, after determining that the relative position relationship does not satisfy the installation condition, the method further comprises:

[0022] adjusting the relative position relationship until the relative position relationship satisfies the installation condition.

[0023] In an example embodiment of the present disclosure, after the driving motor is controlled to drive the lifting sleeve to rise to a first desired position, before the installation operation on the to-be-installed cleaning component is implemented, the method further comprises:

[0024] determining, according to the mileage data of the driving motor, the magnetic induction data and the light intensity data, whether the to-be-installed cleaning component is in an installation success state.

[0025] In an example embodiment of the present disclosure, the target cleaning component comprises a to-be-detached cleaning component, the initial position of the to-be-detached cleaning component is that the to-be-detached cleaning component is detachably arranged on the lifting sleeve by the magnet, and a detachment top rod is arranged in the lifting sleeve.

[0026] The control of the target cleaning component from the initial position to a desired position according to the type of the cleaning component control instruction, in combination with the mileage data of the driving motor, the magnetic induction data and the light intensity data, to implement the installation or detachment operation on the target cleaning component, comprises:

[0027] when the type of the cleaning component control instruction is the detachment instruction, the lifting sleeve on which the to-be-detached cleaning component is installed is driven to rise by the driving motor, so as to adjust the initial position of the to-be-detached cleaning component;

[0028] determining, according to the mileage data of the driving motor and the light intensity data, whether the to-be-detached cleaning component rises to a second desired position;

[0029] in response to the to-be-detached cleaning component rising to the second desired position, the detachment top rod is driven to extend out of the lifting sleeve by the driving motor, so that the to-be-detached cleaning component is separated from the lifting sleeve;

[0030] in response to detecting that the to-be-detached cleaning component falls from the second desired position according to the magnetic induction data, a detachment operation on the to-be-detached cleaning component is implemented.

[0031] In an example embodiment of the present disclosure, the driving of the detachment top rod to extend out of the lifting sleeve by the driving motor, so that the to-be-detached cleaning component is separated from the lifting sleeve, comprises:

[0032] The dismounting top rod is driven to extend out of the lifting sleeve by the driving motor, and the dismounting top rod is used to control the movement of the to-be-dismounted cleaning assembly in a direction away from the lifting sleeve until the to-be-dismounted cleaning assembly is separated from the lifting sleeve.

[0033] In the exemplary embodiments of the present disclosure, after detecting that the to-be-dismounted cleaning assembly falls from the second desired position, before implementing the dismounting operation on the to-be-dismounted cleaning assembly, the method further comprises:

[0034] According to the mileage data of the driving motor and the magnetic induction data, it is determined whether the to-be-dismounted cleaning assembly is in a dismounting success state.

[0035] In the exemplary embodiments of the present disclosure, after implementing the dismounting operation on the to-be-dismounted cleaning assembly, the method further comprises:

[0036] The dismounting top rod is driven to retract into the lifting sleeve by the driving motor.

[0037] According to a second aspect of the present disclosure, a cleaning device is provided, which comprises a control module and a cleaning module;

[0038] The cleaning device is provided with a cleaning assembly comprising a magnet, the cleaning assembly is detachably arranged on a lifting sleeve in the cleaning module through the magnet, the lifting sleeve is at least partially composed of a first material generating a magnetic force with the magnet, and the cleaning module is further provided with a driving motor and a magnetic sensor; the driving motor is used to drive the lifting sleeve to lift and lower;

[0039] The control module is configured to issue a cleaning assembly control instruction;

[0040] The cleaning module is configured to detect an initial position of a target cleaning assembly through magnetic induction data collected by the magnetic sensor after receiving the cleaning assembly control instruction, the magnetic induction data is generated by the magnet; the cleaning assembly control instruction comprises an installation instruction or a dismounting instruction;

[0041] The cleaning module is further configured to control the target cleaning assembly to change from the initial position to a desired position according to the type of the cleaning assembly control instruction, in combination with the mileage data of the driving motor and the magnetic induction data, so as to implement an installation or dismounting operation on the target cleaning assembly.

[0042] According to a third aspect of the present disclosure, a computer readable storage medium is provided, which stores a computer program, the computer program is executed by a processor to implement the control method of the cleaning assembly of the first aspect.

[0043] According to a fourth aspect of the present disclosure, an electronic device is provided, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the control method of the cleaning assembly according to the first aspect by executing the executable instructions.

[0044] It should be understood that the general description above and the detailed description below are only exemplary and explanatory and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0045] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and serve to explain the principles of the present disclosure. It is readily apparent to one skilled in the art that the following description of the drawings is merely exemplary and that additional drawings can be derived from these drawings without departing from the scope of the present disclosure.

[0046] FIG. 1 shows a flowchart of a control method of a cleaning assembly according to an embodiment of the present disclosure;

[0047] FIG. 2 shows a flowchart of how to perform an installation operation on a cleaning assembly to be installed according to an embodiment of the present disclosure;

[0048] FIG. 3 shows a flowchart of how to perform a disassembly operation on a cleaning assembly to be disassembled according to an embodiment of the present disclosure;

[0049] FIG. 4 shows a flowchart of another control method of a cleaning assembly according to an embodiment of the present disclosure;

[0050] FIG. 5 shows a flowchart of how to perform an installation operation on a cleaning assembly to be installed according to another embodiment of the present disclosure;

[0051] FIG. 6 shows a flowchart of how to perform an installation operation on a cleaning assembly to be installed according to an embodiment of the present disclosure;

[0052] FIG. 7 shows a flowchart of how to perform a disassembly operation on a cleaning assembly to be disassembled according to another embodiment of the present disclosure;

[0053] FIG. 8 shows a flowchart of how to perform a disassembly operation on a cleaning assembly to be disassembled according to an embodiment of the present disclosure;

[0054] FIG. 9 shows a schematic structural diagram of a cleaning device according to an exemplary embodiment of the present disclosure;

[0055] FIG. 10 shows a schematic structural diagram of an electronic device according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0056] Example implementations are now described with reference to the drawings. Example implementations can, however, be implemented in many different forms and should not be construed as limited to the examples set forth herein; rather, these implementations are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the example implementations to those skilled in the art. The features, structures, or characteristics described in connection with the examples can be combined in any suitable manner in one or more implementations. In the following description, numerous specific details are provided, in order to provide a thorough understanding of the example implementations. One skilled in the relevant art will recognize, however, that the implementations can be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. In other instances, well-known structures have not been described in detail in order to avoid obscuring aspects of the implementations.

[0057] The terms "one", "a", "an", and "the" as used herein mean "at least one" or "one or more" unless expressly specified otherwise. The term "includes" means "includes but is not limited to" and the term "including" means "including, but not limited to". The term "based on" means "based, at least in part, on" and not "based solely on" unless specifically specified.

[0058] In addition, the accompanying drawings are included to provide a thorough understanding of the present disclosure and are not intended to be exhaustive or to limit the present disclosure to a specific illustrated implementation. Identical reference numerals denote components in the various drawings. In some instances, details of certain structures can have been omitted for clarity.

[0059] At present, most cleaning devices in the industry use double-rotating mop cloth for mopping cleaning, but manual installation and disassembly of the rotating mop cloth are required, and the mop cloth cannot be automatically disassembled and installed based on the cleaning device, and the user experience is poor.

[0060] Alternatively, although a small part of the cleaning device can be automatically disassembled, it needs to be based on certain environmental conditions, such as intelligent disassembly at a certain specific location, and cannot finely control the disassembly precision, and the disassembled mop cloth is randomly dropped or not dropped, and cannot be installed on the normal ground, and the disassembly and installation are limited by space and technology, and if the disassembly fails, the user still needs to manually install it, and the user experience is still poor.

[0061] Based on the above technical problems, the control method of the cleaning assembly proposed in the present disclosure at least achieves the following purposes:

[0062] First, an automatic control method is used to accurately and automatically control the disassembly of the cleaning assembly of the cleaning device, to free the user's hands and realize automatic control of the cleaning assembly.

[0063] Secondly, through automated control, precise control is achieved over each process of disassembling and assembling cleaning components, ensuring accuracy and precision. Furthermore, it can be automated and optimized for disassembly and assembly, not limited to normal ground locations, greatly enhancing the user experience.

[0064] In the embodiments of this disclosure, a method for controlling a cleaning component is first provided, which at least to some extent overcomes the defect in the related art that cleaning equipment cannot autonomously complete the automatic disassembly or installation of the cleaning component.

[0065] Figure 1 shows a flowchart of the control method for the cleaning component in an embodiment of this disclosure. The subject executing the control method for the cleaning component can be a cleaning device (e.g., a sweeping and mopping robot).

[0066] Referring to FIG1, a method for controlling a cleaning component according to an embodiment of the present disclosure includes the following steps:

[0067] Step S110: After receiving the cleaning component control command, the initial position of the target cleaning component is detected by collecting magnetic induction data through a magnetic sensor, wherein the magnetic induction data is generated by the magnet; the cleaning component control command includes an installation command or a disassembly command.

[0068] Step S120: Based on the type of control command for the cleaning component, and combined with the mileage data and magnetic induction data of the drive motor, control the target cleaning component to move from the initial position to the desired position, so as to realize the installation or removal operation of the target cleaning component; wherein, the drive motor is used to drive the lifting sleeve to lift.

[0069] In the technical scheme provided in the embodiment shown in FIG. 1, on one hand, by arranging a magnet on the cleaning assembly, the cleaning assembly can be quickly connected or separated from the lifting sleeve in the cleaning module through the magnetic force between the magnet and the lifting sleeve, which is at least partially made of a first material that can generate a magnetic force with the magnet on the cleaning assembly, greatly simplifying the installation and disassembly process and improving the efficiency, and the attractive force between the magnet and the first material helps to ensure that the cleaning assembly can be accurately aligned during installation, avoiding problems caused by incorrect installation. On the other hand, after receiving a cleaning assembly control instruction (including an installation instruction or a disassembly instruction), the magnetic induction data generated by the magnet is collected by the magnetic sensor to detect the initial position of the target cleaning assembly, and according to the type of the cleaning assembly control instruction, the mileage data of the driving motor and the magnetic induction data are combined to control the target cleaning assembly to move from the initial position to the desired position, so as to realize the installation or disassembly operation of the target cleaning assembly. The magnetic induction data collected by the magnetic sensor and the mileage data of the driving motor can be used to accurately control the position of the cleaning assembly, ensuring the accuracy of the installation and disassembly operation, solving the problem that the cleaning assembly cannot be automatically installed or disassembled at any time and anywhere in the related art, and ensuring the multifunctionality and user-friendliness of the cleaning device.

[0070] The specific implementation process of each step in FIG. 1 is described in detail as follows:

[0071] Before step S110, it should be noted that the cleaning assembly in the present disclosure can be one or a group of components for performing a cleaning task. For example, the cleaning assembly in the present disclosure can be a mop assembly, a dust collection assembly, a brush assembly, etc., which can be set as needed, and the present disclosure does not make special limitations thereon. It should be noted that the cleaning assembly can include a magnet, a cleaning element (such as a mop, a dust collection box, a brush), and a bracket supporting the cleaning element.

[0072] In the following embodiments, the cleaning assembly is taken as a mop assembly for example. For example, the mop assembly in the present disclosure can include a magnet, a mop bracket, and a mop, and the mop is arranged on the mop bracket.

[0073] The cleaning module can be a modular component for cleaning the ground, which is a component of the cleaning device. The cleaning module can include a lifting sleeve, and the lifting sleeve is at least partially made of a first material that can generate a magnetic force with the magnet on the cleaning assembly, so that the mop assembly can be detachably arranged on the lifting sleeve in the cleaning module.

[0074] In an exemplary embodiment, the first material can include any material capable of generating a magnetic force with the magnet in the cleaning assembly, that is, the first material has magnetic properties and can be attracted by the magnet, such as iron, cobalt, nickel, etc.

[0075] For example, the lifting sleeve can include an iron sheet, a cobalt sheet, an iron-cobalt alloy sheet, a nickel sheet, etc., and the present exemplary embodiment is not limited in this regard.

[0076] In an exemplary embodiment, the first material can include an unprocessed magnetic material. The magnet refers to an object capable of generating a stable magnetic field by processing and assembling the magnetic material to have a certain shape and a specified magnetic direction. The magnet is generally composed of a magnetic material, a directional structure, a winding, etc. That is, the magnetic material does not generate a magnetic field without processing, and thus the first material does not generate a magnetic field. In this way, the first material can avoid affecting the magnetic field generated by the magnet in the mop assembly, thereby improving the accuracy of position determination of the mop assembly. The cleaning module further includes a driving motor and a magnetic sensor. The driving motor is used to drive the lifting sleeve to lift and lower (i.e., when the mop assembly is installed on the lifting sleeve, the driving motor can also drive the mop assembly to lift and lower). Since the mop assembly includes a magnet capable of generating a magnetic field, the magnetic sensor can detect changes in the magnetic field to collect magnetic induction data, thereby determining the position of the mop assembly according to the collected magnetic induction data. For example, the magnetic sensor can be a Hall sensor, which is a magnetic field sensor based on the Hall effect. The Hall effect refers to the generation of an electromotive force (Hall voltage) in a direction perpendicular to the current and magnetic field when an electric current passes through a conductor or semiconductor placed in a magnetic field, if the magnetic field direction is perpendicular to the current direction. The Hall sensor can directly measure the strength of the magnetic field, and by detecting changes in the direction of the magnetic field, the position or direction of movement of the magnet can be inferred.

[0077] It should be noted that the lifting sleeve is a cylindrical structure, and can accommodate the dismounting top rod inside, which is used to dismount the to-be-dismounted mop assembly from the lifting sleeve. Specifically, taking the case that the driving motor is driven to rotate forward (for example, clockwise) to drive the lifting sleeve to ascend, and is driven to rotate reversely (for example, counterclockwise) to drive the lifting sleeve to descend as an example, when the driving motor is driven to rotate forward to make the lifting sleeve ascend to the maximum height, at this time, if the driving motor continues to rotate forward, the dismounting top rod can extend out of the lifting sleeve. Then, if the driving motor is driven to rotate reversely, the dismounting top rod can be controlled to retract into the lifting sleeve. After the dismounting top rod retracts into the lifting sleeve, if the driving motor continues to rotate reversely, the lifting sleeve can be controlled to descend to the default position in the standby state. In addition, it should be noted that in the case that the driving motor is driven to rotate reversely, the dismounting top rod in the extended state can at most retract into the lifting sleeve, and the dismounting top rod in the retracted state cannot extend out of the lifting sleeve.

[0078] In step S110, after receiving the cleaning assembly control instruction, the initial position of the target cleaning assembly is detected by the magnetic induction data collected by the magnetic sensor.

[0079] In this optional embodiment, the magnetic induction data in the disclosure is generated by the magnet in the cleaning assembly. For example, the cleaning assembly control instruction can be received. After receiving the cleaning assembly control instruction, since the magnet is arranged on the cleaning assembly, the magnet can generate a magnetic field, so that the magnetic field data generated by the magnet can be detected by the magnetic sensor to collect the magnetic induction data (which can be the magnetic field strength and the magnetic field direction) to determine the initial position of the target cleaning assembly.

[0080] The above-mentioned cleaning assembly control instruction can include an installation instruction or a dismounting instruction. The installation instruction refers to a signal for instructing to automatically install the cleaning assembly (such as a mop assembly) on the cleaning device (such as a floor cleaning robot). The dismounting instruction refers to a signal for instructing to automatically dismount the cleaning assembly from the cleaning device.

[0081] The above-mentioned target cleaning assembly can be a to-be-installed cleaning assembly or a to-be-dismounted cleaning assembly. The to-be-installed cleaning assembly can be a cleaning assembly that has not been installed on the lifting sleeve, and the installation instruction needs to be executed subsequently to install it on the lifting sleeve. The to-be-dismounted cleaning assembly refers to a cleaning assembly that has been installed on the cleaning device, and the dismounting instruction can be executed subsequently to dismount it from the lifting sleeve.

[0082] Thus, when the target cleaning assembly is the to-be-installed cleaning assembly, the to-be-installed cleaning assembly is not installed on the cleaning module, and can be located at any initial position away from the cleaning device. Since the magnetic sensor senses different magnetic field strengths of the magnetic field generated by the magnet in the to-be-installed cleaning assembly when the distance between the magnetic sensor and the to-be-installed cleaning assembly is different, the size of the magnetic induction data collected by the magnetic sensor is different, for example, when the magnetic sensor gradually approaches the to-be-installed cleaning assembly, the magnetic induction data gradually increases, and when the magnetic sensor gradually moves away from the to-be-installed cleaning assembly, the magnetic induction data gradually decreases, so that the initial position of the to-be-installed cleaning assembly can be determined according to the magnetic induction data collected by the magnetic sensor.

[0083] When the target cleaning assembly is the to-be-detached cleaning assembly, since the to-be-detached cleaning assembly should be installed on the lifting sleeve of the cleaning module, the distance between the to-be-detached cleaning assembly and the magnetic sensor is very close, so that whether the initial position of the to-be-detached cleaning assembly is determined (i.e., whether the to-be-detached cleaning assembly is installed on the lifting sleeve) can be determined according to whether the magnetic induction data collected by the magnetic sensor is greater than the first magnetic induction threshold.

[0084] In step S120, according to the type of the cleaning assembly control instruction, the mileage data and the magnetic induction data of the driving motor are combined to control the target cleaning assembly to move from the initial position to the desired position, so as to realize the installation or detachment operation of the target cleaning assembly.

[0085] In this step, according to the type of the cleaning assembly control instruction (i.e., the installation instruction or the detachment instruction), the mileage data and the magnetic induction data of the driving motor are combined to control the target cleaning assembly to move from the initial position to the desired position, so as to realize the installation or detachment operation of the target cleaning assembly.

[0086] Specifically, when the type of the cleaning assembly control instruction is the installation instruction, referring to FIG. 2, FIG. 2 shows a flow diagram of how to perform an installation operation on the to-be-installed cleaning assembly in an embodiment of the present disclosure, including steps S201-S203:

[0087] In step S201, it is determined whether the relative positional relationship between the initial position of the to-be-installed cleaning assembly and the lifting sleeve satisfies the installation condition according to the magnetic induction data.

[0088] In this step, whether the relative position relationship between the initial position of the to-be-installed cleaning component and the lifting sleeve meets the installation condition can be determined according to the magnetic induction data. For example, when the magnetic induction data is greater than the second magnetic induction threshold, it can be determined that the to-be-installed cleaning component is located directly below the lifting sleeve, that is, it is determined that the installation condition is met, otherwise (that is, when the magnetic induction data is not greater than the second magnetic induction threshold), it is determined that the installation condition is not met.

[0089] In step S202, if the installation condition is met, the lifting sleeve is controlled to descend to the initial position by the driving motor to adsorb the to-be-installed cleaning component.

[0090] In this step, when it is determined that the installation condition is met, the lifting sleeve can be controlled to descend to the initial position of the to-be-installed cleaning component by the driving motor to adsorb the to-be-installed cleaning component.

[0091] If the installation condition is not met, the cleaning device can adjust its position, and determine whether the to-be-installed cleaning component is located directly below the lifting sleeve according to the magnetic induction data, until it is determined that the to-be-installed cleaning component is located directly below the lifting sleeve, then it is determined that the installation condition is met, and then step S202 is performed.

[0092] In step S203, the lifting sleeve is controlled to ascend to the first desired position by the driving motor to realize the installation operation of the to-be-installed cleaning component.

[0093] In this step, after the to-be-installed cleaning component is adsorbed by the lifting sleeve, the lifting sleeve can be controlled to ascend to the first desired position (for example, the default position when the cleaning device is in standby state) by the driving motor to realize the installation operation of the to-be-installed cleaning component.

[0094] It should be noted that after the lifting sleeve is controlled to ascend to the first desired position by the driving motor, the disclosure can also determine whether the to-be-installed cleaning component is in the installation success state according to the mileage data and the magnetic induction data to ensure installation success. For example, when the installation operation is performed, the lifting sleeve first descends to the lowest position and then ascends to the first desired position, and the magnetic induction data also presents a change trend of first becoming large and then remaining stable after being greater than the first magnetic induction threshold. Therefore, whether the to-be-installed cleaning component is in the installation success state can be determined according to the change trend of the mileage data in combination with the change trend of the magnetic induction data to ensure one-time installation success and avoid human intervention.

[0095] When the type of the cleaning component control instruction is the disassembly instruction, referring to FIG. 3, FIG. 3 shows a flowchart of how to disassemble the disassembly cleaning component in the embodiment of the present disclosure, including steps S301-S304.

[0096] In step S301, the lifting sleeve on which the disassembly cleaning component is installed is driven to rise by the driving motor, so as to adjust the initial position of the disassembly cleaning component.

[0097] In this step, since the initial position of the disassembly cleaning component is on the lifting sleeve, the driving motor is first driven to drive the lifting sleeve on which the disassembly cleaning component is installed to rise, so as to adjust the initial position of the disassembly cleaning component.

[0098] It should be noted that, in the process of controlling the lifting sleeve of the disassembly cleaning component to rise, since the mileage data of the driving motor is constantly changing, and the distance between the disassembly cleaning component and the magnetic sensor is also changing, the magnetic induction data collected by the magnetic sensor is also constantly changing, so that the mileage data of the driving motor and the magnetic induction data can be used to determine the position data of the disassembly cleaning component.

[0099] In step S302, whether the disassembly cleaning component rises to the second expected position is determined according to the mileage data of the driving motor.

[0100] In this step, since the mileage data is always increasing during the process of the lifting sleeve with the disassembly cleaning component rising, when the mileage data is equal to the target mileage value (for example, the mileage value corresponding to the maximum rising height), it can be determined that the disassembly cleaning component has risen to the second expected position (for example, the second expected position can be a disassembly position of the disassembly cleaning component in the cleaning module which is set in advance, and also the highest position of the lifting sleeve that can rise).

[0101] In step S303, in response to the disassembly cleaning component rising to the second expected position, the disassembly top rod is driven to extend out of the lifting sleeve by the driving motor, so as to separate the disassembly cleaning component from the lifting sleeve.

[0102] In this step, in response to detecting that the to-be-disassembled cleaning assembly is lifted to the second desired position (at this time, it indicates that the lifting sleeve has been completely lifted to the highest position, that is, the lifting sleeve cannot be lifted any higher), the disassembly top rod can continue to be driven to rotate and extend out of the lifting sleeve by the driving motor, the to-be-disassembled cleaning assembly is controlled to move away from the lifting sleeve by the disassembly top rod, so that the to-be-disassembled cleaning assembly gradually separates from the lifting sleeve, and when the gravity of the to-be-disassembled cleaning assembly is greater than the magnetic attraction between the to-be-disassembled cleaning assembly and the magnetic material on the lifting sleeve, the to-be-disassembled cleaning assembly will fall from the second desired position.

[0103] It should be noted that during the process of controlling the disassembly top rod to extend out of the lifting sleeve, the magnetic induction data can also be collected in real time, and a data change curve with time as the horizontal axis and the magnetic induction data as the vertical axis can be established, the real-time slope of the curve is calculated, and whether the disassembly operation is currently being performed is determined according to the slope. For example, when the real-time slope is greater than a preset slope threshold, it can be determined that the disassembly operation is currently being performed.

[0104] In step S304, in response to detecting that the to-be-disassembled cleaning assembly falls from the second desired position according to the magnetic induction data, a disassembly operation of the to-be-disassembled cleaning assembly is implemented.

[0105] In this step, since the magnetic induction data will present a sudden change trend of being less than the third magnetic induction threshold after the to-be-disassembled cleaning assembly falls from the second desired position, the to-be-disassembled cleaning assembly falling from the second desired position can be determined according to the magnetic induction data, and a disassembly operation of the to-be-disassembled cleaning assembly is implemented.

[0106] It should be noted that after detecting that the to-be-disassembled cleaning assembly falls from the second desired position according to the magnetic induction data, the present disclosure can also determine whether the to-be-disassembled cleaning assembly is in a disassembly success state according to the mileage data and the magnetic induction data, to ensure disassembly success. For example, since the lifting sleeve gradually rises to the highest second desired position when the disassembly operation is performed, and the magnetic induction data presents a change trend of changing from large to small and then suddenly being less than the third magnetic induction threshold, whether the to-be-disassembled cleaning assembly is in a disassembly success state can be determined according to the change trend of the mileage data in combination with the change trend of the magnetic induction data, to ensure one-time disassembly success and avoid human intervention.

[0107] After ensuring that the to-be-disassembled cleaning assembly is in a disassembly success state, the driving motor can be rotated in the opposite direction to control the disassembly top rod to retract into the lifting sleeve, so that it is restored to the default position.

[0108] Based on the scheme shown in FIG. 1, the present disclosure can at least achieve the following technical effects:

[0109] First, the problem of being unable to automatically control disassembly in the related art is solved, and automatic control of the mop is achieved.

[0110] Second, the problem of being able to only disassemble at a specific location in the related art is solved, and mop disassembly at any time and any place is achieved.

[0111] However, through the research of the present inventor, it is found that in the scheme shown in FIG. 1, although automatic installation or disassembly operation of the target cleaning assembly can be achieved, in the case where the default position of the cleaning assembly to be disassembled is not in the standby state, at this time in step S302, only whether the cleaning assembly to be disassembled is raised to the second desired position is determined according to the mileage data of the driving motor, and then the disassembly of the extension rod is continued. The control may result in inaccurate position judgment and thus misdisassembly, and cannot guarantee one-time disassembly to the position.

[0112] Therefore, the present disclosure can also be provided with a light sensing sensor in the cleaning module, which can be used to collect light intensity data, and the position change of the lifting sleeve will affect the change of the above light intensity data, so that by combining the light intensity data, the position of the target cleaning assembly can be more accurately determined, thereby avoiding the occurrence of the above misdisassembly.

[0113] On this basis, the present disclosure provides another control method of a cleaning assembly. Referring to FIG. 4, FIG. 4 shows a flowchart of another control method of a cleaning assembly in an embodiment of the present disclosure, which includes steps S410-S420:

[0114] In step S410, after receiving the cleaning assembly control instruction, the initial position of the target cleaning assembly is detected by combining the magnetic induction data with the light intensity data.

[0115] In this step, the cleaning assembly control instruction can be received, and after receiving the cleaning assembly control instruction, in view of the fact that a magnet is arranged on the cleaning assembly, the initial position of the target cleaning assembly can be determined by collecting the magnetic induction data (which can be the magnetic field strength and the magnetic field direction) through the magnetic sensor. At the same time, in view of the fact that the cleaning assembly can block the light of the light sensing sensor, thereby affecting the light intensity data thereof, the initial position of the target cleaning assembly can also be detected based on the magnetic induction data in combination with the light intensity data.

[0116] The above target cleaning assembly can be a cleaning assembly to be installed or a cleaning assembly to be disassembled.

[0117] Thus, when the target cleaning assembly is the to-be-installed cleaning assembly, the to-be-installed cleaning assembly is not installed on the cleaning module, and can be located at any initial position away from the cleaning device. When the cleaning device moves to the front of the to-be-installed cleaning assembly, the to-be-installed cleaning assembly can block the light of the light-sensitive sensor, thereby affecting the light intensity data of the light-sensitive sensor. Therefore, the initial position of the to-be-installed cleaning assembly can be detected based on the magnetic induction data in combination with the light intensity data.

[0118] When the target cleaning assembly is the to-be-detached cleaning assembly, since the to-be-detached cleaning assembly is installed on the lifting sleeve of the cleaning module, the distance between the to-be-detached cleaning assembly and the magnetic sensor is less than the first distance threshold. At this time, the to-be-detached cleaning assembly can block the light of the light-sensitive sensor. Therefore, whether the initial position of the to-be-detached cleaning assembly is determined (i.e., whether the to-be-detached cleaning assembly is installed on the lifting sleeve) can be determined according to whether the magnetic induction data collected by the magnetic sensor is greater than the first magnetic induction threshold and whether the light intensity data is less than the first light intensity threshold.

[0119] In step S420, according to the type of the cleaning assembly control instruction, in combination with the mileage data of the driving motor, the magnetic induction data and the light intensity data, the target cleaning assembly is controlled to move from the initial position to the desired position, so as to realize the installation or detachment operation of the target cleaning assembly.

[0120] In this step, specifically, when the type of the cleaning assembly control instruction is the installation instruction, referring to FIG. 5, FIG. 5 shows another flow diagram of how to install the to-be-installed cleaning assembly in the embodiment of the present disclosure, which includes steps S501-S503.

[0121] In step S501, when the type of the cleaning assembly control instruction is the installation instruction, whether the relative positional relationship between the initial position of the to-be-installed cleaning assembly and the lifting sleeve satisfies the installation condition is determined according to the magnetic induction data in combination with the light intensity data.

[0122] In this step, whether the relative positional relationship between the initial position of the to-be-installed cleaning assembly and the lifting sleeve satisfies the installation condition can be determined according to the magnetic induction data in combination with the light intensity data. For example, when the magnetic induction data is greater than the second magnetic induction threshold and the light intensity data is less than the second light intensity threshold (which indicates that the to-be-installed cleaning assembly blocks the light of the light-sensitive sensor), it can be determined that the to-be-installed cleaning assembly is located directly below the lifting sleeve, i.e., it can be determined that the installation condition is satisfied. Otherwise (i.e., when the magnetic induction data is not greater than the second magnetic induction threshold or the light intensity data is greater than or equal to the second light intensity threshold), it can be determined that the installation condition is not satisfied.

[0123] In step S502, if the installation condition is met, the lifting sleeve is controlled to descend to the initial position of the to-be-installed cleaning assembly by the driving motor to adsorb the to-be-installed cleaning assembly.

[0124] In this step, in the case where it is determined that the installation condition is met, the lifting sleeve can be controlled to descend to the initial position of the to-be-installed cleaning assembly by the driving motor to adsorb the to-be-installed cleaning assembly.

[0125] In the case where the installation condition is not met, the cleaning device can adjust its position, and determine whether the to-be-installed cleaning assembly is located directly below the lifting sleeve according to the magnetic induction data, until it is determined that the to-be-installed cleaning assembly is located directly below the lifting sleeve, then it can be determined that the installation condition is met, and then step S502 is executed.

[0126] In step S503, the lifting sleeve is controlled to ascend to the first desired position by the driving motor to realize the installation operation of the to-be-installed cleaning assembly.

[0127] In this step, after the to-be-installed cleaning assembly is adsorbed by the lifting sleeve, the lifting sleeve can be controlled to ascend to the first desired position (for example, the default position when the cleaning device is in standby state) by the driving motor to realize the installation operation of the to-be-installed cleaning assembly.

[0128] It should be noted that after the lifting sleeve is controlled to ascend to the first desired position by the driving motor, the disclosure can also determine whether the to-be-installed cleaning assembly is in the installation success state according to the mileage data, the magnetic induction data and the light intensity data, to ensure the installation success. For example, when the installation operation is performed, the lifting sleeve first descends to the lowest position and then ascends to the first desired position, and the magnetic induction data also presents a change trend of first becoming large and then remaining stable after being greater than the first magnetic induction threshold, and the light intensity data also presents a change trend of gradually becoming small, so that whether the to-be-installed cleaning assembly is in the installation success state can be determined according to the change trend of the mileage data in combination with the change trend of the magnetic induction data and the change trend of the light intensity data, to ensure that it is installed successfully at one time, thereby avoiding human intervention.

[0129] Referring to FIG. 6, FIG. 6 shows a whole flow diagram of how to perform the installation operation on the to-be-installed cleaning assembly in the embodiment of the disclosure, which includes steps S601-S608:

[0130] In step S601, start;

[0131] In step S602, the control module sends an installation instruction;

[0132] In step S603, the to-be-installed cleaning assembly is searched according to the magnetic induction data;

[0133] In step S604, it is judged whether the to-be-installed cleaning assembly is located directly below the lifting sleeve;

[0134] If not (not directly below), it is returned to step S602, and the control module re-sends the installation instruction;

[0135] If yes (directly below), it is entered into step S605, and the lifting sleeve is lowered to start installation;

[0136] In step S606, it is judged whether the installation is successful.

[0137] If not (not successful), it is entered into step S604;

[0138] If yes (successful), it is entered into step S607, and the sleeve is raised, and the motor is stopped running;

[0139] In step S608, it is ended.

[0140] When the type of the above cleaning assembly control instruction is a disassembly instruction, referring to FIG. 7, FIG. 7 shows another flow diagram of how to disassemble the to-be-disassembled cleaning assembly in the embodiment of the present disclosure, including steps S701-S704:

[0141] In step S701, when the type of the cleaning assembly control instruction is a disassembly instruction, the lifting sleeve installed with the to-be-disassembled cleaning assembly is driven to rise by the driving motor to adjust the initial position of the to-be-disassembled cleaning assembly.

[0142] In this step, since the initial position of the to-be-disassembled cleaning assembly is located on the above lifting sleeve, the present disclosure can first drive the lifting sleeve installed with the above to-be-disassembled cleaning assembly to rise by the driving motor to adjust the initial position of the above to-be-disassembled cleaning assembly.

[0143] It should be noted that in the process of controlling the lifting sleeve of the above to-be-disassembled cleaning assembly to rise, since the mileage data of the driving motor is constantly changing, and the distance between the to-be-disassembled cleaning assembly and the magnetic sensor is also changing, the magnetic induction data collected by the magnetic sensor is also constantly changing, so that the mileage data of the driving motor and the above magnetic induction data can be used to judge the position data of the to-be-disassembled cleaning assembly.

[0144] In step S702, it is determined whether the to-be-disassembled cleaning assembly rises to the second expected position according to the mileage data of the driving motor and the light intensity data.

[0145] In this step, since the mileage data will continue to increase during the lifting process of the lifting sleeve with the to-be-disassembled cleaning assembly, when the mileage data is equal to the target mileage value (for example, the mileage value corresponding to the maximum lifting height), it can be basically determined that the to-be-disassembled cleaning assembly has been lifted to the second expected position (for example, the second expected position can be a disassembly position of the to-be-disassembled cleaning assembly in the cleaning module, which is also the highest position of the lifting sleeve that can be lifted).

[0146] However, if only the mileage data is used to determine whether the to-be-disassembled cleaning assembly is lifted to the second expected position when the to-be-disassembled cleaning assembly is initially not in the standby state, there can be a problem of misjudgment, for example, the lifting sleeve has actually been lifted to the maximum height, and the disassembly top rod has been extended by a certain distance, so that the to-be-disassembled cleaning assembly has exceeded the second expected position.

[0147] In order to avoid the above problem, the present disclosure can also combine light intensity data for joint determination. Since when the to-be-disassembled cleaning assembly is lifted to its maximum height (the second expected position), the lifting sleeve and the to-be-disassembled cleaning assembly will not completely block the light of the light sensing sensor, so that the light intensity data is greater than the second light intensity threshold, so when the light intensity data is greater than the second light intensity threshold, it can be determined that the light sensing sensor is triggered, and at this time, it can be set that whether the mileage data is equal to the target mileage value, the to-be-disassembled cleaning assembly can be determined to have reached the second expected position.

[0148] In step S703, in response to the to-be-disassembled cleaning assembly being lifted to the second expected position, the disassembly top rod is driven to extend out of the lifting sleeve by driving the motor, so that the to-be-disassembled cleaning assembly is separated from the lifting sleeve.

[0149] In this step, when it is determined that the to-be-disassembled cleaning assembly is lifted to the second expected position, a new mileage value can be triggered by the driving motor to control the extension distance of the disassembly top rod. Thus, the disassembly top rod can be gradually extended out of the lifting sleeve, and the to-be-disassembled cleaning assembly can be controlled to move away from the lifting sleeve by the disassembly top rod, so that the to-be-disassembled cleaning assembly is gradually separated from the lifting sleeve. When the gravity of the to-be-disassembled cleaning assembly is greater than the magnetic attraction force between the to-be-disassembled cleaning assembly and the magnetic material on the lifting sleeve, the to-be-disassembled cleaning assembly will fall from the second expected position.

[0150] It should be noted that, in the process of controlling the dismounting of the top rod from the lifting sleeve, the magnetic induction data can also be collected in real time, and a data change curve with time as the horizontal axis and magnetic induction data as the vertical axis can be established, the real-time slope of the curve is calculated, and whether the dismounting operation is currently being performed is determined according to the slope. For example, when the real-time slope is greater than a preset slope threshold, it can be determined that the dismounting operation is currently being performed.

[0151] In step S704, in response to detecting that the to-be-dismounted cleaning assembly falls from the second expected position according to the magnetic induction data, a dismounting operation of the to-be-dismounted cleaning assembly is implemented.

[0152] In this step, since the magnetic induction data will present a change trend of suddenly being less than the third magnetic induction threshold after the to-be-dismounted cleaning assembly falls from the second expected position, the to-be-dismounted cleaning assembly falling from the second expected position can be determined according to the magnetic induction data, and the dismounting operation of the to-be-dismounted cleaning assembly is implemented.

[0153] It should be noted that, after detecting that the to-be-dismounted cleaning assembly falls from the second expected position according to the magnetic induction data, the present disclosure can also determine whether the to-be-dismounted cleaning assembly is in a dismounting success state according to the mileage data, the magnetic induction data and the light intensity data, to ensure dismounting success. For example, since the lifting sleeve gradually rises to the highest second expected position when the dismounting operation is performed, and the magnetic induction data presents a change trend of changing from large to small, and then suddenly being less than the third magnetic induction threshold, and the light intensity data also presents a change trend of gradually increasing, the to-be-dismounted cleaning assembly can be determined to be in a dismounting success state according to the change trend of the mileage data in combination with the change trend of the magnetic induction data and the change trend of the light intensity data, to ensure one-time dismounting success and avoid human intervention.

[0154] After ensuring that the to-be-dismounted cleaning assembly is in a dismounting success state, the motor can be driven to rotate in the opposite direction to control the dismounting top rod to retract into the lifting sleeve, so that it is restored to the default position.

[0155] Based on the technical solutions in FIG. 4, the present disclosure can at least achieve the following technical effects:

[0156] First, the mileage data of the motor, the light induction sensor data and the magnetic induction sensor data are used to control the motor and analyze and process these sensor data in real time, to ensure the accuracy and success rate of dismounting and installing the cleaning assembly on the cleaning device.

[0157] Secondly, the different states and positions of the cleaning assembly during disassembly and assembly can be accurately distinguished, and different actions can be performed, so that the disassembly and assembly are no longer limited to specific places and times, the success rate of disassembly or assembly is greatly improved, the use convenience of the cleaning equipment is improved, and the user experience is optimized.

[0158] Referring to FIG. 8, FIG. 8 shows a schematic diagram of the overall process of how to perform the disassembly operation on the disassembled cleaning assembly in the embodiment of the present disclosure, including steps S801-S812:

[0159] In step S801, start;

[0160] In step S802, the control module sends a sleeve rising instruction;

[0161] In step S803, the motor is controlled to rise gradually in a linear duty cycle, so that the disassembled cleaning assembly moves at a constant speed;

[0162] In step S804, it is determined whether the light sensor is triggered;

[0163] If not (the light sensor is not triggered), return to step S803;

[0164] If yes (the light sensor is triggered), go to step S805, determine that the second desired position is reached, and control the motor to set a new mileage value;

[0165] In step S806, the control module sends a disassembly instruction;

[0166] In step S807, the disassembly top rod is controlled to extend from the lifting sleeve;

[0167] In step S808, it is determined whether the disassembly operation is being performed according to the change curve of the magnetic induction data;

[0168] If not (the disassembly operation is not being performed), return to step S806;

[0169] If yes (the disassembly operation is being performed), go to step S809, and determine whether the disassembly is successful;

[0170] In step S810, the disassembly top rod is controlled to retract into the lifting sleeve;

[0171] In step S811, the motor stops running;

[0172] In step S812, end.

[0173] Overall, based on the above technical solutions, the present disclosure has at least the following technical effects:

[0174] First, the state of the cleaning assembly during the disassembly and assembly process can be accurately determined in real time, and the data of the sensor is used for accurate control to ensure the smooth operation of the disassembly and assembly and to guarantee the implementation effect.

[0175] Second, the user experience can be greatly optimized, and the user's hands are completely freed from the installation of the cleaning assembly of the machine. The machine can also normally disassemble and assemble the cleaning assembly during operation, and the flexibility and convenience of the product are greatly improved.

[0176] The present disclosure also provides a cleaning device, which comprises a control module and a cleaning module; the cleaning device is provided with a cleaning assembly comprising a magnet, the cleaning assembly is detachably arranged on a lifting sleeve in the cleaning module through the magnet, the lifting sleeve is at least partially composed of a first material generating a magnetic force with the magnet, and a driving motor and a magnetic sensor are further arranged in the cleaning module; the driving motor is used to drive the lifting sleeve to lift; FIG. 9 shows a structural schematic diagram of the cleaning device in an exemplary embodiment of the present disclosure; as shown in FIG. 9, the cleaning device 900 can comprise a control module 910 and a cleaning module 920. Wherein:

[0177] The control module 910 is configured to issue a cleaning assembly control instruction;

[0178] The cleaning module 920 is configured to detect an initial position of a target cleaning assembly through magnetic induction data collected by the magnetic sensor after receiving the cleaning assembly control instruction, wherein the magnetic induction data is generated by the magnet; the cleaning assembly control instruction comprises an installation instruction or a disassembly instruction;

[0179] The cleaning module 920 is further configured to control the target cleaning assembly to change from the initial position to a desired position according to the type of the cleaning assembly control instruction, in combination with mileage data of the driving motor and the magnetic induction data, so as to realize the installation or disassembly operation of the target cleaning assembly.

[0180] In an exemplary embodiment of the present disclosure, a light induction sensor is further arranged in the cleaning module, the light induction sensor is used to collect light intensity data, the position of the lifting sleeve affects the light intensity data, and the cleaning module 920 is further configured to:

[0181] After receiving the cleaning assembly control instruction, the initial position of the target cleaning assembly is detected through the magnetic induction data in combination with the light intensity data;

[0182] According to the type of the cleaning component control instruction, in combination with the mileage data of the driving motor, the magnetic induction data and the light intensity data, the target cleaning component is controlled to move from the initial position to a desired position to realize the mounting or dismounting operation of the target cleaning component.

[0183] In the example embodiment of the present disclosure, the target cleaning component comprises a cleaning component to be mounted;

[0184] The cleaning module 920 controls the target cleaning component to move from the initial position to a desired position according to the type of the cleaning component control instruction, in combination with the mileage data of the driving motor, the magnetic induction data and the light intensity data, to realize the mounting or dismounting operation of the target cleaning component, comprising:

[0185] When the type of the cleaning component control instruction is the mounting instruction, it is determined whether the relative positional relationship between the initial position of the cleaning component to be mounted and the lifting sleeve satisfies the mounting condition according to the magnetic induction data in combination with the light intensity data;

[0186] If the mounting condition is satisfied, the lifting sleeve is controlled to descend to the initial position by the driving motor to adsorb the cleaning component to be mounted;

[0187] The lifting sleeve is controlled to ascend to a first desired position by the driving motor to realize the mounting operation of the cleaning component to be mounted.

[0188] In the example embodiment of the present disclosure, the cleaning module 920 determines whether the relative positional relationship between the initial position of the cleaning component to be mounted and the lifting sleeve satisfies the mounting condition according to the magnetic induction data in combination with the light intensity data, comprising:

[0189] When the magnetic induction data is greater than a magnetic induction threshold value, and the light intensity data is less than a light intensity threshold value, it is determined that the relative positional relationship satisfies the mounting condition;

[0190] When the magnetic induction data is less than or equal to the magnetic induction threshold value, or the light intensity data is greater than or equal to the light intensity threshold value, it is determined that the relative positional relationship does not satisfy the mounting condition.

[0191] In the example embodiment of the present disclosure, after it is determined that the relative positional relationship does not satisfy the mounting condition, the control module 910 is configured to:

[0192] Adjust the relative positional relationship until the relative positional relationship satisfies the mounting condition.

[0193] In the example embodiment of the present disclosure, after the lifting sleeve is lifted to the first desired position by the driving motor, before the installation operation of the to-be-installed cleaning assembly is implemented, the cleaning module 920 is configured to:

[0194] According to the mileage data of the driving motor, the magnetic induction data, and the light intensity data, it is determined whether the to-be-installed cleaning assembly is in an installation success state.

[0195] In the example embodiment of the present disclosure, the target cleaning assembly includes a to-be-detached cleaning assembly, the initial position of the to-be-detached cleaning assembly is that the to-be-detached cleaning assembly is detachably arranged on the lifting sleeve by the magnet, and a detachment top rod is arranged in the lifting sleeve.

[0196] According to the type of the cleaning assembly control instruction, in combination with the mileage data of the driving motor, the magnetic induction data, and the light intensity data, the cleaning module 920 controls the target cleaning assembly to move from the initial position to a desired position to implement the installation or detachment operation of the target cleaning assembly, including:

[0197] When the type of the cleaning assembly control instruction is the detachment instruction, the lifting sleeve on which the to-be-detached cleaning assembly is installed is lifted by the driving motor to adjust the initial position of the to-be-detached cleaning assembly.

[0198] According to the mileage data of the driving motor and the light intensity data, it is determined whether the to-be-detached cleaning assembly is lifted to a second desired position.

[0199] In response to the to-be-detached cleaning assembly being lifted to the second desired position, the detachment top rod is extended out of the lifting sleeve by the driving motor, so that the to-be-detached cleaning assembly is separated from the lifting sleeve.

[0200] In response to detecting that the to-be-detached cleaning assembly falls from the second desired position according to the magnetic induction data, a detachment operation of the to-be-detached cleaning assembly is implemented.

[0201] In the example embodiment of the present disclosure, the cleaning module 920 extends the detachment top rod out of the lifting sleeve by the driving motor, so that the to-be-detached cleaning assembly is separated from the lifting sleeve, including:

[0202] The detachment top rod controls the to-be-detached cleaning assembly to move in a direction away from the lifting sleeve until the to-be-detached cleaning assembly is separated from the lifting sleeve by extending the detachment top rod out of the lifting sleeve by the driving motor.

[0203] In the example embodiment of the present disclosure, after detecting that the to-be-detached cleaning assembly falls from the second desired position, before implementing the detaching operation on the to-be-detached cleaning assembly, the cleaning module 920 is configured to:

[0204] According to the mileage data of the driving motor in combination with the magnetic induction data, it is determined whether the to-be-detached cleaning assembly is in a successful detaching state.

[0205] In the example embodiment of the present disclosure, after implementing the detaching operation on the to-be-detached assembly, the cleaning module 920 is configured to:

[0206] The driving motor drives the detaching top rod to retract into the lifting sleeve.

[0207] The specific details of each module in the above cleaning device have been described in detail in the control method of the corresponding cleaning assembly, and thus will not be described here again.

[0208] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, such division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided into several modules or units embodied.

[0209] In addition, although the steps of the method in the present disclosure are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired result. In addition or alternatively, some steps can be omitted, a plurality of steps can be combined into one step, and / or one step can be divided into a plurality of steps, etc.

[0210] Through the above description of the embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a U disk, a mobile hard disk, etc.) or a network, and includes a plurality of instructions to make a computing device (which can be a personal computer, a server, a mobile terminal, or a network device, etc.) execute the method according to the embodiments of the present disclosure.

[0211] The present disclosure also provides a computer readable storage medium, which can be included in the electronic device described in the above embodiments, or can exist independently without being assembled into the electronic device.

[0212] The computer readable storage medium may, for example, be, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the above. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, the computer readable storage medium can be any tangible medium that contains or stores a program used by or in connection with an instruction execution system, apparatus, or device.

[0213] The computer readable storage medium can send, propagate or transmit programs for use by or in connection with an instruction execution system, apparatus, or device. Program code contained on a computer readable storage medium can be transmitted by any suitable medium, including but not limited to wireless, wire line, optical fiber cable, RF, etc., or any suitable combination of the above.

[0214] The computer readable storage medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to implement the methods described in the above embodiments.

[0215] In addition, an electronic device capable of implementing the above method is also provided in the embodiments of the present disclosure.

[0216] Those skilled in the art can understand that each aspect of the present disclosure can be implemented as a system, a method or a program product. Therefore, each aspect of the present disclosure can be specifically implemented as a whole hardware embodiment, a whole software embodiment (including firmware, microcode, etc.), or an embodiment combining software and hardware aspects, which can be collectively referred to as "circuitry", "module" or "system".

[0217] The electronic device 1000 according to this embodiment of the present disclosure will be described below with reference to FIG. 10. The electronic device 1000 shown in FIG. 10 is merely an example and should not impose any limitation on the functions and use range of the embodiments of the present disclosure.

[0218] As shown in FIG. 10, the electronic device 1000 is in the form of a general computing device. The components of the electronic device 1000 can include, but are not limited to, at least one processor 1010, at least one memory 1020, a bus 1030 connecting different system components, including the memory 1020 and the processor 1010, and a display 1040.

[0219] The memory stores program codes which can be executed by the processor 1010, so that the processor 1010 performs the steps according to various exemplary embodiments of the present disclosure described in the above "Exemplary Method" section of the present specification. For example, the processor 1010 can perform the steps shown in FIG. 1, such as: step S110, detecting an initial position of a target cleaning assembly by magnetic induction data collected by a magnetic sensor after receiving a cleaning assembly control instruction, the magnetic induction data being generated by the magnet; the cleaning assembly control instruction including an installation instruction or a disassembly instruction; step S120, according to the type of the cleaning assembly control instruction, combining the mileage data of the driving motor and the magnetic induction data to control the target cleaning assembly to move from the initial position to the desired position, so as to realize the installation or disassembly operation of the target cleaning assembly; wherein the driving motor is used to drive the lifting sleeve to lift.

[0220] The memory 1020 can include a readable medium in the form of volatile storage, such as a random access memory (RAM) 10201 and / or a cache memory 10202, and can further include a read-only memory (ROM) 10203.

[0221] The memory 1020 can further include program / utilities 10204 having a set of (at least one) program modules 10205, such as an operating system, one or more application programs, other program modules, and program data, each of which or some combination of which can include implementation of a network environment.

[0222] The bus 1030 can represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor or a local bus using any of a variety of bus architectures.

[0223] The electronic device 1000 can also communicate with one or more external devices 1100 such as a keyboard, a pointing device, a Bluetooth device, etc.; and one or more devices that enable a user to interact with the electronic device 1000; and / or one or more devices (e.g. routers, modems, etc.) that enable the electronic device 1000 to communicate with one or more other computing devices. Such communication can occur via Input / Output (I / O) interface 1050. Still yet, the electronic device 1000 can communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or the Internet) through network adapter 1060. As depicted, network adapter 1060 communicates with the other components of the electronic device 1000 via bus 1030. It should be appreciated that although not shown, other hardware and / or software modules could be used in connection with the electronic device 1000. Such modules include, but are not limited to, microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage systems, etc.

[0224] Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the features disclosed herein. The disclosure is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such features to the extent that they are not disclosed in the prior art. The specification and examples are to be regarded as illustrative only, and the true scope and spirit of the disclosure are indicated by the appended claims.

Claims

1. A control method of a cleaning assembly, wherein, The cleaning assembly comprises a magnet, the cleaning assembly is detachably arranged on a lifting sleeve in a cleaning module by the magnet, the lifting sleeve is at least partially composed of a first material generating a magnetic force with the magnet, the cleaning module is further provided with a driving motor and a magnetic sensor, the driving motor is used to drive the lifting sleeve to lift, and the method comprises the following steps: After receiving a cleaning assembly control instruction, the initial position of a target cleaning assembly is detected by magnetic induction data collected by the magnetic sensor, the magnetic induction data is generated by the magnet; the cleaning assembly control instruction comprises an installation instruction or a disassembly instruction; and According to the type of the cleaning assembly control instruction, the mileage data of the driving motor and the magnetic induction data are combined to control the target cleaning assembly to change from the initial position to a desired position, so as to realize the installation or disassembly operation of the target cleaning assembly.

2. The method of claim 1, wherein, The cleaning module is further provided with a light induction sensor, the light induction sensor is used to collect light intensity data, the position of the lifting sleeve affects the light intensity data, and the method further comprises the following steps: After receiving a cleaning assembly control instruction, the initial position of a target cleaning assembly is detected by magnetic induction data combined with the light intensity data; According to the type of the cleaning assembly control instruction, the mileage data of the driving motor, the magnetic induction data and the light intensity data are combined to control the target cleaning assembly to change from the initial position to a desired position, so as to realize the installation or disassembly operation of the target cleaning assembly.

3. The method of claim 2, wherein, The target cleaning assembly comprises a cleaning assembly to be installed; The target cleaning assembly comprises a cleaning assembly to be installed; When the type of the cleaning assembly control instruction is the installation instruction, whether the relative positional relationship between the initial position of the cleaning assembly to be installed and the lifting sleeve meets the installation condition is judged according to the magnetic induction data combined with the light intensity data; If the installation condition is met, the lifting sleeve is controlled to descend to the initial position by the driving motor to adsorb the cleaning assembly to be installed; The lifting sleeve is controlled to ascend to a first desired position by the driving motor, so as to realize the installation operation of the cleaning assembly to be installed.

4. The method of claim 3, wherein, When the magnetic induction data is greater than a magnetic induction threshold value, and the light intensity data is less than a light intensity threshold value, it is determined that the relative positional relationship meets the installation condition; When the magnetic induction data is less than or equal to the magnetic induction threshold value, or the light intensity data is greater than or equal to the light intensity threshold value, it is determined that the relative positional relationship does not meet the installation condition. After it is determined that the relative positional relationship does not meet the installation condition, the method further comprises the following steps:

5. The method of claim 3, wherein, ​ adjust the relative position relationship until the relative position relationship meets the installation condition.

6. The method of any one of claims 3 to 5, wherein, After the driving motor controls the lifting sleeve to rise to a first desired position, before the installation operation of the to-be-installed cleaning component is implemented, the method further includes: According to the mileage data of the driving motor, the magnetic induction data, and the light intensity data, it is determined whether the to-be-installed cleaning component is in an installation success state.

7. The method of claim 2, wherein, The target cleaning component includes a to-be-detached cleaning component, and the initial position of the to-be-detached cleaning component is that the to-be-detached cleaning component is detachably arranged on the lifting sleeve through the magnet, and a detachment top rod is arranged in the lifting sleeve. According to the type of the cleaning component control instruction, in combination with the mileage data of the driving motor, the magnetic induction data, and the light intensity data, the target cleaning component is controlled to move from the initial position to a desired position to implement the installation or detachment operation of the target cleaning component, including: When the type of the cleaning component control instruction is the detachment instruction, the lifting sleeve on which the to-be-detached cleaning component is installed is driven to rise by the driving motor, so as to adjust the initial position of the to-be-detached cleaning component. According to the mileage data of the driving motor and the light intensity data, it is determined whether the to-be-detached cleaning component rises to a second desired position. In response to the to-be-detached cleaning component rising to the second desired position, the detachment top rod is driven to extend out of the lifting sleeve by the driving motor, so that the to-be-detached cleaning component is separated from the lifting sleeve. In response to detecting that the to-be-detached cleaning component falls from the second desired position according to the magnetic induction data, a detachment operation of the to-be-detached cleaning component is implemented.

8. The method of claim 7, wherein, The driving motor drives the detachment top rod to extend out of the lifting sleeve, so that the to-be-detached cleaning component is separated from the lifting sleeve, including: The driving motor drives the detachment top rod to extend out of the lifting sleeve, and the to-be-detached cleaning component is controlled to move in a direction away from the lifting sleeve by the detachment top rod until the to-be-detached cleaning component is separated from the lifting sleeve.

9. The method of claim 7 or 8, wherein, After detecting that the to-be-detached cleaning component falls from the second desired position, before the detachment operation of the to-be-detached cleaning component is implemented, the method further includes: According to the mileage data of the driving motor and the magnetic induction data, it is determined whether the to-be-detached cleaning component is in a detachment success state.

10. The method of claim 7, wherein, After the detachment operation of the to-be-detached component is implemented, the method further includes: The driving motor drives the detachment top rod to retract into the lifting sleeve.

11. A cleaning apparatus wherein, The cleaning device includes a control module and a cleaning module; The cleaning device is provided with a cleaning component, the cleaning component includes a magnet, the cleaning component is detachably arranged on a lifting sleeve in the cleaning module through the magnet, the lifting sleeve is at least partially composed of a first material generating a magnetic force with the magnet, and a driving motor and a magnetic sensor are further arranged in the cleaning module; the driving motor is used to drive the lifting sleeve to lift and descend; The control module is configured to issue a cleaning component control instruction. The cleaning module is configured to detect an initial position of the target cleaning component by using magnetic induction data collected by the magnetic sensor after receiving the cleaning component control instruction, wherein the magnetic induction data is generated by the magnet. The cleaning component control instruction includes an installation instruction or a disassembly instruction. The cleaning module is further configured to control the target cleaning component to move from the initial position to a desired position according to the type of the cleaning component control instruction, in combination with the mileage data of the driving motor and the magnetic induction data, so as to realize the installation or disassembly operation of the target cleaning component.

12. The cleaning apparatus of claim 11, wherein, The cleaning module is further provided with a light induction sensor, the light induction sensor is used to collect light intensity data, the position of the lifting sleeve affects the light intensity data, and the cleaning module is further configured to: detect the initial position of the target cleaning component by using the magnetic induction data in combination with the light intensity data after receiving the cleaning component control instruction; control the target cleaning component to move from the initial position to a desired position according to the type of the cleaning component control instruction, in combination with the mileage data of the driving motor, the magnetic induction data and the light intensity data, so as to realize the installation or disassembly operation of the target cleaning component.

13. The cleaning apparatus of claim 12, wherein, The target cleaning component includes a cleaning component to be installed. The cleaning module is further configured to: when the type of the cleaning component control instruction is the installation instruction, determine whether a relative positional relationship between the initial position of the cleaning component to be installed and the lifting sleeve satisfies an installation condition according to the magnetic induction data in combination with the light intensity data; if the installation condition is satisfied, control the lifting sleeve to descend to the initial position by using the driving motor to adsorb the cleaning component to be installed; control the lifting sleeve to ascend to a first desired position by using the driving motor, so as to realize the installation operation of the cleaning component to be installed.

14. The cleaning apparatus of claim 13, wherein, The cleaning module is further configured to: when the magnetic induction data is greater than a magnetic induction threshold value and the light intensity data is less than a light intensity threshold value, it is determined that the relative positional relationship satisfies the installation condition; when the magnetic induction data is less than or equal to the magnetic induction threshold value or the light intensity data is greater than or equal to the light intensity threshold value, it is determined that the relative positional relationship does not satisfy the installation condition.

15. The cleaning apparatus of claim 13, wherein, After it is determined that the relative positional relationship does not satisfy the installation condition, the control module is configured to: adjust the relative positional relationship until the relative positional relationship satisfies the installation condition.

16. The cleaning apparatus of any one of claims 13 to 15, wherein, After the lifting sleeve is controlled to ascend to the first desired position by using the driving motor, before the installation operation of the cleaning component to be installed is realized, the cleaning module is further configured to: determine whether the cleaning component to be installed is in an installation success state according to the mileage data of the driving motor, the magnetic induction data in combination with the light intensity data.

17. The cleaning apparatus of claim 12, wherein, The target cleaning assembly includes a to-be-detached cleaning assembly, and the initial position of the to-be-detached cleaning assembly is that the to-be-detached cleaning assembly is detachably arranged on the lifting sleeve by the magnet, and a detachment top rod is arranged in the lifting sleeve; The cleaning module is further configured to: When the type of the cleaning assembly control instruction is the detachment instruction, the lifting sleeve on which the to-be-detached cleaning assembly is installed is driven to ascend by the driving motor, so as to adjust the initial position of the to-be-detached cleaning assembly; According to the mileage data of the driving motor and the light intensity data, it is determined whether the to-be-detached cleaning assembly ascends to a second expected position; In response to the to-be-detached cleaning assembly ascending to the second expected position, the detachment top rod is driven to extend out of the lifting sleeve by the driving motor, so that the to-be-detached cleaning assembly is separated from the lifting sleeve; In response to detecting that the to-be-detached cleaning assembly falls from the second expected position according to the magnetic induction data, a detachment operation of the to-be-detached cleaning assembly is implemented.

18. The cleaning apparatus of claim 17, wherein, The cleaning module is further configured to: The detachment top rod is driven to extend out of the lifting sleeve by the driving motor, and the to-be-detached cleaning assembly is controlled to move along a direction away from the lifting sleeve by the detachment top rod until the to-be-detached cleaning assembly is separated from the lifting sleeve.

19. The cleaning apparatus of claim 17 or 18, wherein, After detecting that the to-be-detached cleaning assembly falls from the second expected position, before implementing the detachment operation of the to-be-detached cleaning assembly, the cleaning module is further configured to: According to the mileage data of the driving motor and the magnetic induction data, it is determined whether the to-be-detached cleaning assembly is in a detachment success state.

20. The cleaning apparatus of claim 17, wherein, After implementing the detachment operation of the to-be-detached assembly, the cleaning module is further configured to: The detachment top rod is driven to retract into the lifting sleeve by the driving motor.

21. A computer readable storage medium having stored thereon a computer program, wherein, The computer program is executed by the processor to implement the cleaning assembly control method in any one of claims 1-10.

22. An electronic device comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the cleaning assembly control method in any one of claims 1-10 via execution of the executable instructions.

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