Cleaning device, control method for cleaning device, and medium and electronic device

Abstract

A cleaning device (100), a control method for the cleaning device (100), and a computer-readable storage medium and an electronic device. The cleaning device (100) comprises: a device body (110); a wheel assembly (120), the wheel assembly (120) being arranged at the bottom of the device body (110), and the wheel assembly (120) comprising a plurality of wheels; a cleaning assembly (130), the cleaning assembly (130) being arranged at the bottom of the device body (110), and the cleaning assembly (130) being used to clean a surface to be cleaned; and a control assembly (140), the control assembly (140) being connected to both the wheel assembly (120) and the cleaning assembly (130), and the control assembly (140) being configured to, when the cleaning assembly (130) moves to a target area or approaches the target area, control at least one wheel in the wheel assembly (120) to extend relative to the device body (110), such that the pressure exerted by at least part of the cleaning assembly (130) on said surface increases. The cleaning device (100) can conveniently and effectively perform pressurized cleaning on said surface.

Description

Cleaning equipment, control methods for cleaning equipment, media and electronic equipment

[0001] Cross-reference to related applications

[0002] This disclosure claims priority to Chinese Patent Application No. 202510387904.2, filed on March 28, 2025, entitled "Cleaning Equipment, Control Method for Cleaning Equipment, Media and Electronic Equipment", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of smart homes, and more specifically, to a cleaning device, a method for controlling the cleaning device, a computer-readable storage medium, and an electronic device. Background Technology

[0004] In recent years, with the rapid development of computer technology and artificial intelligence, intelligent device technology has gradually become a research hotspot. Among them, cleaning equipment, as one of the most practical intelligent devices, can automatically complete cleaning tasks with the help of a certain degree of artificial intelligence. Summary of the Invention

[0005] The purpose of this disclosure is to provide a cleaning device, a control method for the cleaning device, a computer-readable storage medium, and an electronic device to address the limitation of existing technologies in improving the cleaning effectiveness of certain special areas without increasing hardware costs. The specific solution is as follows:

[0006] According to a specific embodiment of this disclosure, in a first aspect, this disclosure provides a cleaning device, comprising: a device body; a wheel assembly disposed at the bottom of the device body, the wheel assembly including a plurality of wheels; a cleaning component disposed at the bottom of the device body, the cleaning component being used to clean a surface to be cleaned; and a control component connected to the wheel assembly and the cleaning component, the control component being configured to control at least one wheel of the wheel assembly to extend relative to the device body when the cleaning component moves to or near a target area, thereby increasing the pressure of at least a portion of the cleaning component on the surface to be cleaned.

[0007] Optionally, the wheel extends relative to the device body, which can reduce the pressure of at least other parts of the cleaning components on the surface to be cleaned.

[0008] Optionally, the wheel extends relative to the device body, allowing at least other portions of the cleaning components to disengage from the surface to be cleaned.

[0009] Optionally, the control component is further configured to determine the location of the target area.

[0010] Optionally, the control component includes:

[0011] The sensing module is configured to acquire information about the working environment of the surface to be cleaned;

[0012] A control module, connected to the sensing module, is configured to determine the location of the target area in the surface to be cleaned based on the working environment information; wherein the surface to be cleaned includes the surface to be cleaned for the first time in the current operation and the surface to be cleaned that needs to be cleaned further in the current operation.

[0013] Optionally, the working environment information of the surface to be cleaned includes the degree of dirtiness of the dirty areas of the surface to be cleaned;

[0014] The control module is configured to determine the location of the dirty area as the location of the target area when the degree of dirtiness of the dirty area of ​​the surface to be cleaned is greater than a preset degree of dirtiness.

[0015] Optionally, the control component includes:

[0016] The input module is configured to acquire region indication information from user input.

[0017] A control module, connected to the input module, is configured to determine the location of the target area in the surface to be cleaned based on the area indication information.

[0018] Optionally, the control component is configured to: acquire historical cleaning data of the cleaning equipment, and determine the location of the target area based on the historical cleaning data.

[0019] Optionally, the control component is configured to: determine the location of the target area as the location of the area that has been identified as the target area twice or more, or the location of the area whose cleanliness level is lower than the preset cleanliness level after a preset number of cleanings, based on the historical cleaning data; wherein the preset number of cleanings is greater than or equal to 1.

[0020] Optionally, the control component is configured to: determine a wheel associated with pressurizing the target area; and control the wheel associated with pressurizing and cleaning the target area to extend relative to the device body when the cleaning component moves to or near the target area.

[0021] Optionally, the control component is configured to: determine a wheel related to pressurizing the target area based on the positional relationship between the cleaning component and the target area, or based on the position of the target area and the cleaning path.

[0022] Optionally, the control component is configured to: identify the front wheel as the wheel associated with pressurizing the target area, the front wheel being the wheel among the plurality of wheels located in front of the cleaning component and furthest from the cleaning component in the direction of travel of the cleaning device.

[0023] Optionally, the wheel assembly includes a front wheel and a plurality of rear wheels, wherein the front wheel is the wheel located in front of the cleaning assembly and is the farthest from the cleaning assembly in the forward direction of the cleaning device, and the rear wheels are located behind the front wheel in the forward direction of the cleaning device.

[0024] The control component is configured to identify one of the plurality of rear wheels as the wheel associated with pressurizing the target area.

[0025] Optionally, the control component is configured to control the extension of at least one of the plurality of wheels relative to the device body to adjust the contact position of the cleaning component with the ground.

[0026] Optionally, the control component is configured to control the extension distance of at least one of the plurality of wheels relative to the device body to adjust the contact area of ​​the cleaning component.

[0027] Optionally, the wheel assembly includes a front wheel, a first rear wheel, and a second rear wheel, and the cleaning assembly includes a first cleaning portion near the first rear wheel and a second cleaning portion near the second rear wheel.

[0028] Optionally, the control component is configured to:

[0029] In the cleaning path, when the target area at least partially overlaps with the first cleaning section, and the target area and the second cleaning section do not overlap, the front wheel and the second rear wheel are determined to be wheels related to pressurizing the target area;

[0030] In the cleaning path, when the target area at least partially overlaps with the second cleaning section and the target area does not overlap with the first cleaning section, the front wheel and the first rear wheel are determined to be wheels related to pressurizing the target area.

[0031] Optionally, the first cleaning section and the second cleaning section are different areas of the cleaning component, or the first cleaning section and the second cleaning section are two separate components.

[0032] Optionally, the cleaning component includes a flat mop, a tracked mop, or a roller mop, with the portions of the cleaning component located on both sides of a first axis forming a first cleaning section and a second cleaning section, respectively, where the first axis is the axis of symmetry of the cleaning device parallel to its forward direction; or, the cleaning component includes a first round mop and a second round mop, where the first round mop forms the first cleaning section and the second round mop forms the second cleaning section.

[0033] Optionally, the control component is configured to: determine wheels associated with pressurizing the target area based on the size or area of ​​the target area; and control the wheels associated with pressurizing and cleaning the target area to extend relative to the device body when the cleaning component moves to or near the target area.

[0034] Optionally, the wheel assembly includes a front wheel and a plurality of rear wheels; the control component is configured to: when the area of ​​the target region is greater than a preset area threshold, determine the front wheel as the wheel associated with applying pressure to the target region; when the area of ​​the target region is less than the preset area threshold, determine one of the front wheel and the plurality of rear wheels as the wheel associated with applying pressure to the target region.

[0035] Optionally, the control component is configured to determine the distance by which at least one wheel in the wheel assembly extends relative to the device body, based on the size or area of ​​the target region.

[0036] Optionally, the wheel assembly includes a front wheel and a rear wheel, wherein the front wheel is a swivel wheel and the rear wheel is a drive wheel.

[0037] Secondly, this disclosure provides a control method for a cleaning device, the cleaning device including at least a wheel assembly and a cleaning component, the wheel assembly and the cleaning component being respectively disposed at the bottom of the cleaning device; the method includes: when the cleaning component moves to or near a target area, controlling at least one wheel of the wheel assembly to extend relative to the device body, so as to increase the pressure of at least a portion of the cleaning component on the surface to be cleaned.

[0038] Optionally, the method further includes:

[0039] Determine the location of the target area.

[0040] Optionally, determining the location of the target area includes:

[0041] Obtain information about the working environment of the surface to be cleaned;

[0042] Based on the work environment information, the location of the target area is determined on the surface to be cleaned.

[0043] Optionally, the working environment information of the surface to be cleaned includes the degree of dirtiness of the dirty areas of the surface to be cleaned;

[0044] Determining the location of the target area on the surface to be cleaned based on the work environment information includes:

[0045] When the degree of dirtiness of the dirty area on the surface to be cleaned is greater than the preset degree of dirtiness, the location of the dirty area is determined as the location of the target area.

[0046] Optionally, determining the location of the target area includes:

[0047] Obtain the region indication information input by the user;

[0048] Based on the area indication information, the location of the target area is determined in the surface to be cleaned.

[0049] Optionally, determining the location of the target area includes:

[0050] The historical cleaning data of the cleaning equipment is obtained, and the location of the target area is determined based on the historical cleaning data.

[0051] Optionally, determining the location of the target area based on the historical cleaning data includes:

[0052] Based on the historical cleaning data, the locations that have been identified as target areas two or more times, or the locations whose cleaning level is lower than the preset cleaning level after a preset number of cleaning cycles, are determined as the locations of the target areas; wherein, the preset number of cleaning cycles is greater than or equal to 1.

[0053] Optionally, controlling at least one wheel in the wheel assembly to extend relative to the device body when the cleaning component moves to or near the target area includes:

[0054] Identify the wheel associated with pressurizing the target area;

[0055] When the cleaning component moves to or near the target area, the wheels associated with controlling and pressurizing the target area extend relative to the device body.

[0056] Optionally, determining the wheel associated with pressurizing the target area includes:

[0057] The wheel associated with pressurizing the target area is determined based on the positional relationship between the cleaning component and the target area, or based on the position of the target area and the cleaning path.

[0058] Optionally, determining the wheel associated with pressurizing the target area based on the positional relationship between the cleaning component and the target area includes:

[0059] The front wheel is identified as the wheel associated with pressurizing the target area, and the front wheel is the wheel located in front of the cleaning component and the one furthest from the cleaning component in the direction of travel of the cleaning device.

[0060] Optionally, the wheel assembly includes a front wheel and a plurality of rear wheels, wherein the front wheel is the wheel located in front of the cleaning assembly and is the farthest from the cleaning assembly in the forward direction of the cleaning device, and the rear wheels are located behind the front wheel in the forward direction of the cleaning device.

[0061] Determining the wheels associated with pressurizing the target area based on the positional relationship between the cleaning components and the target area includes:

[0062] One of the plurality of rear wheels is identified as the wheel associated with pressurizing the target area.

[0063] Optionally, the wheel assembly includes a front wheel, a first rear wheel, and a second rear wheel, and the cleaning assembly includes a first cleaning portion near the first rear wheel and a second cleaning portion near the second rear wheel;

[0064] The step of determining the wheel associated with pressurizing the target area based on the location of the target area and the cleaning path includes:

[0065] In the cleaning path, when the target area at least partially overlaps with the first cleaning section, and the target area and the second cleaning section do not overlap, the front wheel and the second rear wheel are determined to be wheels related to pressurizing the target area;

[0066] In the cleaning path, when the target area at least partially overlaps with the second cleaning section and the target area does not overlap with the first cleaning section, the front wheel and the first rear wheel are determined to be wheels related to pressurizing the target area.

[0067] Optionally, controlling at least one wheel in the wheel assembly to extend relative to the device body includes:

[0068] The contact position of the cleaning component can be adjusted by controlling the extension of at least one of the plurality of wheels relative to the device body.

[0069] Optionally, controlling at least one wheel in the wheel assembly to extend relative to the device body includes:

[0070] The contact area of ​​the cleaning component can be adjusted by controlling the extension distance of at least one of the plurality of wheels relative to the device body.

[0071] Optionally, controlling at least one wheel in the wheel assembly to extend relative to the device body when the cleaning component moves to or near the target area includes:

[0072] Based on the size or area of ​​the target region, determine the wheel associated with pressurizing the target region;

[0073] When the cleaning component moves to or near the target area, the wheels related to the control and pressure cleaning of the target area extend relative to the main body of the device.

[0074] Optionally, the wheel assembly includes a front wheel and a plurality of rear wheels;

[0075] The step of determining the wheel related to pressurizing the target area based on the size or area of ​​the target area includes:

[0076] If the area of ​​the target region is greater than a preset area threshold, then the front wheel is identified as the wheel associated with applying pressure to the target region.

[0077] If the area of ​​the target region is less than a preset area threshold, then one of the front wheel and the plurality of rear wheels is identified as the wheel associated with applying pressure to the target region.

[0078] Optionally, the method further includes:

[0079] Control the cleaning component to clean the target area.

[0080] Thirdly, this disclosure provides a control device for a cleaning device, the cleaning device including at least a wheel assembly and a cleaning assembly, the wheel assembly and the cleaning assembly being respectively disposed at the bottom of the cleaning device;

[0081] The device includes:

[0082] A wheel control module is used to control at least one wheel of the wheel assembly to extend relative to the device body when the cleaning assembly moves to or near the target area, so as to increase the pressure of at least part of the cleaning assembly on the surface to be cleaned.

[0083] Optionally, the device further includes:

[0084] The location determination module is used to determine the location of the target area.

[0085] Optionally, the location determination module includes:

[0086] An environmental information acquisition unit is used to acquire the working environment information of the surface to be cleaned.

[0087] The first location determination unit is used to determine the location of the target area in the surface to be cleaned based on the work environment information.

[0088] Optionally, the working environment information of the surface to be cleaned includes the degree of dirtiness of the dirty areas of the surface to be cleaned;

[0089] The first position determination unit includes:

[0090] The dirt level determination subunit is used to determine the location of the dirty area as the location of the target area when the dirt level of the dirty area of ​​the surface to be cleaned is greater than the preset dirt level.

[0091] Optionally, the location determination module includes:

[0092] The instruction information acquisition unit is used to acquire the area instruction information input by the user.

[0093] The second location determination unit is used to determine the location of the target area in the surface to be cleaned based on the area indication information.

[0094] Optionally, the location determination module includes:

[0095] The third location determination unit is used to acquire historical cleaning data of the cleaning equipment and determine the location of the target area based on the historical cleaning data.

[0096] Optionally, the third position determination unit includes:

[0097] The cleanliness determination subunit is used to determine the location of the target area based on the historical cleaning data, including the location that has been identified as the target area twice or more, or the location whose cleanliness level is lower than the preset cleanliness level after a preset number of cleanings; wherein the preset number of cleanings is greater than or equal to 1.

[0098] Optionally, the wheel control module includes:

[0099] A wheel determination unit is used to determine the wheel associated with pressurizing the target area;

[0100] A wheel control unit is used to control the extension of the wheels relative to the device body in relation to pressurized cleaning of the target area when the cleaning assembly moves to or near the target area.

[0101] Optionally, the wheel determining unit includes:

[0102] The first determining subunit is used to determine the wheel related to pressurizing the target area based on the positional relationship between the cleaning component and the target area or based on the position of the target area and the cleaning path.

[0103] Optionally, the first determined subunit includes:

[0104] A front wheel determination subunit is used to determine the front wheel as the wheel associated with pressurizing the target area, wherein the front wheel is the wheel located in front of the cleaning assembly and is the farthest from the cleaning assembly in the direction of travel of the cleaning equipment.

[0105] Optionally, the wheel assembly includes a front wheel and a plurality of rear wheels, wherein the front wheel is the wheel located in front of the cleaning assembly and is the farthest from the cleaning assembly in the forward direction of the cleaning device, and the rear wheels are located behind the front wheel in the forward direction of the cleaning device.

[0106] The first defined subunit includes:

[0107] A rear wheel determination subunit is used to determine one of the plurality of rear wheels as the wheel associated with pressurizing the target area.

[0108] Optionally, the wheel assembly includes a front wheel, a first rear wheel, and a second rear wheel, and the cleaning assembly includes a first cleaning portion near the first rear wheel and a second cleaning portion near the second rear wheel;

[0109] The first determining subunit includes:

[0110] The second determining subunit is used to determine, in the cleaning path, when the target area at least partially overlaps with the first cleaning section and the target area and the second cleaning section do not overlap, the front wheel and the second rear wheel are wheels related to pressurizing the target area;

[0111] The third determining subunit is used to determine, in the cleaning path, when the target area at least partially overlaps with the second cleaning section and the target area does not overlap with the first cleaning section, the front wheel and the first rear wheel are wheels related to pressurizing the target area.

[0112] Optionally, the wheel control module includes:

[0113] A first control unit is configured to control the extension of at least one of the plurality of wheels relative to the device body to adjust the contact position of the cleaning component with the ground.

[0114] Optionally, the wheel control module includes:

[0115] The second control unit is used to control the extension distance of at least one of the plurality of wheels relative to the main body of the device, so as to adjust the contact area of ​​the cleaning component.

[0116] Optionally, the wheel control module includes:

[0117] A third control unit is configured to determine the wheels associated with pressurizing the target area based on the size or area of ​​the target area; and to control the wheels associated with pressurizing and cleaning the target area to extend relative to the main body of the device when the cleaning assembly moves to or near the target area.

[0118] Optionally, the wheel assembly includes a front wheel and a plurality of rear wheels;

[0119] The third control unit includes:

[0120] An area determination subunit is used to determine the front wheel as the wheel related to applying pressure to the target area when the area of ​​the target area is greater than a preset area threshold; and to determine one of the front wheel and the plurality of rear wheels as the wheel related to applying pressure to the target area when the area of ​​the target area is less than the preset area threshold.

[0121] Optionally, the device further includes:

[0122] A cleaning control module is used to control the cleaning components to clean the target area.

[0123] Fourthly, this disclosure provides a cleaning system, including: a base station; and the cleaning equipment as described above.

[0124] Fifthly, this disclosure provides a computer program product, including a computer program that, when executed by a processor, implements the control method for the cleaning equipment described above.

[0125] In a sixth aspect, this disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method for the cleaning equipment described above.

[0126] In a seventh aspect, this disclosure provides an electronic device, including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the method of the cleaning device by executing the executable instructions.

[0127] The exemplary embodiments disclosed herein have the following beneficial effects:

[0128] This disclosure provides a cleaning device, including: a device body; a wheel assembly disposed at the bottom of the device body, the wheel assembly including multiple wheels; a cleaning component disposed at the bottom of the device body, the cleaning component being used to clean a surface to be cleaned; and a control component connected to the wheel assembly and the cleaning component, the control component being configured to control at least one wheel of the wheel assembly to extend relative to the device body when the cleaning component moves to or near a target area, thereby increasing the pressure of at least a portion of the cleaning component on the surface to be cleaned. On one hand, this exemplary embodiment provides a novel control method for a cleaning device. Compared to existing technologies, this exemplary embodiment does not require adding additional hardware counterweights to the cleaning device, and can achieve pressure changes of the cleaning component on the cleaning area with minimal changes to the hardware structure, resulting in lower hardware costs and higher cleaning efficiency. On the other hand, this exemplary embodiment can control at least one wheel of the wheel assembly to extend relative to the device body when the cleaning component moves to or near a target area, thereby increasing the pressure of at least a portion of the cleaning component on the surface to be cleaned, enabling intelligent control of the cleaning device's cleaning operation in a working scenario, saving power consumption while further ensuring cleaning efficiency.

[0129] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0130] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0131] Figure 1 schematically illustrates the structure of a cleaning device in this exemplary embodiment;

[0132] Figure 2 schematically illustrates a scenario in which a tray is configured at the bottom of a cleaning device according to an exemplary embodiment of the present invention;

[0133] Figure 3 schematically illustrates a case of a round mop configured at the bottom of a cleaning device in this exemplary embodiment;

[0134] Figure 4 schematically illustrates a flowchart of a control method for a cleaning device in this exemplary embodiment;

[0135] Figures 5(a) and 5(b) schematically illustrate the lifting of the control wheel of a cleaning device in this exemplary embodiment;

[0136] Figure 6 schematically illustrates a cleaning system in this exemplary embodiment;

[0137] Figure 7 schematically illustrates a module diagram of a control device for a cleaning equipment in this exemplary embodiment;

[0138] Figure 8 schematically illustrates an electronic device for implementing the above method in this exemplary embodiment. Detailed Implementation

[0139] To make the objectives, technical solutions, and advantages of this disclosure clearer, the disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0140] The terminology used in the embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of this disclosure. The singular forms “a,” “the,” and “the” as used in the embodiments of this disclosure and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0141] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0142] It should be understood that although the terms first, second, third, etc., may be used to describe... in the embodiments of this disclosure, these... should not be limited to these terms. These terms are only used to distinguish... For example, first... may also be referred to as second... without departing from the scope of the embodiments of this disclosure, and similarly, second... may also be referred to as first...

[0143] Depending on the context, the words “if” or “suppose” as used here can be interpreted as “when” or “in response to determination” or “in response to detection.” Similarly, depending on the context, the phrases “if determination” or “if detection (of the stated condition or event)” can be interpreted as “when determination” or “in response to determination” or “when detection (of the stated condition or event)” or “in response to detection (of the stated condition or event).”

[0144] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device that includes said element.

[0145] Currently, in order to increase the cleaning power of cleaning equipment in some special areas, it is often necessary to make additional hardware configurations to the cleaning equipment, such as adding extra weight to cleaning components such as mops or mop pads. This not only increases the hardware cost of the cleaning equipment, but also generates additional power consumption due to increased resistance, affecting the battery life of the cleaning equipment.

[0146] Based on this, the present disclosure provides a cleaning device through exemplary embodiments. FIG1 schematically illustrates a cleaning device 100 in the present exemplary embodiment, which includes:

[0147] Equipment body 110;

[0148] Wheel assembly 120, the wheel assembly is located at the bottom of the main body of the equipment, and the wheel assembly includes multiple wheels;

[0149] Cleaning component 130, the cleaning component is located at the bottom of the main body of the equipment, and the cleaning component is used to clean the surface to be cleaned;

[0150] A control assembly 140 is connected to the wheel assembly and the cleaning assembly respectively. The control assembly is configured to extend at least one wheel in the wheel assembly relative to the main body of the device when the cleaning assembly moves to or near the target area, so as to increase the pressure of at least part of the cleaning assembly on the surface to be cleaned.

[0151] The main body 110 is the casing of the cleaning equipment, and it can take various shapes depending on actual needs, such as cylindrical or polygonal. The height of the main body can also be set in various ways. The internal components of the main body may include various electronic components, batteries, and drive devices, ensuring stable operation of the equipment. Users can interact with the terminal device to configure or control the cleaning equipment.

[0152] The wheel assembly 120 is located at the bottom of the device body 110. The wheel assembly 120 may include multiple wheels with different functions, such as front wheels / casters, rear wheels / drive wheels, etc. The number of wheels can also vary, for example, it may be one front wheel and two rear wheels, or two front wheels and two rear wheels, etc. This disclosure does not specifically limit this. The wheel assembly may include a drive unit to lift the body of the device body when the wheels extend. In an exemplary embodiment, the front wheel may be a caster for changing the direction of movement of the device body 110, and the rear wheel may be a drive wheel for providing movement power to the device body 110.

[0153] The wheel assembly 120 may further include a lifting drive component, which connects the wheels and the equipment body. The lifting drive component is used to drive the lifting of at least one of the multiple wheels. For example, the lifting drive component may include a motor and a transmission mechanism (connecting rod, gear rack, lead screw nut, etc.). The lifting drive component may include a front wheel drive component and a rear wheel drive component, with the front wheel drive component connected to the front wheel and the rear wheel drive component connected to the rear wheel.

[0154] The cleaning component 130 is located at the bottom of the main body 110 of the device. It may include one or more cleaning parts. The cleaning parts may include various materials, such as mops, brushes, etc. The cleaning parts may also include various shapes, such as flat mops, roller mops, round mops, etc. The cleaning component 130 can be moved by the cleaning equipment to effectively remove dust, stains, etc. on the ground.

[0155] The equipment body has a first area and a second area at its bottom. Along the forward direction of the cleaning equipment, the first area is located in front of the second area. The front wheel is located in the first area, while the cleaning components and the rear wheel are located in the second area. Within the second area, the cleaning components are at least partially located behind the rear wheel.

[0156] The control component 140 is the core part that enables the cleaning function of the cleaning equipment. It can have a built-in processor or microprocessor to receive and process the sensor data of the cleaning equipment acquired in real time by the sensors, or to generate and send control commands for the cleaning equipment, such as determining the movement of the cleaning equipment or controlling the mode switching of the cleaning equipment.

[0157] In this exemplary embodiment, when the cleaning component 130 moves to or near a target area, such as a heavily soiled area in the kitchen or a stain on a living room carpet, the sensor transmits the detected information to the control component 140. After analysis and judgment, the control component 140 sends a command to the wheel assembly 120 to extend at least one of its wheels. Extending at least one wheel relative to the main body of the device can switch the cleaning device from a non-pressurized cleaning state to a pressurized cleaning state. In the non-pressurized state, the front and rear wheels of the cleaning device evenly support the device, and the pressure of the cleaning component on the ground is P1. In the pressurized state, for example, by extending the front roller, the center of gravity of the device shifts backward, and the pressure of the cleaning component on the ground increases to P2, where P2 > P1. Under the increased pressure, the cleaning component 130 can make deeper contact with the stains on the ground, effectively removing stubborn stains. Simultaneously, the control component 140 can dynamically adjust parameters such as the cleaning force of the cleaning component, the amount of cleaning liquid sprayed, and the moving speed of the wheel assembly according to the different characteristics of the target area to achieve efficient and precise cleaning operations.

[0158] Based on the above description, on the one hand, this exemplary embodiment provides a new control method for a cleaning device. Compared with the prior art, this exemplary embodiment does not require adding additional hardware counterweights to the cleaning device. With minimal changes to the hardware structure, it can achieve pressure changes of the cleaning components on the cleaning area, resulting in lower hardware costs and higher cleaning efficiency. On the other hand, this exemplary embodiment can control at least one wheel in the control wheel assembly to extend relative to the device body when the cleaning component moves to or near the target area, thereby increasing the pressure of at least part of the cleaning component on the surface to be cleaned. This enables intelligent control of the cleaning work of the cleaning device in the working scenario, saving power consumption while further ensuring cleaning efficiency.

[0159] In one exemplary embodiment, the wheel extends relative to the device body, which reduces the pressure exerted on the surface to be cleaned by at least other portions of the cleaning components.

[0160] In a cleaning device, when at least one wheel extends relative to the main body of the device, the pressure of at least some cleaning components on the surface to be cleaned increases, while correspondingly, the pressure of other at least some parts of the cleaning components on the surface to be cleaned decreases. For example, when the rear end of the cleaning device includes two cleaning sections, left and right rear, these two cleaning sections are close to the rear wheel in the left rear area and the rear wheel in the right rear area, respectively. When the rear wheel in the left rear area extends relative to the main body of the device, the cleaning device in the left rear area can be relatively raised, and the pressure will be concentrated in the right rear area. Then, the pressure of the cleaning section in the right rear area on the surface to be cleaned will increase, and correspondingly, the pressure of the cleaning section in the left rear area on the surface to be cleaned will decrease.

[0161] In one exemplary embodiment, the wheel extends relative to the device body, enabling at least other portions of the cleaning components to disengage from the surface to be cleaned.

[0162] In some cases, since at least one wheel in the wheel assembly extends relative to the main body of the device, different areas may have different contact states with the surface to be cleaned. For example, when the rear end of the cleaning device includes two cleaning sections, left and right rear, these two cleaning sections are close to the rear wheels of the left and right rear areas, respectively. When the rear wheel of the left rear area extends relative to the main body of the device, it can raise the cleaning device in the left rear area relatively, and the pressure will be concentrated in the right rear area. This may result in the cleaning section in the right rear area making more full contact with the surface to be cleaned, while the cleaning section in the left rear area loses contact with the surface to be cleaned, appearing to "lift up" away from the surface to be cleaned.

[0163] In one exemplary embodiment, the control component is further configured to determine the location of the target area.

[0164] The target area refers to the area that needs to be cleaned using the second cleaning mode. This area can be user-specified, system-determined, or meet specific conditions, such as areas with excessive stains or areas requiring multiple cleaning cycles. The cleaning equipment can first determine the location of the target area within the working environment. This can be done by using sensor data collected from sensors configured in the terminal device, or by using user interaction information.

[0165] In one exemplary embodiment, the control component includes:

[0166] The sensing module is configured to acquire information about the working environment of the surface to be cleaned;

[0167] The control module, connected to the sensing module, is configured to determine the location of the target area on the surface to be cleaned based on the working environment information; the surface to be cleaned includes the surface to be cleaned for the first time in the current operation and the surface to be cleaned that needs to be cleaned further in the current operation.

[0168] The surface to be cleaned can be the surface of the work environment, such as the floor of a building area. The work environment information can be information about the surface to be cleaned. The sensing module can be a component configured within the control assembly for collecting work environment information; for example, it can include image sensors, infrared sensors, cliff sensors, height sensors, or distance sensors. Work environment information can be determined through the sensing data collected by the sensing module. For instance, image data can be collected by an image sensor, and the work environment information can be determined by analyzing the image data; alternatively, sensing data can be collected by an infrared sensor, a distance sensor, or a material detection device, and the work environment information can be determined based on the corresponding sensing data.

[0169] In one exemplary embodiment, the working environment information of the surface to be cleaned includes the degree of dirtiness of the dirty areas of the surface to be cleaned;

[0170] The control module is configured to determine the location of the dirty area as the target area when the degree of dirtiness of the dirty area on the surface to be cleaned is greater than the preset degree of dirtiness.

[0171] In this context, a dirty area refers to an area containing specific cleanable substances, such as oil stains or pet-related dirt. This exemplary embodiment uses a combination of one or more sensing devices to acquire the degree of dirtiness of the dirty area on the surface to be cleaned. When the degree of dirtiness of a dirty area is greater than a preset degree of dirtiness, it indicates that the stains in that area are difficult to clean easily and can be identified as a stubborn stain area. Then, this stubborn stain area is designated as the target area. Upon identification of the target area, the actual coordinates of the target area in the working environment can be determined based on a cleaning map or similar means.

[0172] Understandably, in some cases, stubborn stains, while difficult to remove, are not readily apparent through their color or other external characteristics. For example, sugar stuck to the floor may appear almost transparent, making it difficult for cleaning equipment's stain detection devices to identify such stains. Cleaning equipment can use experience to designate easily soiled areas as target zones; for instance, the kitchen and dining room can be identified as target areas.

[0173] In one exemplary embodiment, the control component includes:

[0174] The input module is configured to acquire region indication information from user input.

[0175] The control module, connected to the input module, is configured to determine the location of the target area on the surface to be cleaned based on area indication information.

[0176] The input module can be one or more input devices, including a screen, keyboard, microphone, etc. The cleaning device can obtain the area indication information input by the user through the input module. For example, the user can directly input text or voice information about the area indication into the cleaning device. Alternatively, the input module can also be a receiving device such as an antenna on the cleaning device. It can also first input the area indication information to the terminal device, and then the terminal device forwards it to the input module of the cleaning device so that the cleaning device can obtain the area indication information.

[0177] Area indication information refers to information used to select or determine a target area. This can be user-input location information, such as coordinates or a general coordinate range, or user-input bounding box information, such as the user selecting a target area on the current cleaning equipment's working map. Based on the area indication information, this exemplary embodiment can determine the location of the target area on the surface to be cleaned, enabling users to personalize the area for the second cleaning mode (pressurized cleaning).

[0178] In one exemplary embodiment, the control component is configured to: acquire historical cleaning data of the cleaning equipment and determine the location of the target area based on the historical cleaning data.

[0179] Historical cleaning data can be the most recent cleaning data. For example, if it was found that the area was not cleaned properly after the last cleaning, the uncleaned area can be used as the target area based on the historical cleaning data. Historical cleaning data can also be data from multiple cleaning sessions. For example, if it is found that the area was not cleaned properly after multiple cleaning sessions, or if a certain area needs to be cleaned multiple times, that area can be used as the target area. Alternatively, if historical cleaning data shows that a certain key area needs to be cleaned repeatedly or at high frequency, that key area can be used as the target area, and so on.

[0180] In one exemplary embodiment, the control component is configured to: determine the location of the target area based on historical cleaning data, the location of the area that has been identified as the target area twice or more, or the location of the area whose cleaning level is lower than the preset cleaning level after a preset number of cleanings; wherein the preset number of cleanings is greater than or equal to 1.

[0181] In this exemplary embodiment, historical cleaning data may include multiple cleaning data. The cleaning device can acquire multiple historical cleaning data for analysis and comparison. If it is found that there is a location that has been identified as a target area two or more times, or if there is a location whose cleaning level is still lower than the preset cleaning level after a preset number of cleaning cycles, then the area can be regarded as a stubborn stain area and its location can be determined as the location of the target area.

[0182] In one exemplary embodiment, the control component is configured to:

[0183] Identify the wheels associated with pressurizing the target area;

[0184] When the cleaning components move to or near the target area, the control and target area pressurization cleaning related wheels extend relative to the main body of the equipment.

[0185] This exemplary embodiment can determine the wheel related to pressurizing the target area, wherein the wheel related to pressurizing the target area refers to the wheel that needs to be controlled to be lifted when pressurizing the target area for cleaning. When the cleaning component moves to or near the target area, the wheel related to pressurizing and cleaning the target area extends relative to the main body of the device.

[0186] In an exemplary embodiment, the control component described above is configured to: determine a wheel related to pressurizing the target area based on the positional relationship between the cleaning component and the target area or based on the position of the target area and the cleaning path.

[0187] Based on the positional relationship between the cleaning components and the target area, determine the wheels associated with pressurizing the target area. For example, when the cleaning components are located at the rear of the cleaning equipment, between the two rear wheels, the front wheels can be used as the wheels associated with pressurizing the target area. Lifting the front wheels increases the pressure of the cleaning components at the rear on the ground. When the cleaning components are located on both sides of the rear of the cleaning equipment and are close to the two rear wheels, the front wheels and one of the rear wheels can be used as the wheels associated with pressurizing the target area. By controlling the extension of the wheel, the pressure of the cleaning components near the other rear wheel on the ground can be increased.

[0188] In this exemplary embodiment, the cleaning device can intelligently determine the wheels associated with pressurizing the target area based on the location of the target area and the cleaning path, thereby controlling the extension of the wheels. For example, if it is determined that the target area is closer to the cleaning part near the right rear wheel on the cleaning path, or that the cleaning part near the right rear wheel can clean the target area better, the front wheel and the left rear wheel can be determined as the wheels associated with pressurizing the target area. When the cleaning component moves to or near the target area, the front wheel and the left rear wheel are controlled to extend to increase the pressure of the cleaning component on the ground at the right rear wheel, thereby providing better pressurized cleaning of the target area.

[0189] In one exemplary embodiment, the control component described above is configured to: identify the front wheel as the wheel associated with pressurizing the target area, wherein the front wheel is the wheel located in front of the cleaning component and is the wheel furthest from the cleaning component in the direction of travel of the cleaning device.

[0190] In this exemplary embodiment, the determination of the wheel associated with pressurizing the target area based on the positions of the multiple wheels and the cleaning component can be configured such that: the front wheel is determined as the wheel associated with pressurizing the target area, and the front wheel is the wheel located in front of the cleaning component and furthest from the cleaning component in the forward direction of the cleaning device. For example, a front wheel is provided at the front of the bottom of the cleaning device, two rear wheels are provided at the rear, and the cleaning component is provided. Extending the front wheel can raise the head of the cleaning device and lower the tail, thereby increasing the pressure of the cleaning component at the tail on the ground.

[0191] In one exemplary embodiment, the wheel assembly includes a front wheel and a plurality of rear wheels. The front wheel is the wheel located in front of the cleaning assembly and is the one furthest from the cleaning assembly in the direction of travel of the cleaning device. The rear wheels are located behind the front wheel in the direction of travel of the cleaning device.

[0192] The aforementioned control components are configured to identify one of the multiple rear wheels as the wheel associated with pressurizing the target area.

[0193] In one scenario, one of the multiple rear wheels can be designated as the wheel associated with pressurizing the target area. For example, a cleaning device may have one front wheel and two rear wheels. The left rear wheel can be controlled to extend relative to the main body of the device, or the right rear wheel can be controlled to extend relative to the main body of the device. The specific control method will depend on the actual situation.

[0194] In one exemplary embodiment, the control component is configured to control the extension of at least one of the plurality of wheels relative to the device body to adjust the contact position of the cleaning component with the ground.

[0195] In this exemplary embodiment, the extension of the control wheel relative to the main body of the device can affect the contact position of the cleaning component. For example, when the right rear wheel extends, the right rear of the cleaning device will be raised, and the contact position of the left rear cleaning part can be controlled. When the left rear wheel extends, the left rear of the cleaning device will be raised, and the contact position of the right rear cleaning part can be controlled.

[0196] In one exemplary embodiment, the control component is configured to control the extension distance of at least one of the plurality of wheels relative to the device body to adjust the contact area of ​​the cleaning component.

[0197] In this exemplary embodiment, the distance the wheel extends can be adjusted, and different extension distances can correspond to different states. For example, when the extension distance is large, the lifting height of the cleaning device is high, and the contact area of ​​the pressurized cleaning component with the ground will also be large. When the extension distance is small, the lifting height of the cleaning device is low, and the contact area of ​​the pressurized cleaning component with the ground will also be small.

[0198] In one exemplary embodiment, the wheel assembly includes a front wheel, a first rear wheel, and a second rear wheel, and the cleaning assembly includes a first cleaning portion near the first rear wheel and a second cleaning portion near the second rear wheel;

[0199] The aforementioned control components are configured as follows:

[0200] In the cleaning path, when the target area at least partially overlaps with the first cleaning section, and the target area and the second cleaning section do not overlap, the front wheel and the second rear wheel are identified as wheels related to pressurizing the target area.

[0201] In the cleaning path, when the target area at least partially overlaps with the second cleaning section, and the target area and the first cleaning section do not overlap, the front wheel and the first rear wheel are identified as wheels related to pressurizing the target area.

[0202] In this exemplary embodiment, the method of determining the wheels associated with pressurizing the target area based on the location of the target area and the cleaning path can be configured such that, in the cleaning path, when the target area at least partially overlaps with the first cleaning section and the target area and the second cleaning section do not overlap, the front wheel and the second rear wheel are determined to be wheels associated with pressurizing the target area; and in the cleaning path, when the target area at least partially overlaps with the second cleaning section and the target area and the first cleaning section do not overlap, the front wheel and the first rear wheel are determined to be wheels associated with pressurizing the target area. For example, when the target area at least partially overlaps with the right rear round drag area and the target area does not overlap with the left rear round drag area, the front wheel and the left rear wheel can be determined to be wheels associated with pressurizing the target area; when the target area at least partially overlaps with the left rear round drag area and the target area does not overlap with the right rear round drag area, the front wheel and the right rear wheel can be determined to be wheels associated with pressurizing the target area.

[0203] In an exemplary embodiment, the first cleaning part and the second cleaning part are different areas of the cleaning component, or the first cleaning part and the second cleaning part are two separate components.

[0204] For example, when the cleaning component is a plate mop, the first cleaning part and the second cleaning part can be the left and right areas divided by the central axis. When the cleaning component is a round mop, the first cleaning part and the second cleaning part can be two independent cleaning components configured at the bottom of the cleaning device.

[0205] As shown in Figure 2, Figure 2 illustrates a schematic diagram of a mop configured at the bottom of a cleaning device. 210 is the mop area, and the left side 211 and right side 212 of area 210 can be regarded as the first cleaning part and the second cleaning part of the mop, respectively. As shown in Figure 3, Figure 3 illustrates a schematic diagram of a round mop configured at the bottom of a cleaning device. Round mops 310 and 320 can be regarded as the first cleaning part and the second cleaning part.

[0206] In one exemplary embodiment, the cleaning assembly includes a flat mop, a tracked mop, or a roller mop, with portions of the cleaning assembly located on either side of a first axis forming a first cleaning section and a second cleaning section, respectively. The first axis is an axis of symmetry of the cleaning device parallel to its forward direction. Alternatively, the cleaning assembly includes a first round mop and a second round mop, with the first round mop forming the first cleaning section and the second round mop forming the second cleaning section.

[0207] In one exemplary embodiment, the control component is configured to:

[0208] Determine the wheels associated with pressurizing the target area based on the size or area of ​​the target area;

[0209] As the cleaning components move to or near the target area, the control and target area pressurization cleaning related wheels extend relative to the main body of the equipment.

[0210] In this exemplary embodiment, the second cleaning mode can determine the extension of the wheels based on the specific wheels in the wheel assembly. For example, only the front wheel can be extended, or the front wheel plus the rear wheel on either side can be extended. This exemplary embodiment can determine the wheels related to pressurizing the target area based on the size or area of ​​the target area, such as different aspect ratios or different sizes of areas. When the cleaning assembly moves to or near the target area, the wheels related to pressurizing and cleaning the target area are controlled to extend.

[0211] In one exemplary embodiment, the wheel assembly includes a front wheel and a plurality of rear wheels; the control component described above is configured to:

[0212] If the area of ​​the target region is greater than the preset area threshold, the front wheel will be identified as the wheel associated with applying pressure to the target region.

[0213] If the area of ​​the target region is smaller than a preset area threshold, then one of the front wheels and multiple rear wheels will be identified as the wheel associated with applying pressure to the target region.

[0214] In this exemplary embodiment, the determination of the wheel associated with pressurizing the target area based on the area of ​​the target area can be configured as follows: when the area of ​​the target area is greater than a preset area threshold, the front wheel is determined as the wheel associated with pressurizing the target area; when the area of ​​the target area is less than the preset area threshold, one of the front wheel and a plurality of rear wheels is determined as the wheel associated with pressurizing the target area. Specifically, when the area of ​​the target area is greater than the preset area threshold, it indicates that the current target area is large and requires a larger area cleaning component for cleaning. In this case, during the cleaning process, the front wheel can be determined as the wheel associated with pressurizing the target area, concentrating the pressure at the rear end of the cleaning device. When the area of ​​the target area is less than the preset area threshold, it indicates that the current target area is small, and more precise cleaning can be performed by pressurizing a local cleaning component. In this case, one of the front wheel and a plurality of rear wheels can be determined as the wheel associated with pressurizing the target area.

[0215] In one exemplary embodiment, the control component described above is configured to determine, based on the size or area of ​​the target region, the distance at which at least one wheel in the wheel assembly extends relative to the device body.

[0216] In this exemplary embodiment, the size or area of ​​the target region can be related to the distance the wheel extends. For example, different mapping relationships between different sizes or areas and the extension distance can be preset. When determining the size or area of ​​the target region, the extension distance can be queried accordingly. For example, the larger the area, the greater the extension distance can be.

[0217] This disclosure also provides a control method for a cleaning device, applicable to a cleaning robot. The cleaning device includes at least a wheel assembly and a cleaning component. The wheel assembly can be a walking wheel for controlling the movement of the cleaning device. The wheel assembly can include multiple wheels, such as front wheels, rear wheels, or omnidirectional wheels, drive wheels, etc. The number of wheels can be configured according to actual needs. The cleaning component refers to a component for performing cleaning tasks, such as a side brush, a main brush, a mop, such as a flat mop or a round mop, etc. The cleaning device can implement the above-described control method through hardware and / or software. Referring to FIG4, a flowchart of the control method for the cleaning device provided by this disclosure is shown. The method may include the following step S410:

[0218] In step S410, when the cleaning component moves to or near the target area, at least one wheel in the control wheel assembly extends relative to the device body to increase the pressure of at least a portion of the cleaning component on the surface to be cleaned.

[0219] The cleaning components are integrated into the cleaning equipment. For example, cleaning components such as side brushes, main brushes, and mops can be installed at the bottom of the equipment. When the cleaning equipment is moved, the cleaning components can also be moved accordingly. For instance, if the cleaning components are positioned at the rear of the equipment's bottom, the equipment can move forward while simultaneously cleaning the areas it passes through using the cleaning components in the rear area. The target area refers to a specific area within the work environment. This could be a user-specified or system-specified area, or it could be the area containing a specific object to be cleaned, such as heavily soiled areas or other stubborn stains.

[0220] In this exemplary embodiment, controlling at least one wheel in the wheel assembly to extend relative to the main body of the device refers to controlling the lifting of the cleaning device body or chassis by performing a wheel extension operation. For example, as shown in FIG5(a), when the wheel assembly of the cleaning device 500 includes a front wheel 510 and a rear wheel 520, extending the front wheel 510 can present the state shown in FIG5(b), with the cleaning component 530 pressing down to increase the pressure on the ground. This exemplary embodiment can control at least one wheel in the wheel assembly to extend relative to the main body of the device. For example, when the front wheel extends, the cleaning device can be tilted towards the rear; when the front wheel and one rear wheel extend, the cleaning device can be tilted towards the side of the unlifted rear wheel. Which wheel extends specifically can be determined based on the cleaning component and the wheel position components, or it can be determined in combination with other factors. In this exemplary embodiment, controlling the wheel extension of the cleaning device can be achieved by configuring a drive device in the wheel to lift the main body of the cleaning device.

[0221] When the wheels are not extended, the pressure of each area of ​​the cleaning equipment on the ground can be the same or similar. For example, the distance between the lower surface of each position of the cleaning equipment and the ground can be the same or remain unchanged. When the wheels are extended, the pressure of at least some cleaning components on the surface to be cleaned increases compared to when they are not extended. In the second cleaning mode, the cleaning equipment can change the pressure of the cleaning equipment itself on the ground by extending one less wheel in the wheel assembly. For example, as shown in Figure 5(a), when the wheel assembly of the cleaning equipment 500 includes a front wheel 510 and a rear wheel 520, extending the front wheel 510, as shown in Figure 5(b), can make the front of the cleaning equipment body higher than the rear, and the rear of the cleaning equipment lower. In this way, part of the weight of the body can be transferred to the cleaning component 530 located at the rear of the cleaning equipment, thereby increasing the pressure of the cleaning component when cleaning the ground. When the wheel assembly of the cleaning equipment includes a front wheel and two rear wheels, the front wheel and one of the rear wheels can also be extended as needed. In this way, part of the weight of the body can be transferred to the side of the rear wheel that is not raised, thereby increasing the pressure of the cleaning component on the ground on the side of the rear wheel that is not raised.

[0222] It is understandable that, in some embodiments, the pressure exerted on the ground by different parts of the cleaning component can be the same during pressurized cleaning. For example, a floating structure can be provided on the cleaning component, which allows the cleaning component to remain in contact with the ground when the main body of the device is raised, and to transfer pressure to the cleaning component, thereby increasing the cleaning pressure.

[0223] In this exemplary embodiment, pressurized cleaning or non-pressurized cleaning can be switched by user operation. For example, the user can perform interactive operations on the terminal device to determine the current cleaning mode or switch the cleaning mode. Alternatively, the system can determine or intelligently switch the mode itself, such as switching to pressurized state when it is recognized that the current scene is suitable for increased cleaning.

[0224] In this exemplary embodiment, when the cleaning component moves to the target area, such as entering the target area or approaching the target area, such as when the distance from the target area is less than a preset distance or when it enters a preset range around the target area, the target area can be cleaned by the cleaning component. For example, the cleaning component is located at the bottom rear side of the cleaning device. The cleaning device can extend its front wheels to raise the front side of the body and lower the rear of the body, increasing the pressure of the rear cleaning component on the ground. In this state, the target area is cleaned.

[0225] Based on the above description, in this exemplary embodiment, when the cleaning component moves to or nears the target area, at least one wheel in the control wheel assembly extends relative to the device body, thereby increasing the pressure of at least a portion of the cleaning component on the surface to be cleaned. On one hand, this exemplary embodiment provides a novel control method for a cleaning device. Compared to existing technologies, this exemplary embodiment does not require additional hardware counterweights in the cleaning device. With minimal changes to the hardware structure, it can achieve pressure variations of the cleaning component on the cleaning area, resulting in lower hardware costs and higher cleaning efficiency. On the other hand, this exemplary embodiment allows at least one wheel in the control wheel assembly to extend relative to the device body when the cleaning component moves to or near the target area, increasing the pressure of at least a portion of the cleaning component on the surface to be cleaned. This enables intelligent control of the cleaning device's cleaning operation in a work scenario, saving power while further ensuring cleaning efficiency.

[0226] In one exemplary embodiment, the control of the above-described cleaning equipment may further include:

[0227] Determine the location of the target area.

[0228] In this exemplary embodiment, the target area refers to the area that needs to be cleaned using the second cleaning mode. It can be an area specified by the user, an area determined by the system, or an area that meets specific conditions, such as an area with excessive stain residue or an area requiring multiple cleaning cycles to be cleaned. The cleaning device can first determine the location of the target area in the working environment, specifically by using sensor data collected by sensors configured in the terminal device, or by determining it based on user interaction information, etc.

[0229] In an exemplary embodiment, determining the location of the target area may include:

[0230] Obtain information about the working environment of the surface to be cleaned;

[0231] Based on the work environment information, determine the location of the target area on the surface to be cleaned.

[0232] The surface to be cleaned can be any surface in the work environment, such as the floor of a building. The work environment information can include details about the surface, such as its material characteristics (e.g., tile flooring or tile flooring covered in oil or other liquids); the characteristics of objects adhering to the surface (e.g., oil stains, pet-related stains); or the degree of dirtiness in the dirty area. Work environment information can be determined by sensor data collected by sensors installed in the cleaning equipment. For example, image sensors can collect image data, which can then be analyzed to determine the work environment information; alternatively, infrared sensors, distance sensors, or material detection devices can collect sensor data, and the work environment information can be determined based on the corresponding sensor data.

[0233] This exemplary embodiment can determine the location of the target area on the surface to be cleaned based on the working environment information. For example, it can first collect sensing data through a sensing device, and then determine the working environment information of the surface to be cleaned based on the sensing data, such as whether there are oil stains, foreign objects, etc. on the ground of the working area, and if so, their corresponding locations. Furthermore, the location of the target area can be determined based on the working environment information. For example, the location of the oil stains, foreign objects, etc. can be determined as the location of the target area, or the area within a preset range can be taken as the location of the target area, etc., with the location of the oil stains, foreign objects, etc. as the center.

[0234] In one exemplary embodiment, the working environment information of the surface to be cleaned includes the degree of dirtiness of the dirty areas of the surface to be cleaned;

[0235] Based on the work environment information, determine the location of the target area on the surface to be cleaned, including:

[0236] When the degree of dirtiness of the dirty area on the surface to be cleaned is greater than the preset degree of dirtiness, the location of the dirty area is determined as the location of the target area.

[0237] Here, a dirty area refers to an area containing specific cleanable substances, such as oil stains or pet-related dirt. This exemplary embodiment can obtain the degree of dirtiness of the dirty area of ​​the surface to be cleaned through a combination of one or more sensing devices. For example, the dirty area can be detected first by an image sensor or an infrared sensor, and then the degree of dirtiness can be determined by further analysis of the dirty area. For example, the image of the dirty area can be compared with the image of the non-dirty area to determine the percentage of dirtiness, or historical cleaning data of the dirty area can be extracted and the current degree of dirtiness can be determined based on the historical cleaning data. When the degree of dirtiness of the dirty area is greater than the preset degree of dirtiness, it means that the stains in the area are difficult to clean easily and can be identified as a stubborn stain area. Then, the stubborn stain area is used as the target area.

[0238] In an exemplary embodiment, determining the location of the target area may include:

[0239] Obtain the region indication information input by the user;

[0240] Based on the area indication information, determine the location of the target area on the surface to be cleaned.

[0241] The area indication information refers to information used to select or determine a target area. This information can be user-input location information, such as coordinates or a general coordinate range, or user-input bounding box information, such as the user selecting a target area on the current cleaning equipment's working map. Based on the area indication information, this exemplary embodiment can determine the location of the target area on the surface to be cleaned.

[0242] In an exemplary embodiment, determining the location of the target area may include:

[0243] Acquire historical cleaning data from the cleaning equipment and determine the location of the target area based on the historical cleaning data.

[0244] Considering that in this exemplary embodiment, the target area needs to be cleaned using the second cleaning mode, which may be an area that is difficult to clean completely with conventional cleaning, this exemplary embodiment can determine the location of the target area by means of historical cleaning data. The historical cleaning data can be the most recent cleaning data; for example, if it was found that the area was not cleaned properly after the last cleaning, the uncleaned area can be used as the target area based on the previous historical cleaning data. The historical cleaning data can also be multiple historical cleaning data sets; for example, if it is found that multiple cleanings have failed to clean the area properly, or if a certain area requires multiple cleanings, that area can be used as the target area. Alternatively, if the historical cleaning data reveals that a particular area requires repeated or high-frequency cleaning, that particular area can be used as the target area, and so on.

[0245] In an exemplary embodiment, determining the location of the target area based on historical cleaning data may include:

[0246] Based on historical cleaning data, the locations that have been identified as target areas twice or more, or the locations whose cleanliness level is lower than the preset cleanliness level after a preset number of cleaning cycles, are determined as target areas; wherein, the preset number of cleaning cycles is greater than or equal to 1.

[0247] In this exemplary embodiment, historical cleaning data may include multiple cleaning data points. The cleaning device can acquire and analyze multiple historical cleaning data points. If it finds that a location has been identified as the target area two or more times, or if a certain area remains below the preset cleaning level after a preset number of cleaning cycles (greater than or equal to 1), then that area can be considered a stubborn stain area, and its location can be determined as the target area. The cleaning level can be determined by comparing images captured by an image sensor with images from the cleaning state, or it can be determined based on the number of cleaning cycles or the degree of dirtiness of the cleaning components. For example, if a certain area still requires self-cleaning after being cleaned multiple times, it indicates that the stains in that area are difficult to clean.

[0248] In one exemplary embodiment, the aforementioned extension of at least one wheel in the control wheel assembly relative to the device body when the cleaning component moves to or near the target area may include:

[0249] Based on the location of multiple wheels and cleaning components, determine the wheels associated with pressurizing the target area;

[0250] When the cleaning components move to or near the target area, the control and target area pressurization cleaning related wheels extend relative to the main body of the equipment.

[0251] In cleaning equipment, the wheel assembly and cleaning components have a specific positional relationship. For example, when the wheel assembly includes front and rear wheels, the front wheel can be positioned at the front end of the bottom of the cleaning equipment, and the rear wheel can be positioned at the rear end. Multiple rear wheels can be included; when there are two rear wheels, they can be positioned on either side of the rear end of the bottom of the cleaning equipment, and the line connecting the front wheel and the two rear wheels can be a triangle. The cleaning components can be positioned at the rear of the cleaning equipment or on either side of the rear end. For example, when the cleaning component is a flat mop, it can be positioned near the middle of the two rear wheels, close to the rear end of the cleaning equipment; when the cleaning component consists of two round mops, they can be positioned at the rear of the cleaning equipment, respectively, close to the two rear wheels, and so on.

[0252] This exemplary embodiment can determine the wheels related to pressurizing the target area based on the positions of the wheels and the cleaning components. The wheels related to pressurizing the target area refer to the wheels that need to be lifted when pressurizing the target area. For example, when the cleaning component is located at the rear of the cleaning device, between the two rear wheels, the front wheel can be used as the wheel related to pressurizing the target area, and the front wheel can be lifted to increase the pressure of the cleaning component at the rear on the ground. When the cleaning component is located on both sides of the rear of the cleaning device and is close to the two rear wheels respectively, the front wheel and one of the rear wheels can be used as the wheels related to pressurizing the target area. By controlling the wheel to extend, the pressure of the cleaning component near the other rear wheel on the ground can be increased, and so on.

[0253] In one exemplary embodiment, the wheel described above for determining the relationship with pressurizing the target area may include:

[0254] The wheels associated with pressurizing the target area are determined based on the positional relationship between the cleaning components and the target area, or based on the location of the target area and the cleaning path.

[0255] Based on the positional relationship between the cleaning components and the target area, determine the wheels associated with pressurizing the target area. For example, when the cleaning components are located at the rear of the cleaning equipment, between the two rear wheels, the front wheels can be used as the wheels associated with pressurizing the target area. Lifting the front wheels increases the pressure of the cleaning components at the rear on the ground. When the cleaning components are located on both sides of the rear of the cleaning equipment and are close to the two rear wheels, the front wheels and one of the rear wheels can be used as the wheels associated with pressurizing the target area. By controlling the extension of the wheel, the pressure of the cleaning components near the other rear wheel on the ground can be increased.

[0256] The cleaning path refers to the expected travel path of the cleaning equipment in the working environment. The cleaning equipment can move within the working environment according to the cleaning path to clean it. In this exemplary embodiment, the cleaning equipment can intelligently determine the wheels associated with pressurizing the target area based on the location of the target area and the cleaning path, thereby controlling the extension of the wheels. For example, if it is determined that the target area is closer to the cleaning unit near the right rear wheel on the cleaning path, or that the cleaning unit near the right rear wheel can clean the target area better, the front wheel and the left rear wheel can be determined as the wheels associated with pressurizing the target area. When the cleaning component moves to or near the target area, the front wheel and the left rear wheel are controlled to extend to increase the pressure of the cleaning component on the ground near the right rear wheel, thereby providing better pressurized cleaning of the target area.

[0257] In an exemplary embodiment, the method of determining the wheel associated with pressurizing the target area based on the positional relationship between the cleaning component and the target area may include:

[0258] The front wheel is defined as the wheel associated with pressurizing the target area. The front wheel is the wheel located in front of the cleaning component and is the one furthest from the cleaning component in the direction of the cleaning equipment's movement.

[0259] In this exemplary embodiment, the front wheel can be defined as the wheel associated with pressurizing the target area. The front wheel is the wheel located in front of the cleaning component among multiple wheels and the wheel that is furthest from the cleaning component in the forward direction of the cleaning device. For example, a front wheel is provided in front of the bottom of the cleaning device, two rear wheels are provided behind it, and the cleaning component is provided. Extending the front wheel can raise the head of the cleaning device and lower the tail, thereby increasing the pressure of the cleaning component at the tail on the ground.

[0260] In one exemplary embodiment, the wheel assembly includes a front wheel, a first rear wheel, and a second rear wheel, and the cleaning assembly includes a first cleaning portion near the first rear wheel and a second cleaning portion near the second rear wheel;

[0261] Determining the wheels associated with pressurizing the target area based on the location of the target area and the cleaning path may include:

[0262] In the cleaning path, when a small portion of the target area overlaps with the first cleaning section, and the target area does not overlap with the second cleaning section, the front wheel and the second rear wheel are identified as the wheels related to pressurizing the target area.

[0263] In the cleaning path, when a small portion of the target area overlaps with the second cleaning section, and the target area and the first cleaning section do not overlap, the front wheel and the first rear wheel are identified as the wheels related to pressurizing the target area.

[0264] In this exemplary embodiment, the wheel assembly may include a front wheel, a first rear wheel, and a second rear wheel. The cleaning assembly may include a first cleaning part of the first rear wheel and a second cleaning part near the second rear wheel. For example, at the bottom of the cleaning device shown in FIG6, the line connecting the front wheel 610, the first rear wheel 620, and the second rear wheel 640 may form a triangular shape. The first cleaning part 630 and the second cleaning part 650 may be close to the first rear wheel 620 and the second rear wheel 640, respectively. It should be noted that the figure is only illustrative. The actual shape of the first cleaning part and the second cleaning part, as well as the distance from the first rear wheel and the second rear wheel, may be determined according to the actual situation. This disclosure does not specifically limit this.

[0265] In this exemplary embodiment, in the cleaning path, when the target area at least partially overlaps with the first cleaning section and the target area and the second cleaning section do not overlap, the front wheel and the second rear wheel are determined to be wheels related to pressurizing the target area. For example, when the target area at least partially overlaps with the right rear round drag area and the target area does not overlap with the left rear round drag area, the front wheel and the left rear wheel can be determined to be wheels related to pressurizing the target area.

[0266] In the cleaning path, when the target area at least partially overlaps with the second cleaning section, and the target area does not overlap with the first cleaning section, the front wheel and the first rear wheel are determined to be wheels related to pressurizing the target area. For example, when the target area at least partially overlaps with the left rear round drag area, and the target area does not overlap with the right rear round drag area, the front wheel and the right rear wheel can be determined to be wheels related to pressurizing the target area.

[0267] In one exemplary embodiment, at least one wheel in the control wheel assembly extends relative to the device body, which may include:

[0268] The contact position of the cleaning components can be adjusted by controlling the extension of at least one of the multiple wheels relative to the main body of the device.

[0269] In this exemplary embodiment, the extension of the control wheel relative to the main body of the device can affect the contact position of the cleaning component. For example, when the right rear wheel extends, the right rear of the cleaning device will be raised, and the contact position of the left rear cleaning part can be controlled. When the left rear wheel extends, the left rear of the cleaning device will be raised, and the contact position of the right rear cleaning part can be controlled.

[0270] In one exemplary embodiment, at least one wheel in the control wheel assembly extends relative to the device body, which may include:

[0271] The contact area of ​​the cleaning components can be adjusted by controlling the extension distance of at least one of the multiple wheels relative to the main body of the device.

[0272] In this exemplary embodiment, the distance the wheel extends can be adjusted, and different extension distances can correspond to different states. For example, when the extension distance is large, the lifting height of the cleaning device is high, and the contact area of ​​the pressurized cleaning component with the ground will also be large. When the extension distance is small, the lifting height of the cleaning device is low, and the contact area of ​​the pressurized cleaning component with the ground will also be small.

[0273] In one exemplary embodiment, the aforementioned extension of at least one wheel in the control wheel assembly relative to the device body when the cleaning component moves to or near the target area may include:

[0274] Determine the wheels associated with pressurizing the target area based on the size or area of ​​the target area;

[0275] As the cleaning components move to or near the target area, the control and target area pressurization cleaning related wheels extend relative to the main body of the equipment.

[0276] In this exemplary embodiment, the second cleaning mode can determine the extension of the wheels based on the specific wheels in the wheel assembly. For example, only the front wheel can be extended, or the front wheel plus either side of the rear wheel can be extended. In this exemplary embodiment, the wheels related to pressurizing the target area can be determined based on the area of ​​the target area. When the cleaning assembly moves to or near the target area, the wheels related to pressurizing and cleaning the target area are controlled to extend.

[0277] Specifically, in one exemplary embodiment, the wheel assembly includes a front wheel and a plurality of rear wheels;

[0278] The aforementioned determination of the wheels associated with pressurizing the target area based on the size or area of ​​the target area may include:

[0279] If the area of ​​the target region is greater than the preset area threshold, the front wheel will be identified as the wheel associated with applying pressure to the target region.

[0280] If the area of ​​the target region is smaller than a preset area threshold, then one of the front wheels and multiple rear wheels will be identified as the wheel associated with applying pressure to the target region.

[0281] When the area of ​​the target area is larger than the preset area threshold, it means that the current target area is large and a larger area cleaning component is needed to clean it. In this case, the front wheel can be designated as the wheel related to pressurizing the target area, and the pressure can be concentrated at the rear of the cleaning device. When the area of ​​the target area is smaller than the preset area threshold, it means that the current target area is not large. By pressurizing the local cleaning component, the target area can be cleaned more precisely. In this case, one of the front wheel and multiple rear wheels can be designated as the wheel related to pressurizing the target area.

[0282] In one exemplary embodiment, the method further includes controlling the cleaning component to clean the target area.

[0283] In other words, by extending the control wheel relative to the main body of the equipment, increasing the pressure of the cleaning components on the surface to be cleaned, the cleaning components can be controlled to clean the target area.

[0284] In an exemplary embodiment of this disclosure, a cleaning system is also provided, comprising: a base station; and the aforementioned cleaning equipment.

[0285] The base station is used in conjunction with cleaning equipment. The base station may have functions such as charging the cleaning equipment, cleaning the cleaning components, supplying water to the cleaning equipment, and / or collecting solid and liquid waste from the cleaning equipment.

[0286] In an exemplary embodiment of this disclosure, a control device for a cleaning device is also provided, as shown in FIG7. The cleaning device includes at least a wheel assembly and a cleaning assembly, wherein the wheel assembly and the cleaning assembly are respectively disposed at the bottom of the cleaning device;

[0287] The cleaning equipment device 700 includes:

[0288] The wheel control module 710 is used to control at least one wheel of the wheel assembly to extend relative to the device body when the cleaning assembly moves to or near the target area, so as to increase the pressure of at least part of the cleaning assembly on the surface to be cleaned.

[0289] Optionally, the device further includes:

[0290] The location determination module is used to determine the location of the target area.

[0291] Optionally, the location determination module includes:

[0292] An environmental information acquisition unit is used to acquire the working environment information of the surface to be cleaned.

[0293] The first location determination unit is used to determine the location of the target area in the surface to be cleaned based on the work environment information.

[0294] Optionally, the working environment information of the surface to be cleaned includes the degree of dirtiness of the dirty areas of the surface to be cleaned;

[0295] The first position determination unit includes:

[0296] The dirt level determination subunit is used to determine the location of the dirty area as the location of the target area when the dirt level of the dirty area of ​​the surface to be cleaned is greater than the preset dirt level.

[0297] Optionally, the location determination module includes:

[0298] The instruction information acquisition unit is used to acquire the area instruction information input by the user.

[0299] The second location determination unit is used to determine the location of the target area in the surface to be cleaned based on the area indication information.

[0300] Optionally, the location determination module includes:

[0301] The third location determination unit is used to acquire historical cleaning data of the cleaning equipment and determine the location of the target area based on the historical cleaning data.

[0302] Optionally, the third position determination unit includes:

[0303] The cleanliness determination subunit is used to determine the location of the target area based on the historical cleaning data, including the location that has been identified as the target area twice or more, or the location whose cleanliness level is lower than the preset cleanliness level after a preset number of cleanings; wherein the preset number of cleanings is greater than or equal to 1.

[0304] Optionally, the wheel control module includes:

[0305] A wheel determination unit is used to determine the wheel associated with pressurizing the target area;

[0306] A wheel control unit is used to control the extension of the wheels relative to the device body in relation to pressurized cleaning of the target area when the cleaning assembly moves to or near the target area.

[0307] Optionally, the wheel determining unit includes:

[0308] The first determining subunit is used to determine the wheel related to pressurizing the target area based on the positional relationship between the cleaning component and the target area or based on the position of the target area and the cleaning path.

[0309] Optionally, the first determined subunit includes:

[0310] A front wheel determination subunit is used to determine the front wheel as the wheel associated with pressurizing the target area, wherein the front wheel is the wheel located in front of the cleaning assembly and is the farthest from the cleaning assembly in the direction of travel of the cleaning equipment.

[0311] Optionally, the wheel assembly includes a front wheel and a plurality of rear wheels, wherein the front wheel is the wheel located in front of the cleaning assembly and is the farthest from the cleaning assembly in the forward direction of the cleaning device, and the rear wheels are located behind the front wheel in the forward direction of the cleaning device.

[0312] The first defined subunit includes:

[0313] A rear wheel determination subunit is used to determine one of the plurality of rear wheels as the wheel associated with pressurizing the target area.

[0314] Optionally, the wheel assembly includes a front wheel, a first rear wheel, and a second rear wheel, and the cleaning assembly includes a first cleaning portion near the first rear wheel and a second cleaning portion near the second rear wheel;

[0315] The first determining subunit includes:

[0316] The second determining subunit is used to determine, in the cleaning path, when the target area at least partially overlaps with the first cleaning section and the target area and the second cleaning section do not overlap, the front wheel and the second rear wheel are wheels related to pressurizing the target area;

[0317] The third determining subunit is used to determine, in the cleaning path, when the target area at least partially overlaps with the second cleaning section and the target area does not overlap with the first cleaning section, the front wheel and the first rear wheel are wheels related to pressurizing the target area.

[0318] Optionally, the wheel control module includes:

[0319] A first control unit is configured to control the extension of at least one of the plurality of wheels relative to the device body to adjust the contact position of the cleaning component with the ground.

[0320] Optionally, the wheel control module includes:

[0321] The second control unit is used to control the extension distance of at least one of the plurality of wheels relative to the main body of the device, so as to adjust the contact area of ​​the cleaning component.

[0322] Optionally, the wheel control module includes:

[0323] A third control unit is configured to determine the wheels associated with pressurizing the target area based on the size or area of ​​the target area; and to control the wheels associated with pressurizing and cleaning the target area to extend relative to the main body of the device when the cleaning assembly moves to or near the target area.

[0324] Optionally, the wheel assembly includes a front wheel and a plurality of rear wheels;

[0325] The third control unit includes:

[0326] An area determination subunit is used to determine the front wheel as the wheel related to applying pressure to the target area when the area of ​​the target area is greater than a preset area threshold; and to determine one of the front wheel and the plurality of rear wheels as the wheel related to applying pressure to the target area when the area of ​​the target area is less than the preset area threshold.

[0327] Optionally, the device further includes:

[0328] A cleaning control module is used to control the cleaning components to clean the target area.

[0329] The specific details of each module mentioned above have been described in detail in the corresponding methods, so they will not be repeated here.

[0330] It should be noted that although several modules or units for the execution device have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of this 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 and embodied by multiple modules or units.

[0331] In an exemplary embodiment of this disclosure, an electronic device capable of implementing the above-described method is also provided. For example, the electronic device may be a cleaning robot capable of implementing the above-described method.

[0332] Those skilled in the art will understand that various aspects of this disclosure can be implemented as a system, method, or program product. Therefore, various aspects of this disclosure can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, collectively referred to herein as a "circuit," "module," or "system."

[0333] The electronic device 800 according to such an exemplary embodiment of the present disclosure will now be described with reference to FIG8. The electronic device 800 shown in FIG8 is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present disclosure.

[0334] As shown in Figure 8, the electronic device 800 is presented in the form of a general-purpose computing device. The components of the electronic device 800 may include, but are not limited to: at least one processing unit 810, at least one storage unit 820, a bus 830 connecting different system components (including storage unit 820 and processing unit 810), and a display unit 840.

[0335] The storage unit stores program code, which can be executed by the processing unit 810, causing the processing unit 810 to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure. For example, the processing unit 810 can perform the steps shown in FIG2, etc.

[0336] Storage unit 820 may include a readable medium in the form of a volatile storage unit, such as random access memory (RAM) 821 and / or cache memory 822, and may further include a read-only memory (ROM) 823.

[0337] The storage unit 820 may also include a program / utility 824 having a set (at least one) of program modules 825, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0338] Bus 830 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0339] Electronic device 800 can also communicate with one or more external devices 900 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 800, and / or with any device that enables electronic device 800 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 850. Furthermore, electronic device 800 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 860. As shown, network adapter 860 communicates with other modules of electronic device 800 via bus 830. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 800, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0340] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0341] In an exemplary embodiment of this disclosure, a computer program product is also provided, including a computer program that can be executed by a processor to implement the control method of the cleaning equipment described above.

[0342] In one embodiment, the computer program product can be a tangible product containing a computer program, such as a computer-readable storage medium storing the computer program. The readable storage medium can be a storage medium based on electrical, magnetic, optical, electromagnetic, infrared, or other signals, including but not limited to: random access memory (RAM), read-only memory (ROM), magnetic tape, floppy disk, flash memory, hard disk drive (HDD), solid-state drive (SSD), etc. For example, the computer program product can be implemented as a non-volatile storage medium storing the computer program, such as read-only memory, NAND flash memory, etc.

[0343] In one implementation, the computer program product can be an intangible product containing a computer program. For example, the computer program product can be implemented as a virtual digital product, such as an executable file, installation package, or other digital file storing the computer program.

[0344] Computer program code can be written in one or more programming languages. Examples of programming languages ​​include C, Java, and C++. Program code can execute entirely on the user's computing device, partially on the user's computing device, or as a standalone software package. It can also execute partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, such as a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via an internet connection provided by a mobile network operator).

[0345] Computer programs can be carried or transmitted via signals such as electrical, magnetic, optical, electromagnetic, and infrared rays. Electronic devices can convert signals carrying computer programs into digital signals, thereby running the computer programs. When a computer program runs on an electronic device, its code is used to cause the electronic device to execute (more specifically, to be executed by the processor of the electronic device) the method steps of various exemplary embodiments of this disclosure.

[0346] In exemplary embodiments of this disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the methods described above is stored. In some possible implementations, various aspects of this disclosure may also be implemented as a program product including program code that, when the program product is run on a terminal device, causes the terminal device to perform the steps of the various exemplary embodiments of this disclosure described in the "Exemplary Methods" section above.

[0347] The program product for implementing the above-described method according to embodiments of the present disclosure may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0348] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0349] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0350] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0351] Program code for performing the operations of this disclosure can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0352] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of this disclosure and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0353] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the claims.

[0354] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is defined only by the appended claims.

Claims

1. A cleaning device, comprising: Equipment body; A wheel assembly, wherein the wheel assembly is disposed at the bottom of the main body of the device, and the wheel assembly includes a plurality of wheels; A cleaning component is located at the bottom of the main body of the device and is used to clean the surface to be cleaned. A control component is connected to the wheel assembly and the cleaning component, respectively. The control component is configured to control at least one wheel in the wheel assembly to extend relative to the device body when the cleaning component moves to or near the target area, so as to increase the pressure of at least a portion of the cleaning component on the surface to be cleaned.

2. The cleaning equipment according to claim 1, wherein, The wheel extends relative to the main body of the device, which reduces the pressure of at least other parts of the cleaning components on the surface to be cleaned.

3. The cleaning equipment according to claim 1, wherein, The wheel extends relative to the main body of the device, allowing at least other parts of the cleaning components to disengage from the surface to be cleaned.

4. The cleaning equipment according to claim 1, wherein, The control component is also configured to determine the location of the target area.

5. The cleaning equipment according to claim 4, wherein, The control component includes: The sensing module is configured to acquire information about the working environment of the surface to be cleaned; A control module, connected to the sensing module, is configured to determine the location of the target area in the surface to be cleaned based on the working environment information; wherein the surface to be cleaned includes the surface to be cleaned for the first time in the current operation and the surface to be cleaned that needs to be cleaned further in the current operation.

6. The cleaning equipment according to claim 5, wherein, The working environment information of the surface to be cleaned includes the degree of dirtiness of the dirty areas of the surface to be cleaned; The control module is further configured to determine the location of the dirty area as the location of the target area when the degree of dirtiness of the dirty area of ​​the surface to be cleaned is greater than a preset degree of dirtiness.

7. The cleaning equipment according to claim 4, wherein, The control component includes: The input module is configured to acquire region indication information from user input. A control module, connected to the input module, is configured to determine the location of the target area in the surface to be cleaned based on the area indication information.

8. The cleaning equipment according to claim 4, wherein, The control component is also configured to: acquire historical cleaning data of the cleaning equipment, and determine the location of the target area based on the historical cleaning data.

9. The cleaning equipment according to claim 8, wherein, The control component is further configured to: determine the location of the target area as the location of the area that has been identified as the target area twice or more, or the location of the area whose cleanliness level is lower than the preset cleanliness level after a preset number of cleanings, based on the historical cleaning data; wherein the preset number of cleanings is greater than or equal to 1.

10. The cleaning equipment according to claim 1, wherein, The control component is further configured to: determine a wheel associated with pressurizing the target area; and control the wheel associated with pressurizing and cleaning the target area to extend relative to the device body when the cleaning component moves to or near the target area.

11. The cleaning equipment according to claim 10, wherein, The control component is further configured to: determine a wheel related to pressurizing the target area based on the positional relationship between the cleaning component and the target area or based on the position of the target area and the cleaning path.

12. The cleaning equipment according to claim 11, wherein, The control component is further configured to: identify the front wheel as the wheel associated with pressurizing the target area, the front wheel being the wheel located in front of the cleaning component and furthest from the cleaning component in the direction of travel of the cleaning device.

13. The cleaning equipment according to claim 11, wherein, The wheel assembly includes a front wheel and multiple rear wheels. The front wheel is the wheel located in front of the cleaning assembly and is the one furthest from the cleaning assembly in the direction of travel of the cleaning device. The rear wheels are located behind the front wheel in the direction of travel of the cleaning device. The control component is further configured to identify one of the plurality of rear wheels as the wheel associated with pressurizing the target area.

14. The cleaning equipment according to any one of claims 10 to 13, wherein, The control component is also configured to control the extension of at least one of the plurality of wheels relative to the device body to adjust the contact position of the cleaning component with the ground.

15. The cleaning equipment according to any one of claims 10 to 13, wherein, The control component is also configured to control the extension distance of at least one of the plurality of wheels relative to the device body, thereby adjusting the contact area of ​​the cleaning component.

16. The cleaning equipment according to claim 11, wherein, The wheel assembly includes a front wheel, a first rear wheel, and a second rear wheel, and the cleaning assembly includes a first cleaning part near the first rear wheel and a second cleaning part near the second rear wheel.

17. The cleaning equipment according to claim 16, wherein, The control component is also configured to: In the cleaning path, when the target area at least partially overlaps with the first cleaning section, and the target area and the second cleaning section do not overlap, the front wheel and the second rear wheel are determined to be wheels related to pressurizing the target area; In the cleaning path, when the target area at least partially overlaps with the second cleaning section and the target area does not overlap with the first cleaning section, the front wheel and the first rear wheel are determined to be wheels related to pressurizing the target area.

18. The cleaning equipment according to claim 17, wherein, The first cleaning section and the second cleaning section are different areas of the cleaning component, or the first cleaning section and the second cleaning section are two separate components.

19. The cleaning equipment according to claim 15, wherein, The cleaning component includes a flat mop, a tracked mop, or a roller mop. The portions of the cleaning component located on both sides of a first axis form a first cleaning section and a second cleaning section, respectively. The first axis is the axis of symmetry of the cleaning device parallel to its forward direction. Alternatively, the cleaning component includes a first round mop and a second round mop, with the first round mop forming the first cleaning section and the second round mop forming the second cleaning section.

20. The cleaning equipment according to claim 1, wherein, The control component is further configured to: determine a wheel associated with pressurizing the target area based on the size or area of ​​the target area; and control the wheel associated with pressurizing and cleaning the target area to extend relative to the device body when the cleaning component moves to or near the target area.

21. The cleaning equipment according to claim 20, wherein, The wheel assembly includes a front wheel and a plurality of rear wheels; the control component is further configured to: when the area of ​​the target region is greater than a preset area threshold, determine the front wheel as the wheel associated with applying pressure to the target region; when the area of ​​the target region is less than the preset area threshold, determine one of the front wheel and the plurality of rear wheels as the wheel associated with applying pressure to the target region.

22. The cleaning equipment according to any one of claims 14 to 21, wherein, The control component is further configured to determine, based on the size or area of ​​the target region, the distance at which at least one wheel in the wheel assembly extends relative to the device body.

23. The cleaning equipment according to any one of claims 1-22, wherein, The wheel assembly includes a front wheel and a rear wheel, the front wheel being a swivel wheel and the rear wheel being a drive wheel.

24. A method for controlling a cleaning device, wherein, The cleaning equipment includes at least a wheel assembly and a cleaning assembly, wherein the wheel assembly and the cleaning assembly are respectively disposed at the bottom of the cleaning equipment; The method includes: When the cleaning component moves to or near the target area, at least one wheel in the wheel assembly is controlled to extend relative to the device body, thereby increasing the pressure of at least a portion of the cleaning component on the surface to be cleaned.

25. The method of claim 24, further comprising: Determine the location of the target area.

26. The method of claim 25, wherein, Determining the location of the target area includes: Obtain information about the working environment of the surface to be cleaned; Based on the work environment information, the location of the target area is determined on the surface to be cleaned.

27. The method according to claim 26, wherein, The working environment information of the surface to be cleaned includes the degree of dirtiness of the dirty areas of the surface to be cleaned; Determining the location of the target area on the surface to be cleaned based on the work environment information includes: When the degree of dirtiness of the dirty area on the surface to be cleaned is greater than the preset degree of dirtiness, the location of the dirty area is determined as the location of the target area.

28. The method according to claim 25, wherein, Determining the location of the target area includes: Obtain the region indication information input by the user; Based on the area indication information, the location of the target area is determined in the surface to be cleaned.

29. The method according to claim 25, wherein, Determining the location of the target area includes: The historical cleaning data of the cleaning equipment is obtained, and the location of the target area is determined based on the historical cleaning data.

30. The method according to claim 29, wherein, Determining the location of the target area based on the historical cleaning data includes: Based on the historical cleaning data, the locations that have been identified as target areas two or more times, or the locations whose cleaning level is lower than the preset cleaning level after a preset number of cleaning cycles, are determined as the locations of the target areas; wherein, the preset number of cleaning cycles is greater than or equal to 1.

31. The method according to claim 24, wherein, When the cleaning component moves to or near the target area, controlling at least one wheel in the wheel assembly to extend relative to the device body includes: Identify the wheel associated with pressurizing the target area; When the cleaning component moves to or near the target area, the wheels associated with controlling and pressurizing the target area extend relative to the device body.

32. The method according to claim 31, wherein, The determination of the wheel associated with pressurizing the target area includes: The wheel associated with pressurizing the target area is determined based on the positional relationship between the cleaning component and the target area, or based on the position of the target area and the cleaning path.

33. The method according to claim 32, wherein, Determining the wheels associated with pressurizing the target area based on the positional relationship between the cleaning components and the target area includes: The front wheel is identified as the wheel associated with pressurizing the target area, and the front wheel is the wheel located in front of the cleaning component and the one furthest from the cleaning component in the direction of travel of the cleaning equipment.

34. The method according to claim 32, wherein, The wheel assembly includes a front wheel and multiple rear wheels. The front wheel is the wheel located in front of the cleaning assembly and is the one furthest from the cleaning assembly in the direction of travel of the cleaning device. The rear wheels are located behind the front wheel in the direction of travel of the cleaning device. Determining the wheels associated with pressurizing the target area based on the positional relationship between the cleaning components and the target area includes: One of the plurality of rear wheels is identified as the wheel associated with pressurizing the target area.

35. The method according to claim 32, wherein, The wheel assembly includes a front wheel, a first rear wheel, and a second rear wheel, and the cleaning assembly includes a first cleaning part near the first rear wheel and a second cleaning part near the second rear wheel; The step of determining the wheel associated with pressurizing the target area based on the location of the target area and the cleaning path includes: In the cleaning path, when the target area at least partially overlaps with the first cleaning section, and the target area and the second cleaning section do not overlap, the front wheel and the second rear wheel are determined to be wheels related to pressurizing the target area; In the cleaning path, when the target area at least partially overlaps with the second cleaning section and the target area does not overlap with the first cleaning section, the front wheel and the first rear wheel are determined to be wheels related to pressurizing the target area.

36. The method according to claim 24, wherein, Controlling at least one wheel in the wheel assembly to extend relative to the device body includes: The contact position of the cleaning component can be adjusted by controlling the extension of at least one of the plurality of wheels relative to the device body.

37. The method according to claim 24, wherein, Controlling at least one wheel in the wheel assembly to extend relative to the device body includes: The contact area of ​​the cleaning component can be adjusted by controlling the extension distance of at least one of the plurality of wheels relative to the device body.

38. The method according to claim 24, wherein, When the cleaning component moves to or near the target area, controlling at least one wheel in the wheel assembly to extend relative to the device body includes: Based on the size or area of ​​the target region, determine the wheel associated with pressurizing the target region; When the cleaning component moves to or near the target area, the wheels related to the control and pressure cleaning of the target area extend relative to the main body of the device.

39. The method according to claim 38, wherein, The wheel assembly includes a front wheel and multiple rear wheels; The step of determining the wheel related to pressurizing the target area based on the size or area of ​​the target area includes: If the area of ​​the target region is greater than a preset area threshold, then the front wheel is identified as the wheel associated with applying pressure to the target region. If the area of ​​the target region is less than a preset area threshold, then one of the front wheel and the plurality of rear wheels is identified as the wheel associated with applying pressure to the target region.

40. The method according to any one of claims 24-39, further comprising: Control the cleaning component to clean the target area.

41. A control device for a cleaning equipment, wherein, The cleaning equipment includes at least a wheel assembly and a cleaning assembly, wherein the wheel assembly and the cleaning assembly are respectively disposed at the bottom of the cleaning equipment; The device includes: A wheel control module is used to control at least one wheel of the wheel assembly to extend relative to the device body when the cleaning assembly moves to or near the target area, so as to increase the pressure of at least part of the cleaning assembly on the surface to be cleaned.

42. A cleaning system comprising: Base station; The cleaning equipment as described in any one of claims 1-23.

43. A computer program product comprising a computer program, wherein, When the computer program is executed by a processor, it implements the control method for the cleaning equipment according to any one of claims 24-40.

44. A computer-readable storage medium having a computer program stored thereon, wherein, When the computer program is executed by a processor, it implements the method described in any one of claims 24-40.

45. An electronic device comprising: processor; as well as Memory for storing the executable instructions of the processor; The processor is configured to execute the method of any one of claims 24-40 by executing the executable instructions.

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