CN117045161A

CN117045161A - Passive cleaning device, cleaning control method thereof and computer storage medium

Info

Publication number: CN117045161A
Application number: CN202310912462.XA
Authority: CN
Inventors: 黄水长; 胡洪伟; 张军歌; 廖瑞云; 陈冠亨
Original assignee: Yunjing Intelligent Innovation Shenzhen Co ltd; Yunjing Intelligent Shenzhen Co Ltd
Current assignee: Yunjing Intelligent Innovation Shenzhen Co ltd; Yunjing Intelligent Shenzhen Co Ltd
Priority date: 2023-07-20
Filing date: 2023-07-20
Publication date: 2023-11-14

Abstract

The application discloses a cleaning control method of passive cleaning equipment, the passive cleaning equipment and a computer storage medium. The cleaning control method of the passive cleaning device comprises the following steps: acquiring detection data acquired by a detection component in the passive cleaning equipment; analyzing whether the passive cleaning device cleans stubborn stains on the surface to be cleaned according to the detection data; in the case of a passive cleaning device for cleaning stubborn stains, the operating state of at least part of the components in the passive cleaning device is adjusted. According to the application, the passive cleaning device can analyze whether the passive cleaning device is cleaning stubborn stains according to the detection data acquired by the detection component, and the working state of at least part of components in the passive cleaning device is regulated under the condition that the passive cleaning device is cleaning stubborn stains, so that the need of a user to manually select a corresponding cleaning gear according to the dirt condition of the ground is avoided, the operation is simple, the operation steps of the user are reduced, and the intelligent attribute of the passive cleaning device is improved.

Description

Passive cleaning device, cleaning control method thereof and computer storage medium

Technical Field

The present application relates to the field of cleaning technologies, and in particular, to a cleaning control method for a passive cleaning device, and a computer storage medium.

Background

The passive cleaning device is mainly used for assisting a user to clean the ground and is generally applied to the fields of household indoor cleaning, large-scale place cleaning and the like. Generally, the passive cleaning apparatus includes an active passive cleaning apparatus and a passive cleaning apparatus. An active passive cleaning device is generally called a cleaning robot, which is capable of autonomously controlling the cleaning of a floor to be cleaned without excessive user intervention. While passive cleaning devices are commonly referred to as hand-held passive cleaning devices, including floor washers, hand-held cleaners, and the like, such passive cleaning devices require a user to hold the device to control the passive cleaning device for cleaning, e.g., the user pushes the passive cleaning device to a living room or bedroom for floor cleaning, where the passive cleaning device is controlled by the user. Such passive cleaning devices are controlled by the user and thus are not too intelligent. For example, in the face of stubborn stains, it is often desirable for the user to clean by, for example, manually adjusting the operating parameters of the passive cleaning device, or the like, in order to clean stubborn stains more quickly and better, such a design of the passive cleaning device being less intelligent for the user and thus increasing the operational burden on the user.

Disclosure of Invention

The embodiment of the application provides a cleaning control method of passive cleaning equipment, the passive cleaning equipment and a computer storage medium, which are at least used for solving the problem that the passive cleaning equipment is not intelligent enough.

The cleaning control method of the passive cleaning equipment comprises the following steps: acquiring detection data acquired by a detection component in the passive cleaning equipment; analyzing whether the passive cleaning device cleans stubborn stains on a surface to be cleaned according to the detection data; and adjusting the working state of at least part of components in the passive cleaning device under the condition that the passive cleaning device cleans the stubborn stains.

In certain embodiments, the detection data includes data related to a motion position and/or a motion pose of the passive cleaning device motion.

In certain embodiments, the detection data comprises data relating to a change in stain of the surface to be cleaned.

In certain embodiments, the detection data includes a soil value within a suction duct of the passive cleaning device.

In some embodiments, the analyzing whether the passive cleaning device is cleaning stubborn stains on a surface to be cleaned based on the detection data comprises: and determining whether the passive cleaning equipment reciprocates in the same cleaning area according to the detection data, and if so, determining that the passive cleaning equipment cleans the stubborn stains.

In some embodiments, the determining, according to the detection data, whether the passive cleaning device reciprocates in the same cleaning area, and if so, determining that the passive cleaning device is cleaning the stubborn stain includes: determining that the passive cleaning device is cleaning the stubborn stain in the event that the detection data reciprocally varies over a range of [ X-a, x+b ]; wherein X is a basic value of the detection data, a is a floating amount of the detection data, and b is a floating amount of the detection data.

In some embodiments, the determining, according to the detection data, whether the passive cleaning device reciprocates in the same cleaning area, and if so, determining that the passive cleaning device is cleaning the stubborn stain includes: when the detection data reciprocally changes in the range of [ X-a, X+b ] and the frequency of the reciprocal change of the detection data is greater than or equal to a preset frequency, determining that the passive cleaning device is cleaning the stubborn stains; wherein X is a basic value of the detection data, a is a floating amount of the detection data, and b is a floating amount of the detection data.

In some embodiments, the determining, according to the detection data, whether the passive cleaning device reciprocates in the same cleaning area, and if so, determining that the passive cleaning device is cleaning the stubborn stain includes: when the detection data change reciprocally in the range of [ X-a, X+b ], and the duration of the reciprocal change of the detection data is longer than or equal to a first preset duration, determining that the passive cleaning equipment cleans the stubborn stains; wherein X is a basic value of the detection data, a is a floating amount of the detection data, and b is a floating amount of the detection data.

In certain embodiments, the detection data comprises at least one of:

the passive cleaning device comprises a chassis and an operating rod rotatably arranged on the chassis, the detection assembly comprises an angle detection sensor, and the detection data comprises a pitch angle between the operating rod of the passive cleaning device and the chassis, which is acquired by the angle detection sensor;

the detection assembly comprises a distance detection sensor, and the detection data comprises the distance between the chassis and a reference object, which is acquired by the distance detection sensor;

The detection assembly comprises a position detection sensor, and the detection data comprises coordinate positions of the chassis acquired by the position detection sensor.

In some embodiments, the passive cleaning device includes a chassis, a rotating member is disposed on the chassis, the detection assembly includes a wheel speed meter, the detection data includes a first rotating stroke of the rotating member rotating forward relative to the surface to be cleaned and a second rotating stroke of the rotating member rotating backward, which are acquired by the wheel speed meter, and a difference value exists between the first rotating stroke and the second rotating stroke; and determining whether the passive cleaning device reciprocates in the same cleaning area according to the detection data, if so, determining that the passive cleaning device cleans the stubborn stains, including: and under the condition that the difference value is smaller than or equal to a preset difference value, determining that the passive cleaning device cleans the stubborn stains, wherein the preset difference value is smaller than the size of the cleaning area.

In some embodiments, determining that the passive cleaning device is cleaning the stubborn stain if the difference is less than or equal to a preset difference comprises: and determining that the passive cleaning device is cleaning the stubborn stains under the condition that the difference is smaller than or equal to a preset difference and the frequency of occurrence of the difference smaller than or equal to the preset difference is larger than a preset frequency.

In some embodiments, determining that the passive cleaning device is cleaning the stubborn stain if the difference is less than or equal to a preset difference comprises: and determining that the passive cleaning device is cleaning the stubborn stains under the condition that the difference value is smaller than or equal to a preset difference value and the duration time of the difference value smaller than or equal to the preset difference value is longer than or equal to a second preset time.

In some embodiments, the detection component comprises an image acquisition device, and the detection data comprises multi-frame image data acquired by the image acquisition device; the analyzing whether the passive cleaning device cleans stubborn stains on the surface to be cleaned according to the detection data comprises the following steps: analyzing a dirty region in the image data of each frame; acquiring the change rate of the dirt parameters of a dirt area in the image data of a preset frame number; and under the condition that the parameter change rate is smaller than a preset change rate threshold value, determining that the passive cleaning equipment cleans the stubborn stains.

In some embodiments, the passive cleaning apparatus includes a suction duct for sucking dirt, the detection assembly includes a dirt detection sensor corresponding to the suction duct and an image acquisition device, the detection data includes a dirt value of the dirt collected by the dirt detection sensor and a plurality of frames of image data acquired by the image acquisition device; the analyzing whether the passive cleaning device cleans stubborn stains on the surface to be cleaned according to the detection data further comprises: analyzing a dirty region in the image data of each frame; acquiring the change rate of the dirt parameters of a dirt area in the image data of a preset frame number; and determining that the passive cleaning device is cleaning the stubborn stain if the dirt value of the dirt is less than a preset dirt value threshold and the parameter change rate is less than a preset change rate threshold.

In some embodiments, the passive cleaning apparatus includes a suction duct for sucking dirt, the detection assembly includes a dirt detection sensor corresponding to the suction duct and an image acquisition device, the detection data includes a dirt value of the dirt collected by the dirt detection sensor and a plurality of frames of image data acquired by the image acquisition device; the analyzing whether the passive cleaning device cleans stubborn stains on the surface to be cleaned according to the detection data further comprises: analyzing a dirty region in the image data of each frame; acquiring the change rate of the dirt parameters of a dirt area in the image data of a preset frame number; and determining that the passive cleaning device is cleaning the stubborn stain if the soil value of the soil is less than a preset soil value threshold, the duration of the soil value of the soil being less than the preset soil value threshold is longer than a first predetermined length of time, and the rate of change of the parameter is less than a preset rate of change threshold.

In certain embodiments, the passive cleaning device comprises a chassis; the analyzing whether the passive cleaning device cleans stubborn stains on the surface to be cleaned according to the detection data comprises the following steps: determining whether the position of the chassis relative to the surface to be cleaned is kept unchanged according to the detection data; and determining that the passive cleaning device is cleaning the stubborn stains under the condition that the position of the chassis relative to the surface to be cleaned is kept unchanged for a longer duration than a second preset duration.

In certain embodiments, the detection data comprises at least one of:

the detection assembly comprises a position detection sensor, and the detection data comprise position information, acquired by the position detection sensor, of the chassis relative to a surface to be cleaned;

the detection assembly comprises a distance detection sensor, and the detection data comprises the distance between the chassis and a reference object, which is acquired by the distance detection sensor.

In certain embodiments, the passive cleaning device comprises a chassis, at least some of the components of the passive cleaning device comprising at least one of a cleaning assembly, a soil pick-up assembly, and a water supply assembly; said adjusting the operational state of at least some of the components in said passive cleaning device comprising: the rotational speed of the cleaning member is increased.

In certain embodiments, the passive cleaning device comprises a chassis, at least some of the components of the passive cleaning device comprising at least one of a cleaning assembly, a soil pick-up assembly, and a water supply assembly; said adjusting the operational state of at least some of the components in said passive cleaning device comprising: increasing the power of the soil pick-up assembly.

In certain embodiments, the passive cleaning device comprises a chassis, at least some of the components of the passive cleaning device comprising at least one of a cleaning assembly, a soil pick-up assembly, and a water supply assembly; said adjusting the operational state of at least some of the components in said passive cleaning device comprising: increasing the amount of water supplied by the water supply assembly to the cleaning member and/or the surface to be cleaned.

In certain embodiments, the passive cleaning device comprises a chassis, at least some of the components of the passive cleaning device comprising at least one of a cleaning assembly, a soil pick-up assembly, and a water supply assembly; said adjusting the operational state of at least some of the components in said passive cleaning device comprising: reducing the traction of the cleaning assembly.

In certain embodiments, the passive cleaning device comprises a chassis, at least some of the components of the passive cleaning device comprising at least one of a cleaning assembly, a soil pick-up assembly, and a water supply assembly; said adjusting the operational state of at least some of the components in said passive cleaning device comprising: the water supply assembly adds a cleaning agent to the cleaning member and/or the surface to be cleaned.

In certain embodiments, the passive cleaning device comprises a chassis, at least some of the components of the passive cleaning device comprising at least one of a cleaning assembly, a soil pick-up assembly, and a water supply assembly; said adjusting the operational state of at least some of the components in said passive cleaning device comprising: and increasing the temperature of the water supplied by the water supply assembly.

In certain embodiments, the passive cleaning device comprises a chassis, at least some of the components of the passive cleaning device comprising at least one of a cleaning assembly, a soil pick-up assembly, and a water supply assembly; said adjusting the operational state of at least some of the components in said passive cleaning device comprising: increasing the pressure of the cleaning member against the surface to be cleaned.

The passive cleaning device of the embodiments of the present application includes a chassis, a lever, a detection assembly, and one or more processors mounted to the chassis or the lever. The operating rod is rotationally connected with the chassis. The detection component is arranged on the chassis and/or the operating rod. One or more of the processors are configured to perform the cleaning control method of any of the embodiments described above.

The computer storage medium of an embodiment of the present application stores a computer program that, when executed by one or more processors, implements the cleaning control method of any of the above embodiments.

According to the cleaning control method of the passive cleaning device, the passive cleaning device and the computer storage medium, the passive cleaning device can analyze whether the passive cleaning device cleans stubborn stains on the surface to be cleaned according to the detection data collected by the detection component, and under the condition that the passive cleaning device cleans stubborn stains, namely under the condition that the passive cleaning device identifies that the passive cleaning device is operated by a user to clean stubborn stains, the working state of at least part of components in the passive cleaning device is regulated, so that the working state of part of components in the passive cleaning device is not required to be manually regulated by the user, the operation is simple, the operation steps of the user are reduced, and the intelligent attribute of the passive cleaning device is improved. The detection data may be data relating to a movement position and/or a movement posture of the user-controlled movement of the passive cleaning device; but also data relating to the condition of the change in stains on the surface to be cleaned.

Additional aspects and advantages of embodiments of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

FIG. 1 is a flow chart of a cleaning control method of a passive cleaning device in accordance with certain embodiments of the present application;

FIG. 2 is a schematic diagram of the structure of a passive cleaning device according to some embodiments of the present application from various perspectives;

FIG. 3 is a flow chart of a cleaning control method of a passive cleaning device in accordance with certain embodiments of the present application;

FIG. 4 is a flow chart of a cleaning control method of a passive cleaning device in accordance with certain embodiments of the present application;

FIG. 5 is a flow chart of a method of cleaning control of a passive cleaning device in accordance with certain embodiments of the present application;

FIG. 6 is a schematic illustration of the change in pitch angle of a passive cleaning device in a push-pull operation in accordance with certain embodiments of the present application;

FIG. 7 is a schematic illustration of the change in distance between the chassis and a reference during a push-pull operation of a passive cleaning device according to some embodiments of the present application;

FIG. 8 is a schematic illustration of the distance change between the chassis and the reference during a push-pull operation of a passive cleaning device according to further embodiments of the present application;

FIG. 9 is a flow chart of a cleaning control method of a passive cleaning device in accordance with certain embodiments of the present application;

FIG. 10 is a flow chart of a method of cleaning control of a passive cleaning device in accordance with certain embodiments of the present application;

FIG. 11 is a schematic structural view of a passive cleaning device according to some embodiments of the present application;

FIGS. 12-18 are flowcharts of a cleaning control method for a passive cleaning device in accordance with certain embodiments of the present application;

FIG. 19 is a schematic diagram of a computer storage medium coupled to a processor in accordance with certain embodiments of the application.

Description of main reference numerals:

a passive cleaning device 100; a surface to be cleaned 200; a computer storage medium 300, a computer program 302;

a chassis 10; an operation lever 20, a main body 21, and an extension lever 23; a detection assembly 30; a processor 40; a cleaning assembly 50, a cleaning member 51, a rotating member 53; a soil pick-up assembly 60; a dirt box 70; a water supply assembly 80; a handle 90.

Detailed Description

Embodiments of the present application are further described below with reference to the accompanying drawings. The same or similar reference numbers in the drawings refer to the same or similar elements or elements having the same or similar functions throughout. In addition, the embodiments of the present application described below with reference to the drawings are exemplary only for explaining the embodiments of the present application and are not to be construed as limiting the present application.

To solve the problems in the prior art, in order to improve the intelligence of the passive cleaning apparatus, the present application provides a cleaning control method (shown in fig. 1) of the passive cleaning apparatus, the passive cleaning apparatus 100 (shown in fig. 2), and a computer storage medium 300 (shown in fig. 19).

Referring to fig. 1, a cleaning control method of a passive cleaning apparatus according to an embodiment of the application includes:

01: acquiring detection data acquired by the detection assembly 30 in the passive cleaning device 100;

03: analyzing whether the passive cleaning device 100 is cleaning stubborn stains on the surface to be cleaned based on the detection data; a kind of electronic device with high-pressure air-conditioning system

05: in the case where the passive cleaning device 100 is cleaning stubborn stains, the operating state of at least part of the components in the passive cleaning device 100 is adjusted.

Referring to fig. 2, the cleaning control method of the passive cleaning apparatus described above may be applied to the passive cleaning apparatus 100, as shown in fig. 2, wherein fig. (a) is a side view of the passive cleaning apparatus 100 and fig. (b) is a front view of the passive cleaning apparatus 100 when the passive cleaning apparatus 100 is being operated by a user to perform cleaning. The passive cleaning device 100 includes, among other things, a chassis 10, a lever 20, a detection assembly 30, and one or more processors 40 mounted to the chassis 10 and/or the lever 20. The operating lever 20 is rotatably connected to the chassis 10. The detection assembly 30 is provided to the chassis 10 and/or the lever 20.

In some embodiments, taking the passive cleaning apparatus 100 as an example of a floor washer, the passive cleaning apparatus 100 may further include a cleaning assembly 50 for cleaning the surface 200 to be cleaned, a soil pick-up assembly 60, a soil box 70, and a water supply assembly 80. The cleaning assembly 50 is disposed on the chassis 10, and the cleaning assembly 50 may include a cleaning member 51, where the cleaning member 51 can rotate relative to the chassis 10 to clean dirt, i.e., where the chassis 10 is supported on the surface 200 to be cleaned, the cleaning member 51 can rotate relative to the chassis 10 to clean dirt on the surface 200 to be cleaned. In some passive cleaning devices 100, the rotational energy of the cleaning member 51 has a traction force on the passive cleaning device 100 that in some passive cleaning devices 100 can pull the passive cleaning device 100 to move relative to the surface 200 to be cleaned. The dirt pickup assembly 60 may be mounted on the lever 20, and the dirt pickup assembly 60 may be capable of powering the collection of dirt cleaned by the cleaning member 51 to collect the dirt on the surface 200 to be cleaned into the dirt box 70. The water supply assembly 80 may be mounted on the operation lever 20, may be mounted on the chassis 10, may be partially mounted on the operation lever 20, and may be partially mounted on the chassis 10, and the water supply assembly 80 may be capable of supplying water to the cleaning member 51 and/or the surface 200 to be cleaned so that the cleaning member 51 may drag and wash the surface 200 to be cleaned. In some embodiments, the surface 200 to be cleaned may be a floor within a building. In other embodiments, the surface 200 to be cleaned may be a surface of another object to be cleaned, such as a wall surface or a bed surface. In some embodiments, the cleaning member 51 may be a roller brush. Wherein at least part of the components in the operational state of at least part of the components in the passive cleaning device 100 may be at least part of the components capable of improving the cleaning ability of the passive cleaning device 100 or capable of reducing the forward traction of the passive cleaning device 100. That is, in case that the processor 40 adjusts the operation state of at least part of the components in the passive cleaning apparatus 100, the passive cleaning apparatus 100 has a better cleaning effect on the surface 200 to be cleaned, thereby facilitating the passive cleaning apparatus 100 to clean stubborn stains, or the traction force of the cleaning member 51 on the passive cleaning apparatus 100 can be reduced by some means. Specifically, at least some of the components include, but are not limited to, cleaning assembly 50, soil pick-up assembly 60, water supply assembly 80, and the like. It should be noted that in some embodiments, the mounting locations of the components of the passive cleaning device 100 shown in fig. 2 are merely exemplary. In other embodiments, the mounting locations of the components of the passive cleaning device 100 may also be other forms.

The lever 20 may include a main body 21, and the main body 21 may be a housing, which may be approximately in a cylindrical structure, such as a cylindrical structure, a triangular prism structure, or the like. The body portion 21 may include oppositely disposed first and second ends. The first end is rotatably connected to the chassis 10, and the second end of the main body 21 is an end far from the surface 200 to be cleaned when the lever 20 is perpendicular or approximately perpendicular to the surface 200 to be cleaned. Wherein the rotation of the lever 20 relative to the chassis 10 includes rotation about the Pitch axis shown in fig. 2 (a). From the perspective of a user using the passive cleaning device 100 for cleaning, the user is presented with pushing or pulling the lever 20 forward or backward as the lever 20 rotates about the Pitch axis.

In addition, if a reference coordinate system is established, which is a cartesian rectangular coordinate system, the positive direction of the Z axis is the forward direction of the passive cleaning device 100, and the negative direction of the Z axis is the backward direction of the passive cleaning device 100; the positive direction of the Y axis is the left direction when the user performs the cleaning operation, and the opposite direction of the Y axis is the right direction when the user performs the cleaning operation; when the Z axis is perpendicular to the upper surface of the chassis 10 (the surface of the chassis 10 opposite to the surface 200 to be cleaned), the YZ plane may be parallel to the upper surface of the chassis 10; the X-axis is perpendicular to the YZ plane, and the direction facing upward away from the upper surface of the chassis 10 is a positive direction, and the direction facing downward away from the upper surface of the chassis 10 is a negative direction. Wherein, the included angle between the long axis of the operating rod 20 and the opposite direction of the Z axis is defined as a pitch angle P between the operating rod 20 and the chassis 10; when the user pushes the lever 20 forward, the pitch angle P becomes smaller, and when the lever is pulled backward, the pitch angle P becomes larger.

Further, in order to adjust the length of the operation rod 20 to meet the use requirements of different users, the operation rod 20 may further include an extension rod 23, and the extension rod 23 is mounted on the second end of the main body 21. Further, in order to facilitate the user's operation of the passive cleaning apparatus 100 when cleaning the surface 200 to be cleaned, the operation lever 20 may further include a handle 90, and the handle 90 may be mounted to the second end of the main body 21 through the extension rod 23.

The detection component 30 is a means for detecting data whether the passive cleaning device 100 is performing stubborn stain cleaning, for example, the data detected by the detection component 30 may be data related to the position or movement of the passive cleaning device 100 operated by the user, or data related to the soiling of stains. Herein, the data detected by the detecting component 30 will be hereinafter collectively referred to as "detection data". The detection assembly 30 may include an angle detection sensor, a distance detection sensor, a position detection sensor, an image acquisition device, a smudge detection sensor or timer, and the like.

An angle detection sensor may be mounted to the chassis 10 and/or the lever 20 and used to detect a pitch angle P between the lever 20 and the chassis 10, and in this case, "detection data" may include the pitch angle P. For example, in the case where the angle detection sensor may be a hall sensor including a magnet and a hall element, one of the magnet and the hall element may be mounted to the chassis 10, and the other may be mounted to the operation lever 20.

The distance detection sensor may be mounted to the chassis 10 and/or the lever 20, and is used to detect the distance of the chassis 10 from the reference object, and in this case, "detection data" may include distance data; the reference may be an object stationary in the room, such as a wall or the like; among them, the distance detection sensor includes, but is not limited to, a laser distance sensor, an ultrasonic distance sensor, an infrared distance sensor, or the like.

The position detection sensor may be mounted on the chassis 10 and used to locate the coordinate position of the chassis 10 on the surface 200 to be cleaned, where the "detection data" may include coordinate data, for example, a coordinate system may be established in the user's home, and different positions correspond to different coordinate positions.

The image acquisition means is for acquiring a plurality of frames of images, and at this time, the "detection data" may include a plurality of frames of image data, and a dirty region of the image data may be identified.

The soil detection sensor is used to detect a soil value of the soil in the suction line or the ground soil level, and the "detection data" may include the soil value of the soil.

The processor 40 is a component of the passive cleaning device 100 that is used to analyze/process data and issue instructions to or control actuators (e.g., cleaning elements 51, water supply assembly 80). The processor 40 may be one or a plurality of processors. The processor 40 may be mounted to the chassis 10 and/or the lever 20 and communicatively coupled (wired or wireless) to the detection assembly 30. The processor 40 obtains the detection data detected by the detection component 30, analyzes and processes the detection data to obtain analysis and processing results, and further gives an execution instruction to the execution mechanism or controls the execution mechanism according to the analysis and processing results, so that the execution mechanism performs related operations according to the execution instruction or controls. Referring to fig. 1 and 2 together, in an embodiment of the present application, one or more processors 40 are capable of performing the methods 01, 03, and 05, i.e., acquiring detection data collected by the detection component 30 in the passive cleaning apparatus 100; analyzing whether the passive cleaning device 100 is cleaning stubborn stains on the surface 200 to be cleaned based on the detection data; and adjusting the operational state of at least some of the components of the passive cleaning device 100 in the event that the passive cleaning device 100 is cleaning a stubborn stain.

In the cleaning control method of the passive cleaning device according to the embodiment of the application, the passive cleaning device 100 can analyze whether the passive cleaning device 100 cleans stubborn stains on the surface 200 to be cleaned according to the detection data collected by the detection assembly 30, and under the condition that the passive cleaning device 100 cleans stubborn stains, namely under the condition that the passive cleaning device 100 recognizes that the passive cleaning device is operated by a user to clean stubborn stains on the surface 200 to be cleaned, the working state of at least part of the components in the passive cleaning device 100 is regulated, so that the working state of part of the components in the passive cleaning device 100 is not required to be manually regulated by the user, the operation state of the passive cleaning device 100 is easier, the operation is simple, the operation steps of the user are reduced, the user experience is improved, and the intelligent attribute of the passive cleaning device 100 is also improved. The detection data here may be data related to a movement position and/or a movement posture in which the user controls the movement of the passive cleaning device 100; the data may be data relating to the change in stains on the surface 200 to be cleaned, or may be a stain level in the suction duct.

Referring to fig. 3, in some embodiments, 03: analyzing whether the passive cleaning device 100 is cleaning stubborn stains on a surface to be cleaned based on the detection data, comprising:

031: it is determined from the detection data whether the passive cleaning device 100 is reciprocating within the same cleaning area, and if so, it is determined that the passive cleaning device 100 is cleaning stubborn stains.

Referring to fig. 2, the one or more processors 40 can perform the method of 031, that is, the one or more processors 40 are configured to determine, according to the detection data, whether the passive cleaning device 100 reciprocates in the same cleaning area, and if so, determine that the passive cleaning device 100 is cleaning stubborn stains.

Specifically, when a stubborn stain is present on the surface 200 to be cleaned, the user controls the passive cleaning apparatus 100 to reciprocally clean the area of the stubborn stain, i.e., the position of the chassis 10 of the passive cleaning apparatus 100 reciprocally changes under the same area. When the user manipulates the passive cleaning device 100 to perform the cleaning operation on the surface 200 to be cleaned, the user can perform a "push-pull" operation on the chassis 10 through the operation lever 20, where the "push-pull" includes two actions of "push-forward" and "pull-back", so that the position of the chassis 10 relative to the surface 200 to be cleaned is continuously changed. If the user reciprocally pushes the chassis 10 through the operation lever 20 and pulls the chassis 10 back and forth, the chassis 10 can reciprocally move relative to the surface 200 to be cleaned, and when the chassis 10 reciprocally moves relative to the surface 200 to be cleaned in the same cleaning area, the processor 40 can determine that the passive cleaning device 100 cleans stubborn stains on the surface 200 to be cleaned, at this time, the processor 40 can adjust the working state of the components of the passive cleaning device 100 that can improve the cleaning capability of the passive cleaning device 100, so that the passive cleaning device 100 can quickly clean stubborn stains, and the cleaning effect is ensured; the processor 40 can also adjust the operating state of the components of the passive cleaning device 100 so that the traction of the cleaning element 51 to the ground can be reduced, and the user can save trouble and effort, thereby improving the intellectualization of the passive cleaning device 100.

Referring to fig. 4, in some embodiments 031: determining from the detection data whether the passive cleaning device 100 is reciprocating within the same cleaning area, and if so, determining that the passive cleaning device 100 is cleaning stubborn stains, comprising:

0311: in the event that the sensed data reciprocally varies over the range of [ X-a, x+b ], determining that the passive cleaning device 100 is cleaning stubborn stains; wherein X is a basic value of the detection data, a is a floating amount of the detection data, and b is a floating amount of the detection data.

Referring to fig. 2, the one or more processors 40 are capable of performing the method of 0311, i.e., the one or more processors 40 are configured to determine that the passive cleaning device 100 is cleaning a stubborn stain if the detection data reciprocally varies within the range of [ X-a, x+b ]; wherein X is a basic value of the detection data, a is a floating amount of the detection data, and b is a floating amount of the detection data.

Specifically, in the case where the user reciprocally pushes the chassis 10 in the same region as the operation of "pushing" and "pulling" the chassis 10 by the operation lever 20, the detection data collected by the detection unit 30 including, but not limited to, the pitch angle P between the operation lever 20 and the chassis 10, the distance of the chassis 10 from the reference object, and the coordinate position of the chassis 10 in the room space, etc. are also constantly reciprocally changed. If the detection data is recognized to be capable of being changed reciprocally within a certain range, the passive cleaning device 100 is characterized to reciprocate within the same cleaning area relative to the surface 200 to be cleaned, and thus, the processor 40 can determine that the passive cleaning device 100 is cleaning stubborn stains, and at this time, the processor 40 can adjust the working state of at least part of the components in the passive cleaning device 100.

Wherein a and b may be the same or different. a and b are preset data. The preset data may be an empirical value, or a statistical value formulated after the processor 40 analyzes the usage habits of the user (reflected by the historical control data), and is a known value. In general, the preset data is a value reflecting the magnitude of the reciprocating motion of the passive cleaning device 100.

When the sensed data reciprocally changes within the range of X-a, X + b, it is indicated that the user is continuously focusing on cleaning a certain area to be cleaned, whereby the processor 40 is able to determine that the passive cleaning device 100 is cleaning stubborn stains and adjust the operational status of at least part of the components in the passive cleaning device 100. Therefore, compared with the manual adjustment of the working states of the components in the passive cleaning device 100, the passive cleaning device 100 has higher intellectualization, thereby improving the user experience.

Referring to fig. 5, in some embodiments, where the detection assembly 30 includes an angle detection sensor, the detection data includes a pitch angle P between the lever 20 of the passive cleaning device 100 and the chassis 10 acquired by the angle detection sensor. At this time, 0311: in the event that the sensed data reciprocally varies over the range of [ X-a, x+b ], determining that the passive cleaning device 100 is cleaning stubborn stains; wherein X is a basic value of the detection data, a is a floating-down amount of the detection data, b is a floating-up amount of the detection data, and the method comprises the following steps:

03111: in the case where the pitch angle P of the lever 20 reciprocally varies within the range of [ P-m1, p+m2], it is determined that the passive cleaning device 100 is cleaning stubborn stains.

With reference to fig. 2, the one or more processors 40 are capable of executing the method in 03111, i.e., the one or more processors 40 are configured to determine that the passive cleaning device 100 is cleaning stubborn stains in the event that the pitch angle P of the lever 20 reciprocally varies over the range of [ P-m1, p+m2 ].

Referring to fig. 6, in some embodiments, P may be an initial pitch angle P between the lever 20 and the chassis 10, i.e., a pitch angle P between the lever 20 and the chassis 10 before the pitch angle P between the lever 20 and the chassis 10 is not reciprocally changed. Referring to fig. 6 (a), in the case where the user performs a "push-forward" operation on the chassis 10 through the lever 20, the pitch angle P between the lever 20 and the chassis 10 decreases, and the pitch angle P between the lever 20 and the chassis 10 becomes P-m1 when the user "pushes forward" the chassis 10 to the limit position through the lever 20, in other words, m1 may be a floating amount of the pitch angle P; referring to fig. 6 (b), in the case where the user performs a "pull-back" operation on the chassis 10 through the lever 20, the pitch angle P between the lever 20 and the chassis 10 increases, and the pitch angle P between the lever 20 and the chassis 10 becomes p+m2 when the user "pulls-back" the chassis 10 to the limit position through the lever 20, in other words, m2 may be the floating amount of the pitch angle P. If the user reciprocally pushes and pulls the chassis 10 in place by the lever 20, the pitch angle P of the lever 20 can reciprocally change within the range of [ P-m1, p+m2 ].

Wherein m1 and m2 may be the same or different. m1 and m2 are both preset angles. The predetermined angle may be an empirical value or a statistical value after the processor 40 analyzes the usage habits of the user (as reflected by the historical control data) and is a known value. For example, the preset angle may have a value range of [10 °,50 ° ], if m1 and m2 are the same and are both 20 °, if the pitch angle P of the lever 20 reciprocally changes within the range of [ P-20 °, p+20° ], this indicates that the passive cleaning device 100 is cleaning stubborn stains.

Referring to fig. 5, in other embodiments, where the detection assembly 30 includes a distance detection sensor, the detection data includes the distance of the chassis 10 relative to the reference acquired by the distance detection sensor. At this time, 0311: in the event that the sensed data reciprocally varies over the range of [ X-a, x+b ], determining that the passive cleaning device 100 is cleaning stubborn stains; wherein X is a basic value of the detection data, a is a floating-down amount of the detection data, b is a floating-up amount of the detection data, and the method comprises the following steps:

03113: in the case where the distance between the chassis 10 and the reference reciprocally varies within the range of S-S1, S + S2, it is determined that the passive cleaning device 100 is cleaning stubborn stains.

Referring to fig. 2, the one or more processors 40 are capable of performing the method in 03113, i.e., the one or more processors 40 are configured to determine that the passive cleaning device 100 is cleaning stubborn stains in the event that the distance between the chassis 10 and the reference varies reciprocally over the range of [ S-S1, s+s2 ].

Referring to fig. 7, in some embodiments, S may be an initial distance between the chassis 10 and the reference object, that is, a distance between the chassis 10 and the reference object before the distance between the chassis 10 and the reference object is reciprocally changed. Wherein the reference may be a front position of the passive cleaning device 100 on the advancing path, such as a front wall surface. In the case where the user performs a "push-forward" operation on the chassis 10 through the operation lever 20, the distance between the chassis 10 and the reference object decreases, and the distance between the chassis 10 and the reference object becomes S-S1 when the user "pushes forward" the chassis 10 to the limit position through the operation lever 20, in other words, S1 may be the floating amount of the distance; in the case where the user performs a "pull-back" operation on the chassis 10 through the operation lever 20, the distance between the chassis 10 and the reference increases, and when the user "pulls-back" the chassis 10 to the extreme position through the operation lever 20, the distance between the chassis 10 and the reference becomes s+s2, in other words, S2 may be the floating amount of the distance. If the user reciprocally pushes and pulls the chassis 10 by the operation lever 20, the distance between the chassis 10 and the reference object can reciprocally change within the range of [ S-S1, s+s2 ].

Referring to fig. 8, in other embodiments, S may be an initial distance between the chassis 10 and the reference object, that is, a distance between the chassis 10 and the reference object before the distance between the chassis 10 and the reference object is reciprocally changed. Wherein the reference is located at a rear position of the passive cleaning device 100 on the forward path, such as a rear wall surface. In the case where the user performs a "push-forward" operation on the chassis 10 through the operation lever 20, the distance between the chassis 10 and the reference increases, and when the user "pushes forward" the chassis 10 to the limit position through the operation lever 20, the distance between the chassis 10 and the reference becomes s+s2, in other words, S2 may be the floating amount of the distance; in the case where the user performs a "pull-back" operation on the chassis 10 through the operation lever 20, the distance between the chassis 10 and the reference object decreases, and the distance between the chassis 10 and the reference object becomes S-S1 when the user "pulls-back" the chassis 10 to the extreme position through the operation lever 20, in other words, S1 may be the amount of floating of the distance. If the user reciprocally pushes and pulls the chassis 10 by the operation lever 20, the distance between the chassis 10 and the reference object can reciprocally change within the range of [ S-S1, s+s2 ].

It should be noted that, in some embodiments, the reference object may be a wall in a building or an object (such as a sofa, a table, or a refrigerator) fixedly placed on the surface 200 to be cleaned.

Wherein s1 and s2 may be the same or different. s1 and s2 are both preset distances. The predetermined distance may be an empirical value, or a statistical value after the processor 40 analyzes the usage habits of the user (as reflected by the historical control data), and is a known value.

Referring to fig. 5, in still other embodiments, the detection assembly 30 includes a position detection sensor, and the detection data includes a coordinate position of the chassis 10 acquired by the position detection sensor. At this time, 0311: in the event that the sensed data reciprocally varies over the range of [ X-a, x+b ], determining that the passive cleaning device 100 is cleaning stubborn stains; wherein X is a basic value of the detection data, a is a floating-down amount of the detection data, b is a floating-up amount of the detection data, and the method comprises the following steps:

03115: in the case where the coordinate position of the chassis 10 reciprocally varies within the range of [ a-a1, a+a2], it is determined that the passive cleaning device 100 is cleaning stubborn stains.

With reference to fig. 2, the one or more processors 40 are capable of executing the method in 03115, i.e., the one or more processors 40 are configured to determine that the passive cleaning device 100 is cleaning stubborn stains in the event that the coordinate position of the chassis 10 reciprocally varies within the range of [ a-a1, a+a2 ].

In some embodiments, a may be the initial coordinate position of the chassis 10, i.e., the coordinate position of the chassis 10 before the coordinate position of the chassis 10 is not reciprocally changed. In the case where the user performs a "push-forward" operation on the chassis 10 through the operation lever 20, the coordinate position of the chassis 10 changes, and the coordinate position of the chassis 10 becomes a-a1 when the user "pushes forward" the chassis 10 to the limit position through the operation lever 20; in the case where the user performs a "pull-back" operation on the chassis 10 through the operation lever 20, the coordinate position of the chassis 10 changes, and when the user "pulls-back" the chassis 10 to the extreme position through the operation lever 20, the coordinate position of the chassis 10 becomes a+a2. If the user reciprocally pushes and pulls the chassis 10 by the operation lever 20, the coordinate position of the chassis 10 can reciprocally change within the range of [ a-a1, a+a2 ].

Wherein a1 and a2 may be the same or different. a1 and a2 are both preset coordinate variation values. The predetermined coordinate change value may be an empirical value, or a statistical value after the processor 40 analyzes the usage habit of the user (reflected by the historical control data), and is a known value.

Referring to fig. 9, in some embodiments 031: determining from the detection data whether the passive cleaning device 100 is reciprocating within the same cleaning area, and if so, determining that the passive cleaning device 100 is cleaning stubborn stains, comprising:

0313: determining that the passive cleaning device 100 is cleaning stubborn stains when the detection data reciprocally changes within the range of [ X-a, x+b ] and the frequency of the reciprocal change of the detection data is greater than or equal to a preset frequency; wherein X is a basic value of the detection data, a is a floating amount of the detection data, and b is a floating amount of the detection data.

Referring to fig. 2, the one or more processors 40 are capable of executing the method in 0313, i.e., the one or more processors 40 are configured to determine that the passive cleaning device 100 is cleaning stubborn stains when the detection data reciprocally changes within the range of [ X-a, x+b ] and the frequency of the reciprocal change of the detection data is greater than or equal to a preset frequency; wherein X is a basic value of the detection data, a is a floating amount of the detection data, and b is a floating amount of the detection data.

Since the user may occasionally change the detection data reciprocally in the range of [ X-a, x+b ] during the normal cleaning of the same surface 200 to be cleaned by manipulating the passive cleaning apparatus 100, for example, the user may reciprocally change the pitch angle P of the lever 20 in the range of [ P-m1, p+m2], in this case, the processor 40 may also determine that the passive cleaning apparatus 100 is cleaning stubborn stains, so as to adjust the working state of at least part of the components in the passive cleaning apparatus 100, however, the user is not cleaning stubborn stains at this time, and if the user determines only according to the above conditions, erroneous determination is easily caused, resulting in poor intellectualization of the passive cleaning apparatus 100. However, generally, when the user manipulates the passive cleaning device 100 to clean stubborn stains, the operation state of the user becomes more urgent, and thus the frequency of the detection data reciprocally changing within the range of [ X-a, x+b ] is large. Thus, compared to the processor 40 analyzing whether the detection data is reciprocally changed within the range of [ X-a, x+b ] to determine whether the passive cleaning device 100 is cleaning stubborn stains, the processor 40 simultaneously analyzes whether the detection data is reciprocally changed within the range of [ X-a, x+b ] and whether the frequency of the reciprocal change of the detection data is greater than or equal to the preset frequency to determine whether the passive cleaning device 100 is cleaning stubborn stains, which can improve the accuracy of the analysis result of the processor 40, prevent the processor 40 from misjudging to affect the normal use of the user, and enhance the intellectualization of the passive cleaning device 100.

The predetermined frequency may be a critical frequency for determining whether the passive cleaning device 100 is cleaning stubborn stains. The preset frequency may be known data, which may be an empirical value obtained before the passive cleaning apparatus 100 is shipped, a set value input when the passive cleaning apparatus 100 is manually used after the passive cleaning apparatus 100 is shipped, or an empirical value obtained by the processor 40 processing the historical data after the passive cleaning apparatus 100 is shipped.

In certain embodiments, 031: determining from the detection data whether the passive cleaning device 100 is reciprocating within the same cleaning area, and if so, determining that the passive cleaning device 100 is cleaning stubborn stains, comprising:

0315: when the detection data change reciprocally in the range of [ X-a, X+b ], and the duration of the reciprocal change of the detection data is longer than or equal to a first preset duration, determining that the passive cleaning equipment cleans stubborn stains; wherein X is a basic value of the detection data, a is a floating amount of the detection data, and b is a floating amount of the detection data.

The one or more processors 40 are capable of performing the method of 0315, i.e. the one or more processors 40 are configured to determine that the passive cleaning device is cleaning stubborn stains when the detection data reciprocally changes within the range of [ X-a, x+b ] and the duration of the reciprocal change of the detection data is greater than or equal to a first preset duration; wherein X is a basic value of the detection data, a is a floating amount of the detection data, and b is a floating amount of the detection data.

Since the user may occasionally change the detection data reciprocally in the range of [ X-a, x+b ] during the normal cleaning of the same surface 200 to be cleaned by manipulating the passive cleaning apparatus 100, for example, the user may reciprocally change the pitch angle P of the lever 20 in the range of [ P-m1, p+m2], in this case, the processor 40 may also determine that the passive cleaning apparatus 100 is cleaning stubborn stains, so as to adjust the working state of at least part of the components in the passive cleaning apparatus 100, however, the user is not cleaning stubborn stains at this time, and if the user determines only according to the above conditions, erroneous determination is easily caused, resulting in poor intellectualization of the passive cleaning apparatus 100. However, generally, when the user manipulates the passive cleaning apparatus 100 to clean stubborn stains, if stubborn stains are not cleaned all the time, the user's operation cleaning time may be long, and thus the period of time in which the detection data reciprocally changes in the range of [ X-a, x+b ] is long. Thus, compared to the processor 40 analyzing whether the detection data is reciprocally changed within the range of [ X-a, x+b ] to determine whether the passive cleaning device 100 is cleaning stubborn stains on the surface to be cleaned 200, the processor 40 simultaneously analyzes whether the detection data is reciprocally changed within the range of [ X-a, x+b ], and whether the duration of the reciprocal change of the detection data is greater than or equal to the first preset duration, so as to determine whether the passive cleaning device 100 is cleaning stubborn stains on the surface to be cleaned 200, which can improve the accuracy of the analysis result of the processor 40, prevent the processor 40 from erroneous judgment, and enhance the intellectualization of the passive cleaning device 100.

The first preset duration may be a critical duration for determining whether the passive cleaning device 100 is cleaning stubborn stains on the surface 200 to be cleaned. The first preset time period may be known data, which may be an empirical value obtained before the passive cleaning device 100 is shipped, a set value input when the passive cleaning device 100 is manually used after the passive cleaning device 100 is shipped, or a statistical value obtained by processing historical data by the processor 40 after the passive cleaning device 100 is shipped.

In some embodiments, the processor 40 can also analyze whether the detected data reciprocally changes within the range of [ X-a, x+b ], whether the frequency of the detected data reciprocally changes is greater than or equal to a preset frequency, and whether the duration of the detected data reciprocally changes is greater than or equal to a first preset duration, so as to determine whether the passive cleaning device 100 is cleaning stubborn stains, thereby further improving the accuracy of the analysis result of the processor 40, preventing the processor 40 from erroneous judgment, and enhancing the intellectualization of the passive cleaning device 100.

In particular, referring to fig. 10, in some embodiments, where the detection assembly 30 includes an angle detection sensor, the detection data includes a pitch angle P between the lever 20 of the passive cleaning device 100 and the chassis 10 acquired by the angle detection sensor. At this time, 0313: when the detection data reciprocally changes within the range of [ X-a, x+b ], and the frequency of the reciprocal change of the detection data is greater than or equal to the preset frequency, determining that the passive cleaning device 100 is cleaning stubborn stains, comprising:

03131: in the case where the pitch angle P of the operation lever 20 reciprocally varies within the range of [ P-m1, p+m2], and the frequency of the reciprocal variation of the pitch angle P of the operation lever 20 within the range of [ P-m1, p+m2] is greater than or equal to the preset frequency, it is determined that the passive cleaning device 100 is cleaning stubborn stains.

Referring to fig. 2, the one or more processors 40 can perform the method in 03131, namely, determine that the passive cleaning device 100 is cleaning stubborn stains in the case where the pitch angle P of the lever 20 reciprocally varies within the range of [ P-m1, p+m2], and the frequency of the reciprocal variation of the pitch angle P of the lever 20 within the range of [ P-m1, p+m2] is greater than or equal to a preset frequency.

Referring to fig. 6, in some embodiments, P may be an initial pitch angle P between the lever 20 and the chassis 10, i.e., a pitch angle P between the lever 20 and the chassis 10 before the pitch angle P between the lever 20 and the chassis 10 is not reciprocally changed. Referring to fig. 6 (a), in the case where the user performs a "push-forward" operation on the chassis 10 through the lever 20, the pitch angle P between the lever 20 and the chassis 10 decreases, and the pitch angle P between the lever 20 and the chassis 10 becomes P-m1 when the user "pushes forward" the chassis 10 to the limit position through the lever 20, in other words, m1 may be a floating amount of the pitch angle P; referring to fig. 6 (b), in the case where the user performs a "pull-back" operation on the chassis 10 through the lever 20, the pitch angle P between the lever 20 and the chassis 10 increases, and the pitch angle P between the lever 20 and the chassis 10 becomes p+m2 when the user "pulls-back" the chassis 10 to the limit position through the lever 20, in other words, m2 may be the floating amount of the pitch angle P. If the user reciprocally pushes the chassis 10 forward and pulls the chassis by the lever 20, the pitch angle P of the lever 20 can reciprocally change within the range of [ P-m1, p+m2 ]. Wherein m1 and m2 may be the same or different. m1 and m2 are both preset angles. The predetermined angle may be an empirical value considered to be specified, or may be a statistical value after the processor 40 analyzes the user's usage habits (reflected by historical control data).

In the case where the pitch angle P between the lever 20 and the chassis 10 reciprocally varies within the range of [ P-m1, p+m2], and the frequency of the reciprocal variation of the pitch angle P of the lever 20 within the range of [ P-m1, p+m2] is greater than or equal to the preset frequency, it is indicated that the user is in focus cleaning of a certain area to be cleaned, that is, the pitch angle P between the lever 20 and the chassis 10 reciprocally varies within the range of [ P-m1, p+m2], and the frequency of the reciprocal variation of the pitch angle P of the lever 20 within the range of [ P-m1, p+m2] is greater than or equal to the preset frequency, the processor 40 determines that the passive cleaning apparatus 100 cleans stubborn stains on the surface 200 to be cleaned. At this time, if the user manually adjusts the cleaning gear of the passive cleaning device 100 to the surface 200 to be cleaned, the operation of the passive cleaning device 100 is more complex and the intellectualization is worse, and in the present application, the processor 40 controls the passive cleaning device 100 to actively adjust the working state of at least part of the components in the passive cleaning device 100, so as to clean stubborn stains in a more suitable state, thereby saving trouble and effort for the user, and ensuring the cleaning effect to promote the intelligent attribute of the passive cleaning device 100.

In addition, compared to the processor 40 analyzing whether the pitch angle P between the lever 20 and the chassis 10 reciprocally varies within the range of [ P-m1, p+m2] to determine whether the passive cleaning apparatus 100 cleans stubborn stains on the surface 200 to be cleaned, the processor 40 simultaneously analyzes whether the pitch angle P between the lever 20 and the chassis 10 reciprocally varies within the range of [ P-m1, p+m2], and whether the frequency of the pitch angle P of the lever 20 reciprocally varies within the range of [ P-m1, p+m2] is greater than or equal to a preset frequency, so as to determine whether the passive cleaning apparatus 100 cleans stubborn stains on the surface 200 to be cleaned, which can promote the accuracy of the analysis result of the processor 40, prevent erroneous judgment of the processor 40, and enhance the intellectualization of the passive cleaning apparatus 100.

Referring to fig. 10, in other embodiments, where the detection assembly 30 includes a distance detection sensor, the detection data includes the distance of the chassis 10 relative to the reference acquired by the distance detection sensor. At this time, 0313: when the detection data reciprocally changes within the range of [ X-a, x+b ], and the frequency of the reciprocal change of the detection data is greater than or equal to the preset frequency, determining that the passive cleaning device 100 is cleaning stubborn stains, comprising:

03133: in the case where the distance between the chassis 10 and the reference object reciprocally varies within the range of [ S-S1, s+s2], and the frequency of the reciprocal variation of the distance between the chassis 10 and the reference object within the range of [ S-S1, s+s2] is greater than or equal to the preset frequency, it is determined that the passive cleaning apparatus 100 is cleaning stubborn stains.

Referring to fig. 2, the one or more processors 40 are capable of performing the method in 03133, i.e., the one or more processors 40 are configured to determine that the passive cleaning device 100 is cleaning stubborn stains in the event that the distance between the chassis 10 and the reference object varies reciprocally over the range of [ S-S1, s+s2], and the frequency of the reciprocal variation between the chassis 10 and the reference object over the range of [ S-S1, s+s2] is greater than or equal to a preset frequency.

Referring to fig. 7, in some embodiments, S may be an initial distance between the chassis 10 and the reference object, that is, a distance between the chassis 10 and the reference object before the distance between the chassis 10 and the reference object is reciprocally changed. Wherein the reference may be located in a forward position of the passive cleaning device 100 on the forward path. In the case where the user performs a "push-forward" operation on the chassis 10 through the operation lever 20, the distance between the chassis 10 and the reference object decreases, and the distance between the chassis 10 and the reference object becomes S-S1 when the user "pushes forward" the chassis 10 to the limit position through the operation lever 20, in other words, S1 may be the floating amount of the distance; in the case where the user performs a "pull-back" operation on the chassis 10 through the operation lever 20, the distance between the chassis 10 and the reference increases, and when the user "pulls-back" the chassis 10 to the extreme position through the operation lever 20, the distance between the chassis 10 and the reference becomes s+s2, in other words, S2 may be the floating amount of the distance. If the user reciprocally pushes and pulls the chassis 10 by the operation lever 20, the distance between the chassis 10 and the reference object can reciprocally change within the range of [ S-S1, s+s2 ].

Referring to fig. 8, in other embodiments, S may be an initial distance between the chassis 10 and the reference object, that is, a distance between the chassis 10 and the reference object before the distance between the chassis 10 and the reference object is reciprocally changed. Wherein the reference may be located at a rear position of the passive cleaning device 100 on the forward path. In the case where the user performs a "push-forward" operation on the chassis 10 through the operation lever 20, the distance between the chassis 10 and the reference increases, and when the user "pushes forward" the chassis 10 to the limit position through the operation lever 20, the distance between the chassis 10 and the reference becomes s+s2, in other words, S2 may be the floating amount of the distance; in the case where the user performs a "pull-back" operation on the chassis 10 through the operation lever 20, the distance between the chassis 10 and the reference object decreases, and the distance between the chassis 10 and the reference object becomes S-S1 when the user "pulls-back" the chassis 10 to the extreme position through the operation lever 20, in other words, S1 may be the amount of floating of the distance. If the user reciprocally pushes and pulls the chassis 10 by the operation lever 20, the distance between the chassis 10 and the reference object can reciprocally change within the range of [ S-S1, s+s2 ]. It should be noted that, in some embodiments, the reference object may be a wall in a building or an object (such as a sofa, a table, or a refrigerator) fixedly placed on the surface 200 to be cleaned. Wherein s1 and s2 may be the same or different. s1 and s2 are both preset distances. The preset distance may be an empirical value considered to be specified, or may be a statistical value after the processor 40 analyzes the usage habits of the user (as reflected by the historical control data).

In the case where the distance between the chassis 10 and the reference object reciprocally varies within the range of [ S-S1, s+s2], and the frequency of the reciprocal variation of the distance between the chassis 10 and the reference object within the range of [ S-S1, s+s2] is greater than or equal to the preset frequency, it is indicated that the user is in focus of cleaning a certain area to be cleaned, that is, the distance between the chassis 10 and the reference object reciprocally varies within the range of [ S-S1, s+s2], and the frequency of the reciprocal variation of the distance between the chassis 10 and the reference object within the range of [ S-S1, s+s2] is greater than or equal to the preset frequency, the processor 40 determines that the passive cleaning device 100 cleans stubborn stains on the surface 200 to be cleaned. At this time, if the user manually adjusts the cleaning gear of the passive cleaning device 100 to the surface 200 to be cleaned, the operation of the passive cleaning device 100 is more complex and the intellectualization is worse, and in the present application, the processor 40 controls the passive cleaning device 100 to actively adjust the working state of at least part of the components in the passive cleaning device 100, so as to clean stubborn stains in a more suitable state, thereby saving trouble and effort for the user, and ensuring the cleaning effect to promote the intelligent attribute of the passive cleaning device 100.

In addition, compared to the processor 40 analyzing whether the distance between the chassis 10 and the reference object is reciprocally changed within the range of [ S-S1, s+s2] to determine whether the passive cleaning apparatus 100 cleans stubborn stains on the surface 200 to be cleaned, the processor 40 simultaneously analyzes whether the distance between the chassis 10 and the reference object is reciprocally changed within the range of [ S-S1, s+s2], and whether the frequency of the reciprocal change of the distance between the chassis 10 and the reference object within the range of [ S-S1, s+s2] is greater than or equal to the preset frequency, so as to determine whether the passive cleaning apparatus 100 cleans stubborn stains on the surface 200 to be cleaned, which can improve the accuracy of the analysis result of the processor 40, prevent the processor 40 from misjudging that affects the normal use of the user, and enhance the intellectualization of the passive cleaning apparatus 100.

Referring to fig. 10, in still other embodiments, the detection assembly 30 includes a position detection sensor, and the detection data includes a coordinate position of the chassis 10 acquired by the position detection sensor. At this time, 0313: when the detection data reciprocally changes within the range of [ X-a, x+b ], and the frequency of the reciprocal change of the detection data is greater than or equal to the preset frequency, determining that the passive cleaning device 100 is cleaning stubborn stains, comprising:

03135: in the case where the coordinate position of the chassis 10 reciprocally changes within the range of [ a-a1, a+a2], and the frequency of the reciprocal change of the coordinate position of the chassis 10 within the range of [ a-a1, a+a2] is greater than or equal to the preset frequency, it is determined that the passive cleaning device 100 is cleaning stubborn stains.

Referring to fig. 2, the one or more processors 40 are capable of performing the method in 03135, i.e., the one or more processors 40 are configured to determine that the passive cleaning device 100 is cleaning stubborn stains if the coordinate position of the chassis 10 reciprocally varies within the range of [ a-a1, a+a2], and the frequency of the reciprocal variation of the coordinate position of the chassis 10 within the range of [ a-a1, a+a2] is greater than or equal to a preset frequency.

In some embodiments, a may be the initial coordinate position of the chassis 10, i.e., the coordinate position of the chassis 10 before the coordinate position of the chassis 10 is not reciprocally changed. In the case where the user performs a "push-forward" operation on the chassis 10 through the operation lever 20, the coordinate position of the chassis 10 changes, and the coordinate position of the chassis 10 becomes a-a1 when the user "pushes forward" the chassis 10 to the limit position through the operation lever 20; in the case where the user performs a "pull-back" operation on the chassis 10 through the operation lever 20, the coordinate position of the chassis 10 changes, and when the user "pulls-back" the chassis 10 to the extreme position through the operation lever 20, the coordinate position of the chassis 10 becomes a+a2. If the user reciprocally pushes and pulls the chassis 10 by the operation lever 20, the coordinate position of the chassis 10 can reciprocally change within the range of [ a-a1, a+a2 ]. Wherein a1 and a2 may be the same or different. a1 and a2 are both preset coordinate variation values. The preset coordinate change value may be a set value considered to be specified, or may be an empirical value established after the processor 40 analyzes the usage habit of the user (reflected by the history control data), and is a known value.

In the case where the coordinate position of the chassis 10 reciprocally varies within the range of [ a-a1, a+a2] and the frequency of the reciprocal variation of the coordinate position of the chassis 10 within the range of [ a-a1, a+a2] is greater than or equal to the preset frequency, it is indicated that the user is focusing on cleaning a certain cleaning area, that is, in the case where the coordinate position of the chassis 10 reciprocally varies within the range of [ a-a1, a+a2] and the frequency of the reciprocal variation of the coordinate position of the chassis 10 within the range of [ a-a1, a+a2] is greater than or equal to the preset frequency, the processor 40 determines that the passive cleaning device 100 is cleaning stubborn stains on the cleaning surface 200. At this time, if the user manually adjusts the cleaning gear of the passive cleaning device 100 to the surface 200 to be cleaned, the operation of the passive cleaning device 100 is more complex and the intellectualization is worse, and in the present application, the processor 40 controls the passive cleaning device 100 to actively adjust the working state of at least part of the components in the passive cleaning device 100, so as to clean stubborn stains in a more suitable state, thereby saving trouble and effort for the user, ensuring the cleaning effect, and simultaneously improving the intelligent attribute of the passive cleaning device 100.

In addition, compared to the processor 40 analyzing whether the coordinate position of the chassis 10 reciprocally varies within the range of [ a-a1, a+a2] to determine whether the passive cleaning device 100 is cleaning stubborn stains on the surface 200 to be cleaned, the processor 40 simultaneously analyzes whether the coordinate position of the chassis 10 reciprocally varies within the range of [ a-a1, a+a2], and whether the frequency of the reciprocal variation of the coordinate position of the chassis 10 within the range of [ a-a1, a+a2] is greater than or equal to a preset frequency, so as to determine whether the passive cleaning device 100 is cleaning stubborn stains on the surface 200 to be cleaned can improve the accuracy of the analysis result of the processor 40, prevent the processor 40 from misjudging that affects the normal use of the user, and enhance the intellectualization of the passive cleaning device 100.

In some embodiments, where the detection assembly 30 includes an angle detection sensor, the detection data includes a pitch angle P between the lever 20 of the passive cleaning device 100 and the chassis 10 acquired by the angle detection sensor. At this time, 0315: when the detection data reciprocally changes in the range of [ X-a, X+b ], and the duration of the reciprocal change of the detection data is longer than or equal to a first preset duration, determining that the passive cleaning device is cleaning stubborn stains, including:

03151: in the case where the pitch angle P of the operation lever 20 reciprocally changes within the range of [ P-m1, p+m2], and the duration of the reciprocal change of the pitch angle P of the operation lever 20 within the range of [ P-m1, p+m2] is equal to or longer than the first preset duration, it is determined that the passive cleaning device 100 is cleaning stubborn stains.

Referring to fig. 2, the one or more processors 40 are capable of performing the method of 03151, i.e., determining that the passive cleaning device 100 is cleaning stubborn stains in the case where the pitch angle P of the lever 20 reciprocally varies within the range of [ P-m1, p+m2], and the duration of the reciprocal variation of the pitch angle P of the lever 20 within the range of [ P-m1, p+m2] is equal to or longer than a first preset duration.

In the case where the pitch angle P between the lever 20 and the chassis 10 reciprocally varies within the range of [ P-m1, p+m2], and the duration of the reciprocal variation of the pitch angle P of the lever 20 within the range of [ P-m1, p+m2] is equal to or longer than the first preset time period, it is indicated that the user is focusing on cleaning a certain area to be cleaned, that is, in the case where the pitch angle P between the lever 20 and the chassis 10 reciprocally varies within the range of [ P-m1, p+m2], and the duration of the reciprocal variation of the pitch angle P of the lever 20 within the range of [ P-m1, p+m2] is equal to or longer than the first preset time period, the processor 40 determines that the passive cleaning apparatus 100 cleans stubborn stains on the surface 200 to be cleaned. At this time, if the user manually adjusts the cleaning gear of the passive cleaning device 100 to the surface 200 to be cleaned, the operation of the passive cleaning device 100 is more complex and the intellectualization is worse, and in the present application, the processor 40 controls the passive cleaning device 100 to actively adjust the working state of at least part of the components in the passive cleaning device 100, so as to clean stubborn stains in a more suitable state, thereby saving trouble and effort for the user, ensuring the cleaning effect, and simultaneously improving the intelligent attribute of the passive cleaning device 100.

In addition, compared to the processor 40 analyzing whether the pitch angle P between the lever 20 and the chassis 10 reciprocally varies within the range of [ P-m1, p+m2] to determine whether the passive cleaning apparatus 100 cleans stubborn stains on the surface 200 to be cleaned, the processor 40 simultaneously analyzes whether the pitch angle P between the lever 20 and the chassis 10 reciprocally varies within the range of [ P-m1, p+m2], and the duration of the reciprocal variation of the pitch angle P of the lever 20 within the range of [ P-m1, p+m2] is longer than or equal to the first preset duration to determine whether the passive cleaning apparatus 100 cleans stubborn stains on the surface 200 to be cleaned can improve the accuracy of the analysis result of the processor 40, prevent erroneous judgment from occurring by the processor 40, and enhance the intellectualization of the passive cleaning apparatus 100.

In other embodiments, where the detection assembly 30 includes a distance detection sensor, the detection data includes the distance of the chassis 10 relative to the reference acquired by the distance detection sensor. At this time, 0315: when the detection data reciprocally changes in the range of [ X-a, X+b ], and the duration of the reciprocal change of the detection data is longer than or equal to a first preset duration, determining that the passive cleaning device is cleaning stubborn stains, including:

03153: in the case where the distance between the chassis 10 and the reference object reciprocally varies within the range of [ S-S1, s+s2], and the duration of the reciprocal variation of the distance between the chassis 10 and the reference object within the range of [ S-S1, s+s2] is equal to or longer than the first preset period, it is determined that the passive cleaning device 100 is cleaning stubborn stains.

Referring to fig. 2, the one or more processors 40 are capable of executing the method in 03153, i.e., the one or more processors 40 are configured to determine that the passive cleaning device 100 is cleaning stubborn stains if the distance between the chassis 10 and the reference object varies reciprocally over the range of [ S-S1, s+s2], and the duration of the reciprocal variation over the range of [ S-S1, s+s2] is greater than or equal to a first preset duration.

In the case where the distance between the chassis 10 and the reference object reciprocally varies within the range of [ S-S1, s+s2], and the duration of the reciprocal variation of the distance between the chassis 10 and the reference object within the range of [ S-S1, s+s2] is equal to or greater than a first preset duration, then the processor 40 will determine that the passive cleaning device 100 is cleaning stubborn stains on the surface 200 to be cleaned, indicating that the user is cleaning emphasis on a certain area to be cleaned, i.e., where the distance between the chassis 10 and the reference object reciprocally varies within the range of [ S-S1, s+s2], and the duration of the reciprocal variation of the distance between the chassis 10 and the reference object within the range of [ S-S1, s+s2] is equal to or greater than the first preset duration. At this time, if the user manually adjusts the cleaning gear of the passive cleaning device 100 to the surface 200 to be cleaned, the operation of the passive cleaning device 100 is more complex and the intellectualization is worse, and in the present application, the processor 40 controls the passive cleaning device 100 to actively adjust the working state of at least part of the components in the passive cleaning device 100, so as to clean stubborn stains in a more suitable state, thereby saving trouble and effort for the user, and ensuring the cleaning effect to promote the intelligent attribute of the passive cleaning device 100.

In addition, compared to the processor 40 analyzing whether the distance between the chassis 10 and the reference object is reciprocally changed within the range of [ S-S1, s+s2] to determine whether the passive cleaning apparatus 100 cleans stubborn stains on the surface to be cleaned 200, the processor 40 simultaneously analyzes whether the distance between the chassis 10 and the reference object is reciprocally changed within the range of [ S-S1, s+s2], and the duration of the reciprocal change of the distance between the chassis 10 and the reference object within the range of [ S-S1, s+s2] is longer than or equal to the first preset duration to determine whether the passive cleaning apparatus 100 cleans stubborn stains on the surface to be cleaned 200, the accuracy of the analysis result of the processor 40 can be improved, the processor 40 is prevented from misjudging to affect the normal use of the user, and the intellectualization of the passive cleaning apparatus 100 is enhanced.

In still other embodiments, the detection assembly 30 includes a position detection sensor, and the detection data includes a coordinate position of the chassis 10 acquired by the position detection sensor. At this time, 0315: when the detection data reciprocally changes in the range of [ X-a, X+b ], and the duration of the reciprocal change of the detection data is longer than or equal to a first preset duration, determining that the passive cleaning device is cleaning stubborn stains, including:

03155: in the case where the coordinate position of the chassis 10 reciprocally changes within the range of [ a-a1, a+a2], and the coordinate position of the chassis 10 reciprocally changes within the range of [ a-a1, a+a2] for a period of time equal to or longer than a first preset period of time, it is determined that the passive cleaning device 100 is cleaning stubborn stains.

Referring to fig. 2, the one or more processors 40 are capable of executing the method in 03155, i.e., the one or more processors 40 are configured to determine that the passive cleaning device 100 is cleaning stubborn stains when the coordinate position of the chassis 10 reciprocally changes within the range of [ a-a1, a+a2] and the coordinate position of the chassis 10 reciprocally changes within the range of [ a-a1, a+a2] for a duration equal to or greater than a first preset duration.

In some embodiments, a may be the initial coordinate position of the chassis 10, i.e., the coordinate position of the chassis 10 before the coordinate position of the chassis 10 is not reciprocally changed. In the case where the user performs a "push-forward" operation on the chassis 10 through the operation lever 20, the coordinate position of the chassis 10 changes, and the coordinate position of the chassis 10 becomes a-a1 when the user "pushes forward" the chassis 10 to the limit position through the operation lever 20; in the case where the user performs a "pull-back" operation on the chassis 10 through the operation lever 20, the coordinate position of the chassis 10 changes, and when the user "pulls-back" the chassis 10 to the extreme position through the operation lever 20, the coordinate position of the chassis 10 becomes a+a2. If the user reciprocally pushes and pulls the chassis 10 by the operation lever 20, the coordinate position of the chassis 10 can reciprocally change within the range of [ a-a1, a+a2 ]. Wherein a1 and a2 may be the same or different. a1 and a2 are both preset coordinate variation values. The preset coordinate change value may be an empirical value considered to be specified, or may be a statistical value after the processor 40 analyzes the usage habit of the user (reflected by the history control data).

In the case where the coordinate position of the chassis 10 reciprocally changes within the range of [ a-a1, a+a2] and the period of time during which the coordinate position of the chassis 10 reciprocally changes within the range of [ a-a1, a+a2] is equal to or longer than the first preset period of time, it is indicated that the user is focusing on cleaning a certain area to be cleaned, that is, in the case where the coordinate position of the chassis 10 reciprocally changes within the range of [ a-a1, a+a2] and the period of time during which the coordinate position of the chassis 10 reciprocally changes within the range of [ a-a1, a+a2] is equal to or longer than the first preset period of time, the processor 40 determines that the passive cleaning device 100 is cleaning stubborn stains. At this time, if the user manually adjusts the cleaning gear of the passive cleaning device 100 to the surface 200 to be cleaned, the operation of the passive cleaning device 100 is more complex and the intellectualization is worse, and in the present application, the processor 40 controls the passive cleaning device 100 to actively adjust the working state of at least part of the components in the passive cleaning device 100, so as to clean stubborn stains in a more suitable state, thereby saving trouble and effort for the user, and ensuring the cleaning effect to promote the intelligent attribute of the passive cleaning device 100.

In addition, compared to the processor 40 analyzing whether the coordinate position of the chassis 10 reciprocally varies within the range of [ a-a1, a+a2] to determine whether the passive cleaning device 100 is cleaning stubborn stains, the processor 40 simultaneously analyzes whether the coordinate position of the chassis 10 reciprocally varies within the range of [ a-a1, a+a2], and the duration of the reciprocal variation of the coordinate position of the chassis 10 within the range of [ a-a1, a+a2] is greater than or equal to the first preset duration to determine whether the passive cleaning device 100 is cleaning stubborn stains, which can improve the accuracy of the analysis result of the processor 40, prevent the processor 40 from misjudging that affects the normal use of the user, and enhance the intellectualization of the passive cleaning device 100.

Referring to fig. 11, in some embodiments, the cleaning assembly 50 may further include a rotating member 53, where the rotating member 53 is disposed on the chassis 10 and is capable of rotating following the movement of the passive cleaning apparatus 100 when the user controls the passive cleaning apparatus 100 to move; as shown in fig. 11, when the passive cleaning apparatus 100 moves forward (moves in a "forward pushing" direction), the rotating member 53 rotates counterclockwise by the frictional force of the surface to be cleaned 200, and when the passive cleaning apparatus 100 moves backward (moves in a "backward pulling" direction), the rotating member 53 rotates clockwise by the frictional force of the surface to be cleaned 200; the detecting assembly 30 may include a wheel speed meter, and the detected data includes a first rotational stroke of the rotating member 53 rotated forward (counterclockwise) with respect to the surface to be cleaned 200 and a second rotational stroke of the rotating member 53 rotated backward (clockwise) with respect to the surface to be cleaned 200, which are acquired by the wheel speed meter, with a difference therebetween. As shown in fig. 11, one of the forward rotation and the reverse rotation is clockwise rotation, and the other is counterclockwise rotation, that is, the rotating member 53 can be rotated clockwise by the friction force of the surface to be cleaned 200, or the rotating member 53 can be rotated counterclockwise by the friction force of the surface to be cleaned 200. In the present application, the forward rotation is described as counterclockwise rotation, and the reverse rotation is described as clockwise rotation.

Specifically, in the case where the passive cleaning apparatus 100 reciprocates in the same cleaning region with respect to the surface to be cleaned 200, for example, as shown in fig. 11, in the case where the passive cleaning apparatus 100 moves forward, the rotating member 53 rotates counterclockwise by the frictional force of the surface to be cleaned 200, and at this time, the wheel speed meter can collect the first rotational stroke of the rotating member 53 rotating forward with respect to the surface to be cleaned 200; in the case where the passive cleaning apparatus 100 moves backward, the rotation member 53 rotates clockwise by the frictional force of the surface to be cleaned 200, and at this time, the wheel speed meter can collect the second rotational stroke of the rotation member 53 reversed with respect to the surface to be cleaned 200.

Referring to fig. 12, in some embodiments 031: determining from the detection data whether the passive cleaning device 100 is reciprocating within the same cleaning area, and if so, determining that the passive cleaning device 100 is cleaning stubborn stains, comprising:

0315: in the case where the difference is less than or equal to a preset difference, the passive cleaning device 100 is determined to be cleaning stubborn stains, the preset difference being less than the size of the cleaning area.

Referring to fig. 2, the one or more processors 40 are capable of performing the method of 0315, i.e., the one or more processors 40 are configured to determine that the passive cleaning device 100 is cleaning a stubborn stain if the difference is less than or equal to a preset difference, which is less than or equal to the size of the cleaning area.

Wherein the predetermined difference is a threshold value for determining whether the passive cleaning device 100 is cleaning stubborn stains. The preset difference value may be known data, which may be an empirical value obtained before the passive cleaning apparatus 100 is shipped, a set value input by a person using the passive cleaning apparatus 100 after the passive cleaning apparatus 100 is shipped, or an empirical value obtained by the processor 40 processing the historical data after the passive cleaning apparatus 100 is shipped. In some embodiments, the predetermined difference is less than or equal to the size of the cleaning zone, thereby indicating that the reciprocation of the chassis 10 relative to the surface 200 to be cleaned is within the same cleaning zone, and thus indicating that the user is cleaning stubborn stains on the surface 200 to be cleaned by controlling the reciprocation of the passive cleaning device 100 within the same cleaning zone.

Referring to fig. 13, in some embodiments 0315: in the event that the difference is less than or equal to the preset difference, determining that the passive cleaning device 100 is cleaning stubborn stains, comprising:

03151: in the case where the difference is less than or equal to the preset difference and the frequency at which the difference occurs is greater than the predetermined frequency, it is determined that the passive cleaning device 100 is cleaning stubborn stains.

Referring to fig. 2, the one or more processors 40 are capable of performing the method of 03151, i.e., the one or more processors 40 are configured to determine that the passive cleaning device 100 is cleaning a stubborn stain if the difference is less than or equal to a preset difference and the frequency at which the difference occurs is less than or equal to the preset difference is greater than a predetermined frequency.

Since the difference between the first rotation stroke and the second rotation stroke may be smaller than or equal to the preset difference during the normal cleaning process of the surface 200 to be cleaned by the passive cleaning apparatus 100, in this case, the processor 40 determines that the passive cleaning apparatus 100 is cleaning stubborn stains, so as to adjust the working state of at least part of the components in the passive cleaning apparatus 100, however, the user does not want to adjust the working state of at least part of the components at this time, which causes erroneous judgment, so that the intelligentization of the passive cleaning apparatus 100 is poor. However, generally, when the user manipulates the passive cleaning apparatus 100 to clean stubborn stains, the operation state of the user is more urgent, and the user generally uses a more urgent push-pull action to clean stubborn stains, so that the difference between the first rotation stroke and the second rotation stroke is less than or equal to the preset difference with a larger frequency. Thus, compared to the processor 40 analyzing whether the difference between the first rotation stroke and the second rotation stroke is smaller than or equal to the preset difference to determine whether the passive cleaning device 100 is cleaning stubborn stains, the processor 40 simultaneously analyzes whether the difference between the first rotation stroke and the second rotation stroke is smaller than or equal to the preset difference, and whether the frequency of the difference between the first rotation stroke and the second rotation stroke is smaller than or equal to the preset difference is greater than the preset frequency, so as to determine whether the passive cleaning device 100 is cleaning stubborn stains, so that the accuracy of the analysis result of the processor 40 can be improved, misjudgment of the processor 40 is prevented from influencing normal use of the user, and the intellectualization of the passive cleaning device 100 is enhanced.

Wherein the predetermined frequency may be a critical frequency for determining whether the passive cleaning device 100 is cleaning stubborn stains. The predetermined frequency may be known data, may be an empirical value obtained before the passive cleaning apparatus 100 is shipped, may be a set value input by a person using the passive cleaning apparatus 100 after the passive cleaning apparatus 100 is shipped, or may be an empirical value obtained by the processor 40 processing historical data after the passive cleaning apparatus 100 is shipped.

In certain embodiments, 0315: in the event that the difference is less than or equal to the preset difference, determining that the passive cleaning device 100 is cleaning stubborn stains, comprising:

03153: and under the condition that the difference value is smaller than or equal to the preset difference value, and the duration time of the difference value smaller than or equal to the preset difference value is longer than or equal to the second preset duration time, determining that the passive cleaning device cleans stubborn stains.

The one or more processors 40 are capable of performing the method in 03153, i.e., the one or more processors 40 are configured to determine that the passive cleaning device is cleaning stubborn stains when the difference is less than or equal to the preset difference and the duration of the difference less than or equal to the preset difference is greater than or equal to the second preset duration.

Since the difference between the first rotation stroke and the second rotation stroke may be less than or equal to the preset difference occasionally in the process of operating the passive cleaning apparatus 100 to clean the same surface 200 to be cleaned, in this case, the processor 40 may also determine that the passive cleaning apparatus 100 is cleaning stubborn stains, so as to adjust the working state of at least part of the components in the passive cleaning apparatus 100, however, the user is not cleaning stubborn stains at this time, if only judging according to the above conditions, misjudgment is easily caused, and the intelligentization of the passive cleaning apparatus 100 is poor. However, generally, when the user manipulates the passive cleaning apparatus 100 to clean stubborn stains, the user's operation cleaning time may be long, and thus the duration in which the difference between the first rotation stroke and the second rotation stroke is less than or equal to the preset difference is long. Thus, compared to the processor 40 only analyzing whether the difference is less than or equal to the preset difference to determine whether the passive cleaning device 100 is cleaning stubborn stains, the processor 40 simultaneously analyzes whether the difference is less than or equal to the preset difference, and whether the duration of the difference less than or equal to the preset difference is greater than or equal to the second preset duration, so as to determine whether the passive cleaning device 100 is cleaning stubborn stains, which can improve the accuracy of the analysis result of the processor 40, prevent the processor 40 from erroneous judgment, and enhance the intellectualization of the passive cleaning device 100.

The second preset time period may be a critical time period for determining whether the passive cleaning device 100 is cleaning stubborn stains. The second preset time period may be known data, which may be an empirical value obtained before the passive cleaning device 100 is shipped, a set value input when the passive cleaning device 100 is manually used after the passive cleaning device 100 is shipped, or a statistical value obtained by processing historical data by the processor 40 after the passive cleaning device 100 is shipped.

In some embodiments, the processor 40 can also analyze whether the difference is less than or equal to a preset difference, whether the frequency of the difference is less than or equal to the preset difference is greater than or equal to a preset frequency, and whether the duration of the difference is less than or equal to the preset difference is greater than or equal to a second preset duration, so as to determine whether the passive cleaning device 100 is cleaning stubborn stains, thereby further improving the accuracy of the analysis result of the processor 40, preventing the processor 40 from misjudging, and enhancing the intellectualization of the passive cleaning device 100.

In some embodiments, where the detection assembly 30 includes an image acquisition device, the detection data includes multiple frames of image data acquired by the image acquisition device. Specifically, the image capture device is capable of capturing images of stubborn stains on the surface 200 to be cleaned to obtain image data of a plurality of frames of images, and the processor 40 analyzes the plurality of frames of image data to determine whether the passive cleaning device 100 is cleaning stubborn stains. It should be noted that, in some embodiments, the image capturing device may be disposed on the chassis 10, the lever 20, or other components of the passive cleaning apparatus 100. The image acquisition device can comprise a visible light camera module, such as an RGB camera module, a black-and-white camera module and the like; the system may further include a depth camera module, such as a TOF camera module, a structured light camera module, a binocular camera module, etc., without limitation.

Specifically, referring to fig. 14, in some embodiments, 03: analyzing whether the passive cleaning device 100 is cleaning stubborn stains on the surface 200 to be cleaned based on the detection data, comprising:

034: analyzing a dirty region in each frame of image data;

035: acquiring the change rate of the dirt parameters of a dirt area in image data of a preset frame number; a kind of electronic device with high-pressure air-conditioning system

036: in the event that the rate of change of the parameter is less than a preset rate of change threshold, it is determined that the passive cleaning device 100 is cleaning a stubborn stain.

Referring to fig. 2, the one or more processors 40 are capable of executing the methods 034, 035, and 036, i.e., the one or more processors 40 are configured to analyze a dirty region in each frame of image data; acquiring the change rate of the dirt parameters of a dirt area in image data of a preset frame number; and determining that the passive cleaning device 100 is cleaning a stubborn stain if the rate of change of the parameter is less than the preset rate of change threshold.

The soiling parameters may include, among other things, one or more of the area, volume, and color of the soiling in the soiling area, without limitation herein. In the case that the change rate of the dirty parameter of the dirty region in the image data of the predetermined frame number is smaller than the preset change rate threshold, it is indicated that the dirty is difficult to be cleaned at this time, and thus, the processor 40 can determine that the passive cleaning apparatus 100 is cleaning the dirty, and at this time, the processor 40 can adjust the operation state of at least part of the components in the passive cleaning apparatus 100. For example, if the soil parameter is the area of soil in the soil region, the rate of change of the soil parameter is the degree of reduction in the area of soil, and if the rate of change of the parameter is less than a preset rate of change threshold, i.e., the degree of reduction in the area of soil is less, the processor 40 determines that the passive cleaning device 100 is cleaning stubborn soil; in the event that the rate of change of the parameter is greater than a preset rate of change threshold, i.e., the extent of reduction in the soil area is greater, the processor 40 determines that the passive cleaning device 100 is not cleaning stubborn soil. For another example, if the soil parameter is the color of the soil in the soil region, the rate of change of the soil parameter is the shade of the color of the soil, and the processor 40 determines that the passive cleaning device 100 is cleaning stubborn soil if the rate of change of the parameter is less than the preset rate of change threshold, i.e., the shade of the soil color is darker; in the event that the rate of change of the parameter is greater than a preset rate of change threshold, i.e., the stain color is less intense, the processor 40 determines that the passive cleaning device 100 is not cleaning stubborn stains; for example, when the user has soy sauce dropped on the ground during cooking and finds that the soy sauce has been air-dried after one day, and the passive cleaning device 100 is used for cleaning, the soy sauce cannot be cleaned well during normal cleaning, and at least part of the components of the passive cleaning device 100 need to be adjusted to assist the user in cleaning stubborn stains, so that time-saving and/or labor-saving effects are achieved.

The predetermined number of frames may be known data, which may be an empirical value obtained before the passive cleaning apparatus 100 is shipped, a set value input by a person using the passive cleaning apparatus 100 after the passive cleaning apparatus 100 is shipped, or an empirical value obtained by the processor 40 processing historical data after the passive cleaning apparatus 100 is shipped. That is, in some embodiments, the predetermined number of frames may be consecutive and adjacent ones of the plurality of frames of the image acquired by the image acquisition device. For example, the predetermined frame number may be 5 frames, and the image acquisition device acquires 10 frames of images, the acquisition of image data of the predetermined frame number may be: and acquiring the 2 nd frame, the 3 rd frame, the 4 th frame, the 5 th frame and the 6 th frame in the 10-frame image. At this time, the processor 40 can analyze the dirty region in each frame of image data in the 10 frames of images and acquire the change rates of the dirty parameters of the dirty regions in the 2 nd, 3 rd, 4 th, 5 th and 6 th frames of image data. In other embodiments, the predetermined number of frames may be consecutive and spaced frames of a multi-frame image acquired by the image acquisition device. For example, the predetermined frame number may be 5 frames, and the image acquisition device acquires 10 frames of images, the acquisition of image data of the predetermined frame number may be: and acquiring the 2 nd frame, the 4 th frame, the 6 th frame, the 8 th frame and the 10 th frame in the 10 th frame image. At this time, the processor 40 can analyze the dirty region in each frame of image data in the 10 frames of images and acquire the change rates of the dirty parameters of the dirty regions in the 2 nd, 4 th, 6 th, 8 th and 10 th frames of image data.

The preset rate of change threshold may be a critical threshold that determines whether the passive cleaning device 100 is cleaning stubborn stains. The preset change rate threshold may be known data, which may be an empirical value obtained before the passive cleaning apparatus 100 is shipped, a set value input by a person using the passive cleaning apparatus 100 after the passive cleaning apparatus 100 is shipped, or an empirical value obtained by the processor 40 processing historical data after the passive cleaning apparatus 100 is shipped. Specifically, in some embodiments, the rate of change of the dirty parameter of the dirty region in the image data of the predetermined frame number is obtained according to the length of time the image data of the predetermined frame number is acquired and the change of the dirty parameter of the dirty region in the image data of the predetermined frame number. For example, assuming that the predetermined frame number is 2 frames and the duration of acquiring 2 frames of image data is 1 second, according to the change of the dirty parameters of the dirty region in the 2 frames of image data and the duration of acquiring 2 frames of image data (1 second), the change rate of the dirty parameters of the dirty region in the 2 frames of image data is obtained, and under the condition that the change rate of the parameters is smaller than a preset change rate threshold, the passive cleaning device is determined to clean stubborn stains. Assuming that the preset rate of change threshold is 40%, the processor 40 is able to determine that the passive cleaning device 100 is cleaning a stubborn stain when the rate of change of the dirty parameter of the dirty region is less than 40% in the event that the dirty parameter is a dirty area in the dirty region.

In some embodiments, the passive cleaning apparatus 100 includes a suction duct (not shown) for sucking dirt, and the cleaning member 51 rotates relative to the surface 200 to be cleaned to sweep the dirt through the suction duct into the dirt tank 70. Thus, in the present embodiment, the detection assembly 30 may include a dirt detection sensor corresponding to the suction duct for detecting a dirt value of the dirt in the suction duct, i.e., the detection data includes the dirt value of the dirt collected by the dirt detection sensor. It should be noted that, in some embodiments, the dirt detection sensor may be disposed at an inlet of the suction duct; can also be arranged at the outlet of the suction pipeline; but also inside the suction duct. Among them, the stain detection sensor includes, but is not limited to, a sensor that detects acoustic characteristics of the stain, a sensor that detects electrical characteristics of the stain, a sensor that detects other optical characteristics, and the like. For example, the soil detection sensor may be an ultrasonic sensor. The ultrasonic sensor emits ultrasonic waves toward the dirt in the suction duct, and receives the ultrasonic waves reflected back by the dirt to obtain a dirt value of the dirt. For another example, the soil detection sensor may be a capacitive sensor. The capacitive sensor obtains a dirt value of the dirt by detecting a change in capacitance of the suction duct due to the dirt.

In some embodiments, to make the determination of whether the passive cleaning device 100 is performing a hard cleaning more accurate, the measurement of the soil detection sensor may be incorporated on the basis of the image acquisition device. For example, if the dirt on the surface 200 to be cleaned is relatively difficult to clean, i.e., when the passive cleaning apparatus 100 cleans the dirt, the dirt is more left on the surface 200 to be cleaned and is less sucked into the suction duct, in which case the dirt detection sensor corresponding to the suction duct detects that the dirt value of the dirt in the suction duct is still smaller than the preset dirt threshold value. Thus, referring to FIG. 15, in the present application, the detection assembly 30 includes a soil detection sensor in addition to the image acquisition device. The detection data comprises a plurality of frames of image data acquired by the image acquisition device besides the collected dirt value of the dirt. Namely, 03: the analyzing whether the passive cleaning device 100 is cleaning stubborn stains on the surface 200 to be cleaned according to the detection data comprises:

034: analyzing a dirty region in each frame of image data;

0371: in the event that the soil value of the soil is less than a preset soil value threshold and the rate of change of the parameter is less than a preset rate of change threshold, it is determined that the passive cleaning device 100 is cleaning a stubborn soil.

Referring to fig. 2, the one or more processors 40 are capable of executing the methods 034, 035, and 0371, i.e., the one or more processors 40 are configured to analyze a dirty region in each frame of image data; acquiring the change rate of the dirt parameters of a dirt area in image data of a preset frame number; and determining that the passive cleaning device 100 is cleaning a stubborn stain if the soil value of the soil is less than the preset soil value threshold and the rate of change of the parameter is less than the preset rate of change threshold.

When the dirt on the surface 200 to be cleaned is difficult to clean, if the dirt detection sensor detects that the dirt value of the dirt in the suction pipeline is smaller than the preset dirt threshold value and the parameter change rate is smaller than the preset change rate threshold value, the processor 40 can still determine that the passive cleaning device 100 is cleaning the stubborn dirt. Thus, compared to the processor 40 analyzing whether the dirt value of the dirt is smaller than the predetermined dirt value threshold to determine whether the passive cleaning device 100 is cleaning the stubborn dirt, the processor 40 simultaneously analyzes whether the dirt value of the dirt is smaller than the predetermined dirt value threshold and whether the parameter change rate is smaller than the predetermined change rate threshold to determine whether the passive cleaning device 100 is cleaning the stubborn dirt, so as to improve the accuracy of the analysis result of the processor 40, prevent the processor 40 from misjudging to affect the normal use of the user, and enhance the intellectualization of the passive cleaning device 100.

In order to further determine whether the passive cleaning apparatus 100 is cleaning a stubborn stain, referring to fig. 16, in the present application, the detecting component 30 may further include an image acquisition device, where the detection data includes a plurality of frames of image data acquired by the image acquisition device in addition to the dirt value of the dirt collected by the dirt detection sensor. Namely, 03: the analyzing whether the passive cleaning device 100 is cleaning stubborn stains on the surface 200 to be cleaned according to the detection data comprises:

034: analyzing a dirty region in each frame of image data;

0373: the passive cleaning device 100 is determined to be cleaning a stubborn soil if the soil value of the soil is less than a preset soil value threshold, and the duration of the soil value of the soil being less than the preset soil value threshold is greater than a first predetermined length of time, and the rate of change of the parameter is less than a preset rate of change threshold.

Referring to fig. 2, the one or more processors 40 are capable of executing the methods 034, 035, and 0373, i.e., the one or more processors 40 are configured to analyze a dirty region in each frame of image data; acquiring the change rate of the dirt parameters of a dirt area in image data of a preset frame number; and determining that the passive cleaning device 100 is cleaning a stubborn stain if the soil value of the soil is less than the preset soil value threshold, the duration of the soil value of the soil being less than the preset soil value threshold is greater than the first predetermined length of time, and the rate of change of the parameter is less than the preset rate of change threshold.

When the dirt on the surface 200 to be cleaned is difficult to clean, if the dirt detection sensor detects that the dirt value of the dirt in the suction pipeline is smaller than the preset dirt threshold value and the parameter change rate is smaller than the preset change rate threshold value, the processor 40 can still determine that the passive cleaning device 100 is cleaning the stubborn dirt. Thus, compared to the processor 40 analyzing whether the soil value of the soil is less than the predetermined soil value threshold, and whether the duration of the soil value of the soil is less than the predetermined soil value threshold is greater than the first predetermined duration to determine whether the passive cleaning device 100 is cleaning the stubborn soil, the processor 40 simultaneously analyzes whether the soil value of the soil is less than the predetermined soil value threshold, and whether the duration of the soil value of the soil is less than the predetermined soil value threshold is greater than the first predetermined duration, and whether the rate of change of the parameter is less than the predetermined rate of change threshold to determine whether the passive cleaning device 100 is cleaning the stubborn soil can promote the accuracy of the analysis result of the processor 40, prevent the processor 40 from misjudging that affects the normal use of the user, and enhance the intellectualization of the passive cleaning device 100.

Referring to fig. 17, in some embodiments, 03: analyzing whether the passive cleaning device 100 is cleaning stubborn stains on the surface 200 to be cleaned based on the detection data, comprising:

038: determining from the detection data whether the position of the chassis 10 relative to the surface 200 to be cleaned remains unchanged; a kind of electronic device with high-pressure air-conditioning system

039: in the event that the position of the chassis 10 relative to the surface 200 to be cleaned remains unchanged for a duration greater than a second predetermined duration, it is determined that the passive cleaning device 100 is cleaning stubborn stains.

Referring to fig. 2, the one or more processors 40 are capable of performing the methods 038 and 039, i.e., the one or more processors 40 are configured to determine whether the position of the chassis 10 relative to the surface 200 to be cleaned remains unchanged according to the detection data; and determining that the passive cleaning device 100 is cleaning stubborn stains if the duration of time that the position of the chassis 10 relative to the surface 200 to be cleaned remains unchanged is greater than the second predetermined duration of time.

Specifically, in some embodiments, if a user has a stubborn stain in the process of manipulating the passive cleaning device 100 to clean the surface 200 to be cleaned, the user's operation habit is to manipulate the passive cleaning device 100 to stay in the area where the stubborn stain is located, so that the passive cleaning device 100 cleans the stubborn stain, and at this time, compared with the case where the user manipulates the passive cleaning device 100 to reciprocate in the area where the stubborn stain is located, the effort can be saved. Thus, in the event that the position of the chassis 10 relative to the surface 200 to be cleaned remains unchanged and the position of the chassis 10 relative to the surface 200 to be cleaned remains unchanged for a duration greater than a second predetermined duration, the processor 40 can determine that the passive cleaning device 100 is cleaning stubborn stains, thereby adjusting the operational status of at least some of the components in the passive cleaning device 100. And, when the duration of time that the position of the chassis 10 relative to the surface 200 to be cleaned remains unchanged is longer than the second predetermined duration, the processor 40 determines that the passive cleaning device 100 is cleaning stubborn stains, so that the problem that the processor 40 misjudges due to short stay in the process of controlling the passive cleaning device 100 to clean the surface 200 to be cleaned can be avoided, and the intellectualization of the passive cleaning device 100 is further enhanced.

Wherein the second predetermined period of time may be a critical period of time that determines whether the passive cleaning device 100 is cleaning stubborn stains. The second predetermined time period may be known data, which may be an empirical value obtained before the passive cleaning apparatus 100 is shipped, a set value input by a person using the passive cleaning apparatus 100 after the passive cleaning apparatus 100 is shipped, or an empirical value obtained by the processor 40 processing the historical data after the passive cleaning apparatus 100 is shipped.

In some embodiments, the detection assembly includes a position detection sensor, the detection data includes position information of the chassis relative to the surface to be cleaned acquired by the position detection sensor, then 03: analyzing whether the passive cleaning device 100 is cleaning stubborn stains on the surface 200 to be cleaned based on the detection data, comprising:

determining whether the position of the chassis 10 relative to the surface 200 to be cleaned is kept unchanged according to the position information of the chassis 10 relative to the surface 200 to be cleaned; a kind of electronic device with high-pressure air-conditioning system

In the event that the position of the chassis 10 relative to the surface 200 to be cleaned remains unchanged for a duration greater than a second predetermined duration, it is determined that the passive cleaning device 100 is cleaning stubborn stains.

Referring to fig. 2, the one or more processors 40 are capable of executing the above-mentioned cleaning control method, that is, the one or more processors 40 are configured to determine whether the position of the chassis 10 relative to the surface 200 to be cleaned remains unchanged according to the position information of the chassis 10 relative to the surface 200 to be cleaned; and determining that the passive cleaning device 100 is cleaning stubborn stains if the duration of time that the position of the chassis 10 relative to the surface 200 to be cleaned remains unchanged is greater than the second predetermined duration of time.

Specifically, assuming that the second predetermined period of time is 3 seconds, if the position detection sensor detects that the position of the chassis 10 relative to the surface to be cleaned 200 remains unchanged, and the duration of time that the position of the chassis 10 relative to the surface to be cleaned 200 remains unchanged is greater than 3 seconds, the processor 40 can determine that the passive cleaning apparatus 100 cleans stubborn stains on the surface to be cleaned 200, and at this time, the processor 40 can adjust the operation state of at least part of the components in the passive cleaning apparatus 100.

In some embodiments, the detection assembly comprises a distance detection sensor, the detection data comprises the distance of the chassis relative to the reference acquired by the distance detection sensor, then 03: analyzing whether the passive cleaning device 100 is cleaning stubborn stains on the surface 200 to be cleaned based on the detection data, comprising:

determining whether the position of the chassis 10 relative to the surface 200 to be cleaned remains unchanged according to the distance of the chassis 10 relative to the reference; a kind of electronic device with high-pressure air-conditioning system

Referring to fig. 2, the one or more processors 40 are capable of executing the above-mentioned cleaning control method, that is, the one or more processors 40 are configured to determine whether the position of the chassis relative to the surface 200 to be cleaned remains unchanged according to the distance between the chassis 10 and the reference 200; and determining that the passive cleaning device 100 is cleaning stubborn stains if the duration of time that the position of the chassis 10 relative to the surface 200 to be cleaned remains unchanged is greater than the second predetermined duration of time. It should be noted that, in some embodiments, the reference object may be a wall in a building or an object (such as a sofa, a table, or a refrigerator) fixedly placed on the surface 200 to be cleaned.

Referring to fig. 2 and 18, in some embodiments, in the event that the passive cleaning device 100 is determined to be cleaning a stubborn stain, 05: adjusting the operational state of at least some of the components in the passive cleaning device 100 includes:

051: increasing the rotational speed of the cleaning member 51; and/or

052: increasing the power of the soil pick-up assembly 60; and/or

053: increasing the amount of water supplied from the water supply assembly 80 to the cleaning member 51 and/or the surface 200 to be cleaned; and/or

054: reducing the drag of the cleaning assembly 50; and/or

055: the water supply assembly 80 adds a cleaning agent to the cleaning member 51 and/or the surface 200 to be cleaned; and/or

056: raising the temperature of the water supplied from the water supply assembly 80; and/or

057: the pressure of the cleaning member 51 against the surface 200 to be cleaned is increased.

The one or more processors 40 are capable of performing the methods 051, 052, 053, 054, 055, 056 and 057, i.e. the one or more processors 40 are for increasing the rotational speed of the cleaning member 51; and/or increasing the power of the soil pick-up assembly 60; and/or increasing the amount of water supplied from the water supply assembly 80 to the cleaning member 51 and/or the surface 200 to be cleaned; and/or reduce the drag of the cleaning assembly 50; and/or the water supply assembly 80 adds a cleaning agent to the cleaning member 51 and/or the surface 200 to be cleaned; and/or increasing the temperature of the water supplied by the water supply assembly 80; and/or increasing the pressure of the cleaning member 51 against the surface 200 to be cleaned.

Specifically, in some embodiments, adjusting the operational status of at least some of the components in the passive cleaning device 100 may include one of 051, 052, 053, 054, 055, 056, and 057 alone. That is, in the case where the passive cleaning device 100 cleans stubborn stains, the rotation speed of the cleaning member 51 can be increased; or to increase the power of the soil pick-up assembly 60; or increase the amount of water supplied from the water supply assembly 80 to the cleaning member 51 and/or the surface 200 to be cleaned; or reduce the drag of the cleaning assembly 50; or the water supply assembly 80 adds a cleaning agent to the cleaning member 51 and/or the surface 200 to be cleaned; or to increase the temperature of the water supplied by the water supply assembly 80; or the pressure of the cleaning member 51 against the surface 200 to be cleaned is increased. In other embodiments, adjusting the operational status of at least some of the components in the passive cleaning device 100 may include at least two of 051, 052, 053, 054, 055, 056, and 057.

Referring to fig. 19, the present application further provides a computer storage medium 300 having a computer program 302 stored thereon, which when executed by one or more processors 40, implements the cleaning control method according to any of the foregoing embodiments.

Referring to fig. 1 and 2, for example, the following cleaning control method is implemented when the computer program 302 is executed by the processor 40:

03: analyzing whether the passive cleaning device 100 is cleaning stubborn stains on the surface 200 to be cleaned based on the detection data; a kind of electronic device with high-pressure air-conditioning system

For another example, the computer program 302, when executed by the processor 40, can also implement the cleaning control method of 031, 0311, 03111, 03113, 03115, 0313, 03131, 03133, 03135, 0315, 03151, 034, 035, 036, 0371, 0373, 038, 039, 051, 052, 053, 054, 055, 056, and 057.

In the computer storage medium 300 of the present application, the passive cleaning device 100 can analyze whether the passive cleaning device 100 cleans stubborn stains on the surface 200 to be cleaned according to the detection data collected by the detection assembly 30, and under the condition that the passive cleaning device 100 cleans stubborn stains, the working state of at least part of the components in the passive cleaning device 100 is adjusted, so that the working state of part of the components in the passive cleaning device 100 is not required to be manually adjusted by a user, the operation is simple, the user experience is improved, and the intelligent attribute of the passive cleaning device 100 is also improved.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.

Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-storage medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a computer storage medium can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer storage medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer storage medium may even be paper or other suitable medium upon which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.

It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.

Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments. In addition, each functional unit in the embodiments of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product. The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like.

Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by those skilled in the art within the scope of the application, which is defined by the claims and their equivalents.

Claims

1. A cleaning control method of a passive cleaning apparatus, comprising:

acquiring detection data acquired by a detection component in the passive cleaning equipment;

analyzing whether the passive cleaning device cleans stubborn stains on a surface to be cleaned according to the detection data; a kind of electronic device with high-pressure air-conditioning system

And adjusting the working state of at least part of components in the passive cleaning device under the condition that the passive cleaning device cleans the stubborn stains.

2. The cleaning control method according to claim 1, wherein the detection data includes:

data relating to a movement position and/or a movement posture of the passive cleaning device movement; and/or

Data relating to a change in stain on the surface to be cleaned; and/or the number of the groups of groups,

dirt values in the suction duct of the passive cleaning device.

3. The cleaning control method according to claim 1, wherein the analyzing whether the passive cleaning apparatus is cleaning stubborn stains on a surface to be cleaned based on the detection data includes:

and determining whether the passive cleaning equipment reciprocates in the same cleaning area according to the detection data, and if so, determining that the passive cleaning equipment cleans the stubborn stains.

4. The cleaning control method according to claim 3, wherein the determining whether the passive cleaning device reciprocates in the same cleaning area based on the detection data, and if so, determining that the passive cleaning device is cleaning the stubborn stain, comprises:

determining that the passive cleaning device is cleaning the stubborn stain in the event that the detection data reciprocally varies over a range of [ X-a, x+b ]; wherein X is a basic value of the detection data, a is a floating amount of the detection data, and b is a floating amount of the detection data.

5. The cleaning control method according to claim 3, wherein the determining whether the passive cleaning device reciprocates in the same cleaning area based on the detection data, and if so, determining that the passive cleaning device is cleaning the stubborn stain, comprises:

When the detection data reciprocally changes in the range of [ X-a, X+b ] and the frequency of the reciprocal change of the detection data is greater than or equal to a preset frequency, determining that the passive cleaning device is cleaning the stubborn stains; and/or the number of the groups of groups,

when the detection data change reciprocally in the range of [ X-a, X+b ], and the duration of the reciprocal change of the detection data is longer than or equal to a first preset duration, determining that the passive cleaning equipment cleans the stubborn stains;

wherein X is a basic value of the detection data, a is a floating amount of the detection data, and b is a floating amount of the detection data.

6. The cleaning control method according to claim 4 or 5, characterized in that the detection data includes at least one of:

7. The cleaning control method according to claim 3, wherein the passive cleaning apparatus includes a chassis on which a rotating member is provided, the detection assembly includes a wheel speed meter, the detection data includes a first rotational stroke of the rotating member relative to a surface to be cleaned, which is collected by the wheel speed meter, and a second rotational stroke of the rotating member, which is reversed, the first rotational stroke and the second rotational stroke having a difference therebetween; and determining whether the passive cleaning device reciprocates in the same cleaning area according to the detection data, if so, determining that the passive cleaning device cleans the stubborn stains, including:

and under the condition that the difference value is smaller than or equal to a preset difference value, determining that the passive cleaning device cleans the stubborn stains, wherein the preset difference value is smaller than the size of the cleaning area.

8. The cleaning control method of claim 7, wherein determining that the passive cleaning device is cleaning the stubborn stain if the difference is less than or equal to a preset difference comprises:

Determining that the passive cleaning device is cleaning the stubborn stains when the difference is less than or equal to a preset difference and the frequency of occurrence of the difference being less than or equal to the preset difference is greater than a predetermined frequency; and/or the number of the groups of groups,

and determining that the passive cleaning device is cleaning the stubborn stains under the condition that the difference value is smaller than or equal to a preset difference value and the duration time of the difference value smaller than or equal to the preset difference value is longer than or equal to a second preset time.

9. The cleaning control method according to claim 1, wherein the detection component includes an image acquisition device, and the detection data includes a plurality of frames of image data acquired by the image acquisition device; the analyzing whether the passive cleaning device cleans stubborn stains on the surface to be cleaned according to the detection data comprises the following steps:

analyzing a dirty region in the image data of each frame;

acquiring the change rate of the dirt parameters of a dirt area in the image data of a preset frame number; a kind of electronic device with high-pressure air-conditioning system

And under the condition that the parameter change rate is smaller than a preset change rate threshold, determining that the passive cleaning equipment cleans the stubborn stains.

10. The cleaning control method according to claim 1, wherein the passive cleaning apparatus includes a suction duct for sucking dirt, the detection unit includes a dirt detection sensor and an image acquisition device corresponding to the suction duct, the detection data includes a dirt value of the dirt collected by the dirt detection sensor and a plurality of frames of image data acquired by the image acquisition device; the analyzing whether the passive cleaning device cleans stubborn stains on the surface to be cleaned according to the detection data further comprises:

Analyzing a dirty region in the image data of each frame;

Determining that the passive cleaning device is cleaning the stubborn stain when the dirty value of the dirty is less than a preset dirty value threshold and the parameter change rate is less than a preset change rate threshold; or (b)

And determining that the passive cleaning device is cleaning the stubborn stain under the condition that the dirt value of the dirt is smaller than a preset dirt value threshold, the duration time of the dirt value of the dirt smaller than the preset dirt value threshold is longer than a first preset time length, and the parameter change rate is smaller than a preset change rate threshold.

11. The cleaning control method of claim 1, wherein the passive cleaning device comprises a chassis; the analyzing whether the passive cleaning device cleans stubborn stains on the surface to be cleaned according to the detection data comprises the following steps:

determining whether the position of the chassis relative to the surface to be cleaned is kept unchanged according to the detection data; a kind of electronic device with high-pressure air-conditioning system

And determining that the passive cleaning device is cleaning the stubborn stains under the condition that the position of the chassis relative to the surface to be cleaned is kept unchanged for a longer duration than a second preset duration.

12. The cleaning control method of claim 11, wherein the detection data includes at least one of:

13. The cleaning control method of claim 1, wherein the passive cleaning apparatus comprises a chassis, the passive cleaning apparatus further comprising at least one of a cleaning assembly, a soil pick-up assembly, and a water supply assembly; said adjusting the operational state of at least some of the components in said passive cleaning device comprising:

increasing the rotational speed of the cleaning member; and/or

Increasing the power of the soil pick-up assembly; and/or

Increasing the amount of water supplied by the water supply assembly to the cleaning member and/or the surface to be cleaned; and/or

Reducing the traction of the cleaning assembly; and/or

The water supply assembly adds a cleaning agent to the cleaning member and/or the surface to be cleaned; and/or

Raising the temperature of water supplied by the water supply assembly; and/or

Increasing the pressure of the cleaning member against the surface to be cleaned.

14. A passive cleaning apparatus, comprising:

a chassis;

the operating rod is rotationally connected with the chassis;

the detection component is arranged on the chassis and/or the operating rod; a kind of electronic device with high-pressure air-conditioning system

One or more processors mounted to the chassis and/or the lever, the one or more processors configured to perform the cleaning control method of any one of claims 1-13.

15. A computer storage medium storing a computer program which, when executed by one or more processors, implements the cleaning control method of any one of claims 1-13.