CN118266810A

CN118266810A - Cleaning method and device for cleaning equipment, storage medium and cleaning equipment

Info

Publication number: CN118266810A
Application number: CN202211740368.2A
Authority: CN
Inventors: 周德化; 李小龙; 王妍; 余音
Original assignee: Tineco Intelligent Technology Co Ltd
Current assignee: Tineco Intelligent Technology Co Ltd
Priority date: 2022-12-30
Filing date: 2022-12-30
Publication date: 2024-07-02

Abstract

The invention discloses a cleaning method and device of cleaning equipment, a storage medium and the cleaning equipment. According to the invention, the heating device for heating is arranged on the rack of the cleaning equipment, the ground is heated by the heating device, and the material of the ground is determined according to the change of the ground temperature detected by the sensing device. The separate heating device is arranged, so that the vacuum cleaning device is suitable for cleaning equipment with vacuum suction function and cleaning equipment with cleaning function. On the other hand, the sensing device can also detect whether the ground of the working area is cleaned, when the ground is cleaned, as clean water stains remain on the cleaned ground, the ground temperature cannot rise correctly after the heating device heats, the readiness for judging the material of the ground is affected, and the heating consumption of the heating device is wasted, so that the accuracy of the material judgment of the ground can be improved through selecting the target area which is not cleaned.

Description

Cleaning method and device for cleaning equipment, storage medium and cleaning equipment

Technical Field

The present invention relates to the field of intelligent devices, and in particular, to a cleaning method and apparatus for a cleaning device, a storage medium, and a cleaning device.

Background

A general household cleaning apparatus includes a vacuum cleaner, which is an electric appliance configured to suck air containing dust by suction force generated by a suction motor installed in a cleaner body, and to control a dust separating mechanism to filter the dust, and a roll brush cleaner. Vacuum cleaners are classified into cylinder cleaners, upright cleaners and hand-held cleaners.

The rolling brush cleaner has the function of a vacuum cleaner and also has the function of cleaning the ground. However, there is no way to clean floors using different strategies for a roll brush cleaner.

Disclosure of Invention

The invention provides a cleaning method, a device, a storage medium and cleaning equipment for avoiding cleaning equipment, which can effectively solve the problems that the conventional cleaning equipment cannot accurately identify the materials of the ground, the adopted cleaning mode is single, and the cleaning equipment cannot adapt to different grounds, so that the resource waste caused by adopting the same cleaning strategy on different grounds is caused.

According to an aspect of the present invention, there is provided a cleaning method of a cleaning apparatus for cleaning a floor of a work area, the cleaning method comprising: determining the material of the ground according to the temperature change of the ground in the first preset time; and determining a cleaning strategy corresponding to the material according to the material of the ground.

Further, the cleaning apparatus includes a heating device acting on a target area located in the working area, and a sensing device for acquiring a floor temperature of the target area, wherein determining a floor material according to a temperature rise of the floor within a first preset time includes: acquiring an initial temperature of the ground of the target area through the sensing device; after a first preset time, acquiring the test temperature of the ground of the target area through the sensing device; and determining the material of the ground of the working area according to the change rate between the initial temperature and the test temperature.

Further, the acquiring, by the sensing device, the initial temperature of the ground of the target area includes: acquiring a plurality of first detection temperatures of the ground of the target area within a second preset time; taking the average value of the first detection temperatures as the initial temperature.

Further, after the first preset time, acquiring the test temperature of the ground of the target area through the sensing device includes; controlling the heating device to heat the ground of the target area within the first preset time; and when the heating device stops heating, acquiring the test temperature of the ground of the target area.

Further, the cleaning apparatus further comprises a cleaning device that acts on the work area, the method further comprising: determining a cleaning area formed after the cleaning device acts on the working area; and when the target area is positioned in the cleaning area, controlling the heating device to stop working.

Further, the determining the cleaning strategy corresponding to the material according to the material of the ground comprises: acquiring dirt parameters of the ground of the working area; and determining a cleaning strategy of the cleaning device according to the ground material of the working area and the dirt parameters.

According to another aspect of the present invention, there is provided a cleaning device of a cleaning apparatus for identifying a material of a floor of a work area, the cleaning apparatus including a heat generating device that acts on a target area located within the work area, and a sensing device for acquiring a floor temperature of the target area, the device comprising: a first temperature acquisition unit for acquiring an initial temperature of the ground of the target area through the sensing device; the second temperature acquisition unit is used for acquiring the test temperature of the ground of the target area through the sensing device after the first preset time; and the material judging unit is used for determining the material of the ground of the working area according to the change rate between the initial temperature and the test temperature.

According to another aspect of the invention there is provided a storage medium having stored thereon computer instructions which when executed by a processor implement a cleaning method of a cleaning device according to any of the embodiments of the invention.

According to another aspect of the present invention, there is provided a cleaning apparatus including a frame; the cleaning device is arranged on the rack and is used for executing cleaning tasks; the driving device is arranged on the rack and used for driving the cleaning equipment to move; the sensing device is arranged on the rack and is used for sensing the ground temperature of the target area and/or acquiring the image parameters of the target area; the heating device is arranged on the rack and is used for acting on a target area in the working area; a cleaning device for a cleaning apparatus disposed on the frame, the device comprising: a first temperature acquisition unit for acquiring an initial temperature of the ground of the target area through the sensing device; the second temperature acquisition unit is used for acquiring the test temperature of the ground of the target area through the sensing device after the first preset time; and the material judging unit is used for determining the material of the ground of the working area according to the change rate between the initial temperature and the test temperature.

Further, an opening is formed in one side, close to the ground, of the frame, and the sensing device and the heating device are arranged at the opening.

The invention has the advantages that the heating device for heating is arranged on the rack of the cleaning equipment, the ground is heated by the heating device, and the material of the ground is determined according to the change of the ground temperature detected by the sensing device. The separate heating device is arranged, so that the vacuum cleaning device is suitable for cleaning equipment with vacuum suction function and cleaning equipment with cleaning function. On the other hand, the sensing device can also detect whether the ground of the working area is cleaned, when the ground is cleaned, as clean water stains remain on the cleaned ground, the ground temperature cannot rise correctly after the heating device heats, the readiness for judging the material of the ground is affected, and the heating consumption of the heating device is wasted, so that the accuracy of the material judgment of the ground can be improved through selecting the target area which is not cleaned.

Drawings

The technical solution and other advantageous effects of the present invention will be made apparent by the following detailed description of the specific embodiments of the present invention with reference to the accompanying drawings.

Fig. 1 is a flowchart of steps of a cleaning method of a cleaning device according to an embodiment of the present invention.

Fig. 2 is a flowchart of steps of a cleaning method of a cleaning device according to an embodiment of the present invention.

Fig. 3 is a schematic structural diagram of a cleaning device of a cleaning apparatus according to an embodiment of the present invention.

Fig. 4 is a flowchart illustrating the output of a cleaning strategy according to an embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a cleaning device according to an embodiment of the present invention.

Fig. 6 is another schematic structural view of a cleaning apparatus according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically connected, electrically connected or can be communicated with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

Referring now to fig. 1, fig. 1 is a schematic diagram of a cleaning method of a cleaning apparatus according to an embodiment of the present invention, where the cleaning method is used for identifying a floor material of a working area, the cleaning apparatus includes a heating device and a sensing device, the heating device acts on a target area located in the working area, and the sensing device is used for acquiring a floor temperature of the target area.

The main execution body of the cleaning method of the cleaning device may be a cleaning device of the cleaning device, or different types of devices such as a cleaning device, a server device, a physical host or a User Equipment (UE) integrated with the cleaning method of the cleaning device, where the cleaning device of the cleaning device may be implemented in a hardware or software manner, and the UE may specifically be a terminal device such as a smart phone, a tablet computer, a notebook computer, a palm computer or a desktop computer. The identification method comprises the following steps:

step S110: and determining the material of the ground according to the temperature change of the ground in the first preset time.

Illustratively, after a first predetermined time, the temperature of the ground is changed to Δt, and the material of the ground is determined according to Δt.

Step S120: and determining a cleaning strategy corresponding to the material according to the material of the ground.

Illustratively, the cleaning apparatus includes a roller brush, an aspirator, a water outlet, and a heating apparatus. Wherein the rolling brush is controlled by a rolling brush motor, the aspirator is controlled by a suction motor, the water outlet is controlled by a water pump, and the heating device is controlled by heating power.

For example, when cleaning carpets, the rotation speed of the rolling brush motor, the heating power of the heating device and the rotation speed of the water pump are all zero, and only the suction motor works.

As shown in fig. 2, further, step S110 includes the steps of:

Step S210: and acquiring the initial temperature of the ground of the target area through the sensing device.

Illustratively, the sensing device generally includes an infrared probe that is composed of an optical system, a photodetector, a signal amplifier, and signal processing. The optical system converges the infrared radiation energy in its field of view, the size of which is determined by the optical parts of the infrared probe and its position.

The infrared energy is focused on the photodetector and converted into a corresponding electrical signal. The signal is converted into a temperature value of a measured target after being corrected by an amplifier and a signal processing circuit according to an algorithm in the instrument and the emissivity of the infrared probe. Illustratively, the field of view is directed toward a small region within the target region. It follows that when the initial temperature is obtained, the temperature of a small portion of the region in the target region is generally taken as the initial temperature of the target region, and the initial temperature may have a certain temperature difference from the temperature of other positions of the target region. In order to solve the temperature difference mentioned above, the detection is inaccurate.

The acquiring, by the sensing device, the initial temperature of the surface of the target area includes: and acquiring a plurality of first detection temperatures of the ground of the target area in a second preset time, and taking the average value of the plurality of first detection temperatures as the initial temperature.

In an exemplary embodiment, one end of the sensing device is generally connected to a rotating device, so that the sensing device is driven by the rotating device, and can change the direction detected by the sensing device, so as to obtain a plurality of first detected temperatures in the target area, each first detected temperature corresponds to one detection direction of the sensing device, so that the sensing device obtains the temperature value of the target area more comprehensively, and the average value of the plurality of first detected temperatures is used as the initial temperature, so that the accuracy of the initial temperature detected by the sensing device is improved.

Step S220: after a first preset time, acquiring the test temperature of the ground of the target area through the sensing device.

The step of obtaining, by the sensing device, the test temperature of the ground of the target area after the first preset time is elapsed includes controlling the heating device to heat the ground of the target area within the first preset time, and obtaining the test temperature of the ground of the target area when the heating device stops working.

Illustratively, the heating area of the heat generating device covers the entire target area as much as possible, in other words, the size of the target area is exactly the same as the area where the heat generating device acts, and the heat generating device acts within the target area. Similarly, when the sensing device acquires the test temperature, the direction detected by the sensing device can be changed to acquire a plurality of second detection temperatures in the target area, and each second detection temperature corresponds to one detection direction of the sensing device.

Step S230: and determining the material of the ground of the working area according to the change rate between the initial temperature and the test temperature.

For example, the heating device may be a high-power halogen lamp, the power supply voltage is 12 volts, the current is 5 amperes, the first preset time is 8 seconds, in the following table 1, the materials of the ground are respectively a floor, a tile and a carpet, and the heating conditions of the three materials are recorded:

TABLE 1

	Floor board	Floor tile	Carpet
				Initial temperature (. Degree. C.)	25.2	25.6	25.4
Post 8S temperature (. Degree. C.)	33.8	30	65
				ΔT(℃)	8.6	4.4	39.6

As can be seen from Table 1, the initial temperatures were similar after 8 seconds of heating, but the test temperatures were quite different, with the carpet temperature rise being most pronounced, i.e., deltaT was 39.6 degrees.

Specifically, in the cleaning method of the cleaning device, when the cleaning device is turned on, the infrared probe firstly reads the initial temperature T0 of the floor, then the heating device at the bottom of the rack of the cleaning device is turned on and continuously irradiates a certain position (i.e., a target area) of the floor, the heating device is turned off after a few seconds, the temperature T1 of the target area is rapidly captured by the infrared probe, and the type of the floor material is judged according to the value of Δt=t1-T0. Typically, ΔT carpet > ΔT floor > ΔT tile. It can be seen that after the heating devices with the same power and the same time pass through, the front and rear temperature changes are different, so that the ground materials can be determined by adopting different materials corresponding to different heating speeds.

In some embodiments, when a new material is present, since the corresponding Δt value is not stored in the cleaning device, the Δt value of the new material is typically stored in a machine-learning manner, for example, the Δt value is determined by the method of step S110 and step S120, and then the material corresponding to the Δt value is input to the cleaning device. When the cleaning device works on the ground with the same material again, the material of the ground can be rapidly judged according to the material corresponding to the stored delta T value.

In some embodiments, the cleaning apparatus further comprises a cleaning device that acts on the work area, the method further comprising: and determining a cleaning area formed after the cleaning device acts on the working area, and controlling the heating device to stop working when the target area is positioned in the cleaning area.

When the cleaning device works for a period of time and then the material of the ground is determined, the cleaning mode of the cleaning device comprises vacuum suction and cleaning, and when the cleaning device sprays water on the ground, the ground in the cleaning area is caused to have unvaporized water, at the moment, if the target area acted by the heating device is positioned on the cleaning area, the temperature of the ground is inaccurately increased (namely, unvaporized water is vaporized after being heated, the temperature of the ground is reduced), and the material judgment error of the ground is easily caused. Therefore, when the heating device heats the target area, whether the target area is positioned on the cleaning area is judged, and when the target area is positioned on the cleaning area, the heating device stops working so as to avoid unnecessary energy consumption of the heating device.

In some embodiments, the determining a cleaning strategy corresponding to the material based on the material of the floor further comprises: and acquiring the dirt parameters of the ground of the working area, and determining the cleaning strategy of the cleaning device according to the material of the ground of the working area and the dirt parameters.

For example, the dirt parameters can be obtained through a sensing device, an image acquisition device is further arranged in the sensing device, and the cleaning device judges the dirt parameters in the working area according to the image obtained by the image acquisition device, and specifically, the dirt parameters can comprise light dirt and heavy dirt. The cleaning coefficient in the cleaning strategy was 0.5 for light soil and 1 for heavy soil. Taking a carpet cleaning example, when the carpet is cleaned, the rotating speed of the rolling brush motor, the heating power of the heating device and the rotating speed of the water pump are all zero, and only the suction motor works, when the carpet is lightly polluted, the rotating speed of the suction motor is reduced to 0.5 times of the normal set rotating speed, and when the carpet is heavily polluted, the rotating speed of the suction motor is the normal set rotating speed.

By the arrangement, corresponding cleaning strategies can be configured according to different materials and the current dirt degree of the different materials, so that cleaning consumption is saved.

As shown in fig. 4, the cleaning strategy is illustrated as out=k ₁*K₂,K₁, which is a cleaning strategy of a floor material (i.e., floor material), and K ₂, which is a cleaning strategy of a soil level of the floor. Taking the floor as an example, the cleaning strategy of K ₁ includes K _1w＝0.5,K_1s＝0.8,K_1p＝0.8,K_1v =0.8, where K _w、K_s、K_p and K _v represent the water outlet temperature factors, respectively, The rolling brush rotating speed factor, the water supply quantity factor and the suction factor, namely K _w、K_s、K_p and K _v, respectively correspond to the heating power (namely the water heating function) of the heating device, and the rolling brush motor rotating speed, the water pump rotating speed and the suction motor rotating speed. K2 is a cleaning strategy of the soil degree of the floor, and mainly comprises a cleaning strategy of light soil and a cleaning strategy of heavy soil, wherein the cleaning strategy of light soil comprises K _2w＝0.5,K_2s＝0.5,K_2p＝0.5,K_2v =0.5, and the cleaning strategy of heavy soil comprises K _2w＝1,K_2s＝1,K_2p＝1,K_2v =1. As can be seen, when out=k ₁*K₂, the output out is 0.5 times K ₁, i.e. the floor is a floor, and when out=k ₁*K₂, is lightly soiled, the cleaning strategy is out _{_w}＝0.25,out_{_s}＝0.4,out_{_p}＝0.4,out_{_v} =0.4. In heavy soil, the output out is 1 times of K ₁, namely out=k ₁, the floor is made of a floor, and in heavy soil, the cleaning strategy is out _{_w}＝0.5,out_{_s}＝0.8,out_{_p}＝0.8,out_{_v} =0.8.

Taking the floor as an example, the cleaning strategy of K ₁ includes K _1w＝1,K_1s＝1,K_1p＝1,K_1v =0.8, and out _{_w}＝0.5,out_{_s}＝0.5,out_{_p}＝0.5,out_{_v} =0.4 when the floor is lightly soiled. At heavy soiling, the cleaning strategy is out _{_w}＝1,out_{_s}＝1,out_{_p}＝1,out_{_v} =0.8.

The dirt degree of the floor can be subjected to a cleaning strategy according to a cleaning gear set by a user, for example, the user sets a cleaning coefficient in the cleaning strategy to be 1, that is, the floor is lightly dirty or heavily dirty, and the cleaning work is performed according to the maximum power.

As shown in fig. 3, the present invention also provides a cleaning apparatus for cleaning a device, the apparatus comprising: and a material judgment unit 10 and a cleaning policy determination unit 20.

The material determining unit 10 is configured to determine a material of the ground according to the temperature rise of the ground within a first preset time. The cleaning strategy determining unit 20 is configured to determine a cleaning strategy corresponding to a material according to the material of the floor.

The foregoing manner is described in detail in the cleaning method of the cleaning device, and will not be described herein.

As shown in fig. 5, the present invention also provides a cleaning apparatus including: a frame 104, a cleaning device 101, a driving device, a sensing device 103, a heat generating device 102 and a cleaning device of the cleaning apparatus.

A cleaning device 101 is arranged on the frame 104 for performing cleaning tasks.

A drive means is provided on the frame 104 for driving the cleaning device in motion.

A sensing device 103 is arranged on the gantry 104 for sensing the ground temperature of the target area and/or for acquiring image parameters of the target area.

A heating device 102 disposed on the frame 104 for acting on a target area located in the working area;

A cleaning device for a cleaning apparatus disposed on the frame, the device comprising: and a material judgment unit 10 and a cleaning policy determination unit 20. The material determining unit 10 is configured to determine a material of the ground according to the temperature rise of the ground within a first preset time. The cleaning strategy determining unit 20 is used for determining a cleaning strategy corresponding to the material according to the material of the floor

Illustratively, an opening 105 is provided in a side of the housing 104 adjacent to the ground, and the sensing device 103 and the heat generating device 102 are disposed at the opening 105.

As shown in fig. 6, which shows a schematic structural view of the cleaning device according to the application, in particular:

The cleaning device may include one or more processor cores 401, one or more computer-readable storage medium memory 402, a power supply 403, and an input unit 404. It will be appreciated by those skilled in the art that the arrangement of the apparatus shown in fig. 6 is not limiting of the apparatus, and that the cleaning apparatus may also include more or fewer components than shown, or may combine certain components, or a different arrangement of components.

Wherein:

The processor 401 is a control center of the device, connects various parts of the entire device using various interfaces and lines, and performs various functions of the device and processes data by running or executing software programs and/or unit modules stored in the memory 402, and calling data stored in the memory 402, thereby performing overall monitoring of the cleaning device. Optionally, processor 401 may include one or more processing cores; the Processor 401 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), off-the-shelf Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, and preferably, the processor 401 may integrate an application processor, which primarily handles operating systems, user interfaces, application programs, and the like, with a modem processor, which primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 401.

The memory 402 may be used to store software programs and modules, and the processor 401 executes various functional applications and data processing by executing the software programs and modules stored in the memory 402. The memory 402 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, application programs required for at least one function, and the like; the storage data area may store data created according to the use of the cleaning device, etc. In addition, memory 402 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 402 may also include a memory controller to provide the processor 401 with access to the memory 402.

The cleaning device may further comprise a power supply 403 for supplying power to the various components, preferably the power supply 403 may be logically connected to the processor 401 by a power management system, so that functions of managing charging, discharging, and power consumption are performed by the power management system. The power supply 403 may also include one or more of any of a direct current or alternating current power supply, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and the like.

The cleaning device may further comprise an input unit 404 and an output unit 405, the input unit 404 being operable to receive input numerical or character information and to generate keyboard, mouse, joystick, optical or trackball signal inputs in connection with user settings and function control.

Although not shown, the cleaning apparatus may further include a display unit or the like, which is not described herein. Specifically, in the present application, the processor 401 in the cleaning device loads executable files corresponding to the processes of one or more application programs into the memory 402 according to the following instructions, and the processor 401 executes the application programs stored in the memory 402, so as to implement various functions, as follows:

acquiring an initial temperature of the ground of the target area through the sensing device;

after a first preset time, acquiring the test temperature of the ground of the target area through the sensing device;

And determining the material of the ground of the working area according to the change rate between the initial temperature and the test temperature.

Those of ordinary skill in the art will appreciate that all or a portion of the steps of the various methods described above may be performed by instructions, or by controlling associated hardware, which may be stored on a computer readable storage medium and loaded and executed by the processor 401.

To this end, the present application provides a computer-readable storage medium, which may include: read Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic or optical disk, and the like. On which computer instructions are stored which are loaded by the processor 401 to perform the steps of the cleaning method of any of the cleaning devices provided by the present application. For example, the computer instructions, when executed by the processor 401, perform the following functions:

In the foregoing embodiments, the descriptions of the embodiments are focused on, and the portions of one embodiment that are not described in detail in the foregoing embodiments may be referred to in the foregoing detailed description of other embodiments, which are not described herein again.

In the implementation, each unit or structure may be implemented as an independent entity, or may be implemented as the same entity or several entities in any combination, and the implementation of each unit or structure may be referred to the foregoing embodiments and will not be repeated herein.

In summary, although the present invention has been described in terms of the preferred embodiments, the preferred embodiments are not limited to the above embodiments, and various modifications and changes can be made by one skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention is defined by the appended claims.

Claims

1. A cleaning method of a cleaning apparatus for cleaning a floor surface of a work area, the cleaning method comprising:

Determining the material of the ground according to the temperature change of the ground in the first preset time;

And determining a cleaning strategy corresponding to the material according to the material of the ground.

2. A cleaning method of a cleaning apparatus, wherein the cleaning apparatus includes a heat generating device and a sensing device, the heat generating device acts on a target area located in the working area, the sensing device is used for acquiring a ground temperature of the target area, and determining a material of the ground according to the temperature rise of the ground within a first preset time includes:

3. The cleaning method of a cleaning apparatus according to claim 2, wherein the acquiring the initial temperature of the floor of the target area by the sensing device includes:

Acquiring a plurality of first detection temperatures of the ground of the target area within a second preset time;

Taking the average value of the first detection temperatures as the initial temperature.

4. The method of cleaning a cleaning apparatus according to claim 2, wherein the acquiring, by the sensing device, the test temperature of the floor of the target area after the lapse of the first preset time includes;

Controlling the heating device to heat the ground of the target area within the first preset time;

And when the heating device stops working, acquiring the test temperature of the ground of the target area.

5. A cleaning method of a cleaning apparatus according to claim 1, further comprising a cleaning device that acts on the work area, the method further comprising:

Determining a cleaning area formed after the cleaning device acts on the working area;

and when the target area is positioned in the cleaning area, controlling the heating device to stop working.

6. The method of claim 5, wherein determining a cleaning strategy corresponding to the material based on the material of the floor surface comprises:

acquiring dirt parameters of the ground of the working area;

And determining a cleaning strategy of the cleaning device according to the ground material of the working area and the dirt parameters.

7. A cleaning device for a cleaning apparatus for cleaning a floor surface of a work area, the cleaning device comprising:

the material judging unit is used for determining the material of the ground according to the temperature rise of the ground in the first preset time;

and the cleaning strategy determining unit is used for determining a cleaning strategy corresponding to the material according to the material of the ground.

8. A storage medium having stored thereon computer instructions which, when executed by a processor, implement a cleaning method of a cleaning device according to any of claims 1-6.

9. A cleaning apparatus, comprising:

A frame;

The cleaning device is arranged on the rack and is used for executing cleaning tasks;

the driving device is arranged on the rack and used for driving the cleaning equipment to move;

The sensing device is arranged on the rack and is used for sensing the ground temperature of the target area and/or acquiring the image parameters of the target area;

The heating device is arranged on the rack and is used for acting on a target area in the working area;

a cleaning device for a cleaning apparatus disposed on the frame, the device comprising:

10. The cleaning apparatus of claim 9, wherein a side of the frame adjacent the floor is provided with an aperture, the sensing device and the heat generating device being disposed at the aperture.