CN114073448A - Cleaning method and apparatus - Google Patents
Cleaning method and apparatus Download PDFInfo
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- CN114073448A CN114073448A CN202010800843.5A CN202010800843A CN114073448A CN 114073448 A CN114073448 A CN 114073448A CN 202010800843 A CN202010800843 A CN 202010800843A CN 114073448 A CN114073448 A CN 114073448A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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- Electric Vacuum Cleaner (AREA)
Abstract
The embodiment of the application provides a cleaning method and a cleaning device, wherein the method comprises the following steps: acquiring cleaning information; determining a cleaning mode based on the sweep information; performing a cleaning task according to the determined cleaning mode; wherein the cleaning modes include a first cleaning mode and a second cleaning mode, and a traveling speed of the second cleaning mode is lower than that of the first cleaning mode. The embodiment of the application can flexibly deal with the cleaning of the ground with different dirt degrees.
Description
Technical Field
The application belongs to the technical field of cleaning equipment, and particularly relates to a cleaning method and device for the cleaning equipment.
Background
The sweeper generally can only perform cleaning tasks in a given cleaning mode. The floor can only be mopped according to a set mode no matter how dirty the floor is, and therefore the floor with high dirty degree can not be mopped cleanly once or even twice.
Disclosure of Invention
An object of the embodiments of the present application is to provide a cleaning method and apparatus, which can flexibly cope with floor cleaning with different dirt levels.
In one aspect, an embodiment of the present application provides a cleaning method, including:
acquiring cleaning information;
determining a cleaning mode based on the sweep information;
performing a cleaning task according to the determined cleaning mode; wherein
The cleaning modes include a first cleaning mode and a second cleaning mode, and the traveling speed of the second cleaning mode is lower than that of the first cleaning mode.
In a second aspect, embodiments of the present application provide a cleaning device, the device comprising:
an information acquisition unit for acquiring cleaning information;
a mode determination unit for determining a cleaning mode based on the sweeping information;
an execution unit for executing a cleaning task according to the determined cleaning mode; wherein
The cleaning modes include a first cleaning mode and a second cleaning mode, and the traveling speed of the second cleaning mode is lower than that of the first cleaning mode.
In a third aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is configured to, when executed by a processor, implement the method in the foregoing embodiments.
In a fourth aspect, the present application provides a sweeping robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the method of the foregoing embodiments when executing the computer program.
The cleaning method provided by the embodiment of the application can flexibly deal with the cleaning of the ground with different dirt degrees.
In one aspect, an embodiment of the present application provides a cleaning method, in which cleaning information is obtained first. An appropriate cleaning mode is then determined based on the sweep information. The cleaning modes include a first cleaning mode and a second cleaning mode, and the traveling speed of the second cleaning mode is lower than that of the first cleaning mode. And executing a cleaning task according to the determined cleaning mode. According to the cleaning method and the cleaning device, the cleaning mode can be flexibly selected according to the cleaning information, so that the cleaning of the ground with different dirt degrees can be flexibly dealt with.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
The summary of various implementations or examples of the technology described in this application is not a comprehensive disclosure of the full scope or all features of the disclosed technology.
Drawings
In the drawings, which are not necessarily drawn to scale, like reference numerals may describe similar components in different views. Like reference numerals having letter suffixes or different letter suffixes may represent different instances of similar components. The drawings illustrate various embodiments, by way of example and not by way of limitation, and together with the description and claims, serve to explain embodiments of the application. The same reference numbers will be used throughout the drawings to refer to the same or like parts, where appropriate. Such embodiments are illustrative, and are not intended to be exhaustive or exclusive embodiments of the present apparatus or method.
Fig. 1 shows a schematic flow diagram of a cleaning method according to an embodiment of the present application.
Fig. 2 shows a schematic structural diagram of a cleaning device according to an embodiment of the present application.
Fig. 3 shows a schematic structural diagram of a sweeping robot provided in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings of the embodiments of the present application. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the application without any inventive step, are within the scope of protection of the application.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. As used in this application, the terms "first," "second," and the like do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
Detailed descriptions of known functions and known components are omitted in the present application in order to keep the following description of the embodiments of the present application clear and concise.
An embodiment of the present application provides a cleaning method, including:
acquiring cleaning information;
determining a cleaning mode based on the sweeping information;
performing a cleaning task according to the determined cleaning mode; wherein
The cleaning mode includes a first cleaning mode and a second cleaning mode, and the traveling speed of the second cleaning mode is lower than that of the first cleaning mode.
In a cleaning method, cleaning information is acquired, and then a suitable cleaning mode is determined based on the cleaning information. The cleaning mode includes a first cleaning mode and a second cleaning mode, and the traveling speed of the second cleaning mode is lower than that of the first cleaning mode. And performing a cleaning task according to the determined cleaning mode. According to the cleaning method and the cleaning device, the cleaning mode can be flexibly selected according to the cleaning information, so that the cleaning of the ground with different dirt degrees can be flexibly dealt with.
In the embodiment of the present application, the sweeping information may be acquired in the first cleaning mode. When the cleaning mode determined based on the sweeping information is the second cleaning mode, the second cleaning mode is invoked, and the first cleaning mode is switched to the second cleaning mode. Cleaning tasks with different degrees of soiling can be handled autonomously.
In the embodiment of the application, the cleaning mode is determined based on the acquired sweeping information. Thereby being suitable for cleaning floors with different dirt degrees. The cleaning modes include a plurality of kinds, for example, the cleaning modes include a first cleaning mode and a second cleaning mode. An appropriate cleaning mode is selected among the plurality of cleaning modes. Wherein, the walking speed of the second cleaning mode is lower than that of the first cleaning mode. Lower walking speeds allow for relatively deeper cleaning. In an exemplary embodiment of the present application, the first cleaning mode may be a normal mode, and the second cleaning mode may be a strong drag mode. And when the dirt degree of the ground is determined according to the cleaning information and the strong mopping mode is required, executing a cleaning task according to the strong mopping mode. When the cleaning task is performed according to the strong drag mode, a lower walking speed is used compared to the normal mode.
In some embodiments, obtaining the cleaning information comprises: and acquiring a cleaning map of the cleaning task. The acquired cleaning information can be a cleaning map of the cleaning task, and the cleaning mode of the cleaning task is determined according to the cleaning map of the cleaning task.
When the acquired cleaning information is a cleaning map of the cleaning task, determining a cleaning mode based on the cleaning information includes: and determining that the second cleaning mode is the cleaning mode of the cleaning task based on the fact that the cleaning map of the cleaning task is a new cleaning map. A new cleaning map may refer to a cleaning task that is performed based on the cleaning map for the first time. The new cleaning map may be the first time the cleaning map is called, or the cleaning map may be newly generated. When the cleaning map of the cleaning task is a new cleaning map, it can be considered that the area needs to be deeply cleaned, and therefore, the second cleaning mode is determined to be the cleaning mode of the cleaning task.
In an exemplary embodiment, after obtaining the cleaning map of the cleaning task, the method further includes: and determining whether the cleaning map of the cleaning task is a new cleaning map or not based on the cleaning map usage record. If the cleaning map usage record records that the cleaning map of the cleaning task has already executed the cleaning task, the cleaning map is the old cleaning map. Otherwise, the cleaning map is a new cleaning map.
For example, when a cleaning task is executed, a cleaning map of the cleaning task is retrieved. And when the cleaning map using record records that the cleaning task is executed in the cleaning map of the current cleaning task, determining the second cleaning mode as the cleaning mode of the current cleaning task. And when the cleaning map which does not record the cleaning task in the cleaning map using record already executes the cleaning task, determining that the first cleaning mode is the cleaning mode of the cleaning task.
In some embodiments, obtaining the cleaning information comprises: and acquiring the interval time from the last cleaning task to the current cleaning task. The acquired cleaning information may be an interval time from the last cleaning task to the present cleaning task. And determining the cleaning mode of the cleaning task according to the interval time from the last cleaning task to the cleaning task.
When the acquired cleaning information is the interval time from the last cleaning task to the current cleaning task, determining the cleaning mode based on the cleaning information includes: and determining the second cleaning mode as the cleaning mode of the cleaning task based on the interval time being larger than the first threshold. When the interval time is greater than the first threshold, the area can be considered to need deep cleaning, and therefore the second cleaning mode is determined to be the cleaning mode of the cleaning task.
The first threshold may be, for example, 3 days, 5 days, 7 days, etc., and is not particularly limited herein. In an exemplary embodiment, the first threshold may be preset. Alternatively, the first threshold may be adjusted according to the situation. For example, the user inputs a time desired to be set on the operation interface as the first threshold. The unit of the first threshold may also be hours. For example, the first threshold may be 48 hours, 60 hours, 72 hours, 96 hours, and so on.
Taking the first threshold value as 72 hours as an example, when the cleaning task is executed, the interval time from the last cleaning task to the current cleaning task is acquired. When the interval time (e.g., 80 hours) from the last cleaning task to the present cleaning task is greater than the first threshold value (72 hours), it is determined that the second cleaning mode is the cleaning mode of the present cleaning task. When the interval time (e.g., 48 hours) from the last cleaning task to the present cleaning task is less than the first threshold value (72 hours), it is determined that the first cleaning mode is the cleaning mode of the present cleaning task.
In some embodiments, obtaining the cleaning information comprises: and acquiring the dirt degree of the mop. The cleaning mode is determined on the basis of the degree of soiling of the mop.
In some embodiments, when obtaining the cleaning information comprises obtaining the soiling level of the mop, determining the cleaning mode based on the cleaning information comprises: and determining the second cleaning mode as the cleaning mode of the cleaning task based on the dirt degree exceeding the second threshold value. When the degree of soiling of the mop swab is greater than the second threshold value, it can be assumed that the area requires deep cleaning, so that the second cleaning mode is determined to be the cleaning mode for the cleaning task.
In some embodiments, where obtaining cleaning information comprises obtaining the degree of soiling of the mop, obtaining cleaning information further comprises: and acquiring the cleaning time. At this time, the cleaning mode may be determined based on the sweeping time and the degree of soiling of the mop.
In some embodiments, when acquiring the cleaning information comprises acquiring the degree of soiling of the mop and the cleaning time, determining the cleaning mode based on the cleaning information comprises: and determining the second cleaning mode as the cleaning mode of the cleaning task based on the condition that the relation between the change of the dirt degree of the mop and the cleaning time meets the first condition.
In an exemplary embodiment, the second cleaning mode is determined as the cleaning mode of the present cleaning task based on the sweeping time required for the degree of soiling of the mop to increase from the first degree of soiling to the second degree of soiling being less than a third threshold value. The first degree of soiling may be the initial degree of soiling, i.e. the degree of soiling of the mop cloth before cleaning. For example, when the degree of soiling of the mop swab is expressed in percent, 0% represents the cleanest state of the mop swab and 100% represents the dirtiest state of the mop swab. Assuming that the first degree of contamination is 0%, the second degree of contamination is 50%, and the third threshold value is 30, the unit of cleaning time is second(s). The second cleaning mode will be activated when the cleaning time required for the mop to reach a degree of soiling of 50% from the cleanest state (degree of soiling of 0%) is less than 30 s.
Of course, the first condition that the relation between the change in the degree of soiling of the mop and the cleaning time is satisfied is not limited to the above-described embodiment.
In the embodiment of the present application, the expression form of the degree of soiling of the mop and the manner of obtaining the same are not particularly limited.
In some embodiments, obtaining the soiling of the mops comprises: acquiring the whiteness of the mop; and determining the dirt degree of the mop according to the whiteness. The whiteness of the mop can be obtained through a whiteness meter. And according to the expression form of the degree of soiling, correspondingly converting the obtained whiteness, and expressing the degree of soiling of the mop in a selected expression form.
In some embodiments, when acquiring the cleaning information includes acquiring the degree of soiling of the mop, the method further includes: and acquiring the dirt degree of the mop before cleaning, and taking the dirt degree of the mop before cleaning as the initial dirt degree of the mop. The initial dirt degree is obtained before cleaning every time, and the dirt degree change condition of the mop cloth in the cleaning process can be more accurately obtained. Such as more accurately obtaining the rate of change of the degree of contamination. The rate of change of the degree of soiling may be a ratio of the difference in the degree of soiling to the time of sweeping. In the exemplary embodiment, the initial degree of soiling represents the cleanest state of the mop swab.
In some embodiments, the amount of water sprayed in the second cleaning mode is greater than the amount of water sprayed in the first cleaning mode. When the amount of water spray is included in the cleaning parameters of the cleaning mode, different amounts of water spray may be set in the first cleaning mode and the second cleaning mode. The second cleaning mode can be more suitable for cleaning the floor with high dirt degree by the water spraying amount of the second cleaning mode being larger than that of the first cleaning mode.
In some embodiments, the first cleaning mode has a one-way winding path, and the second cleaning mode has a two-way winding path. When the traveling path is included in the cleaning parameters of the cleaning mode, different traveling paths may be set in the first cleaning mode and the second cleaning mode. The walking path of the second cleaning mode is bidirectional roundabout advancing, so that the second cleaning mode can be more suitable for cleaning the ground with high dirt degree.
In some embodiments, the vibration frequency of the carriage in the second cleaning mode is greater than the vibration frequency of the carriage in the first cleaning mode. When the mop vibration frequency is included in the cleaning parameters of the cleaning mode, different mop vibration frequencies can be set in the first cleaning mode and the second cleaning mode. The vibration frequency of the carriage in the second cleaning mode is greater than that in the first cleaning mode, so that the second cleaning mode can be more suitable for cleaning the ground with high dirt degree.
In some embodiments, the rotational speed of the drum brush in the second cleaning mode is greater than the rotational speed of the drum brush in the first cleaning mode. When the cleaning parameters of the cleaning mode include the rotation speed of the drum brush, different rotation speeds of the drum brush may be set in the first cleaning mode and the second cleaning mode. The rotating speed of the rolling brush in the second cleaning mode is greater than that of the rolling brush in the first cleaning mode, so that the second cleaning mode can be more suitable for cleaning the ground with high dirt degree.
As can be seen from the foregoing embodiments, in the method according to the embodiments of the present application, the cleaning parameters of the cleaning mode may include one or more of a traveling speed, a water spraying amount, a traveling path, a vibration frequency of the carriage, and a rotational speed of the roller brush.
In some embodiments, when the cleaning parameters of the cleaning mode include a walking speed and at least one other, the cleaning parameter adjustment rule for switching from the first cleaning mode to the second cleaning mode includes: walking speed takes precedence over other cleaning parameters. For example, the cleaning parameters of the cleaning mode include a traveling speed and a vibration frequency of the carriage. When the first cleaning mode is converted into the second cleaning mode, the walking speed is reduced, and then the vibration frequency of the carriage is increased. For another example, the cleaning parameters of the cleaning mode include a traveling speed and a rolling brush rotation speed. When the first cleaning mode is switched to the second cleaning mode, the walking speed is reduced, and then the rotating speed of the rolling brush is increased.
The embodiment of the application also provides a cleaning device. The apparatus may implement the method of any of the embodiments described above. The above method embodiments may be used for understanding the apparatus of the present application. The following description of the apparatus may also be used to understand the method of the above embodiments. The cleaning device of the embodiment of the application comprises:
an information acquisition unit 10 for acquiring cleaning information;
a mode determination unit 20 for determining a cleaning mode based on the sweeping information;
an execution unit 30 for executing a cleaning task according to the determined cleaning mode; wherein
The cleaning mode includes a first cleaning mode and a second cleaning mode, and the traveling speed of the second cleaning mode is lower than that of the first cleaning mode.
The embodiment of the application provides a cleaning device, wherein an information acquisition unit 10 acquires cleaning information. The mode determination unit 20 can determine an appropriate cleaning mode based on the sweeping information. The cleaning mode includes a first cleaning mode and a second cleaning mode, and the traveling speed of the second cleaning mode is lower than that of the first cleaning mode. The execution unit 30 executes the cleaning task according to the determined cleaning mode. The device of this application embodiment can be according to cleaning the nimble clean mode of selecting of information to it is clean to deal with the ground of different dirty degrees in a flexible way.
In the embodiment of the present application, the mode determination unit 20 determines the cleaning mode based on the acquired sweeping information. Thereby being suitable for cleaning floors with different dirt degrees. The cleaning modes include a plurality of kinds, for example, the cleaning modes include a first cleaning mode and a second cleaning mode. An appropriate cleaning mode is selected among the plurality of cleaning modes. Wherein, the walking speed of the second cleaning mode is lower than that of the first cleaning mode. Lower walking speeds allow for relatively deeper cleaning. In an exemplary embodiment of the present application, the first cleaning mode may be a normal mode, and the second cleaning mode may be a strong drag mode. When the mode determining unit 20 determines that the degree of contamination of the floor surface needs to adopt the hard drag mode according to the cleaning information, the performing unit 30 performs the cleaning task according to the hard drag mode. The execution unit 30 performs the cleaning task according to the strong drag mode, using a lower traveling speed with respect to the normal mode.
In some embodiments, the information acquiring unit 10 acquires the cleaning information includes: and acquiring a cleaning map of the cleaning task. The cleaning information acquired by the information acquisition unit 10 may be a cleaning map of the cleaning task at this time, and the mode determination unit 20 determines the cleaning mode of the cleaning task at this time based on the cleaning map of the cleaning task at this time.
When the cleaning information acquired by the information acquisition unit 10 is the cleaning map of the cleaning task of this time, the mode determination unit 20 determines the cleaning mode based on the cleaning information includes: and determining that the second cleaning mode is the cleaning mode of the cleaning task based on the fact that the cleaning map of the cleaning task is a new cleaning map. A new cleaning map may refer to a cleaning task that is performed based on the cleaning map for the first time. The new cleaning map may be the first time the cleaning map is called, or the cleaning map may be newly generated. When the cleaning map of the cleaning task of this time is a new cleaning map, it may be considered that the area needs to be deeply cleaned, and therefore, the mode determination unit 20 determines that the second cleaning mode is the cleaning mode of the cleaning task of this time.
In an exemplary embodiment, after the information obtaining unit 10 obtains the sweeping map of the cleaning task at this time, the method further includes: the information acquisition unit 10 determines whether the sweep map of the present cleaning task is a new sweep map based on the sweep map usage record. If the cleaning map usage record records that the cleaning map of the cleaning task has already executed the cleaning task, the cleaning map is the old cleaning map. Otherwise, the cleaning map is a new cleaning map.
For example, when a cleaning task is executed, a cleaning map of the cleaning task is retrieved. And when the cleaning map using record records that the cleaning task is executed in the cleaning map of the current cleaning task, determining the second cleaning mode as the cleaning mode of the current cleaning task. And when the cleaning map which does not record the cleaning task in the cleaning map using record already executes the cleaning task, determining that the first cleaning mode is the cleaning mode of the cleaning task.
In some embodiments, the information acquiring unit 10 acquires the cleaning information includes: the information acquisition unit 10 acquires the interval time from the last cleaning job to the present cleaning job. The cleaning information acquired by the information acquisition unit 10 may be an interval time from the last cleaning task to the present cleaning task. The mode determination unit 20 determines the cleaning mode of the cleaning task this time according to the interval time from the cleaning task last time to the cleaning task this time.
When the cleaning information acquired by the information acquisition unit 10 is the interval time from the last cleaning task to the present cleaning task, the mode determination unit 20 determines the cleaning mode based on the cleaning information includes: the mode determination unit 20 determines the second cleaning mode as the cleaning mode of the present cleaning task based on the interval time being greater than the first threshold value. When the interval time is greater than the first threshold, it may be considered that the area needs to be deeply cleaned, and therefore the mode determination unit 20 determines that the second cleaning mode is the cleaning mode of the cleaning task of this time.
The first threshold may be, for example, 3 days, 5 days, 7 days, etc., and is not particularly limited herein. In an exemplary embodiment, the first threshold may be preset. Alternatively, the first threshold may be adjusted according to the situation. For example, the user inputs a time desired to be set on the operation interface as the first threshold. The unit of the first threshold may also be hours. For example, the first threshold may be 48 hours, 60 hours, 72 hours, 96 hours, and so on.
Taking the first threshold value as 72 hours as an example, when the cleaning job is executed, the information acquisition unit 10 acquires the interval time from the previous cleaning job to the present cleaning job. When the interval time (e.g., 80 hours) from the last cleaning task to the present cleaning task is greater than the first threshold value (72 hours), the mode determination unit 20 determines that the second cleaning mode is the cleaning mode for the present cleaning task. When the interval time (e.g., 48 hours) from the last cleaning task to the present cleaning task is less than the first threshold value (72 hours), the mode determination unit 20 determines that the first cleaning mode is the cleaning mode of the present cleaning task.
In some embodiments, the information acquiring unit 10 acquires the cleaning information includes: the information acquiring unit 10 acquires the degree of soiling of the mop. The cleaning mode is determined on the basis of the degree of soiling of the mop.
In some embodiments, when the information acquiring unit 10 acquires the cleaning information includes acquiring the degree of soiling of the mop, the mode determining unit 20 determines the cleaning mode based on the cleaning information includes: the mode determination unit 20 determines the second cleaning mode as the cleaning mode of the present cleaning task based on the degree of contamination exceeding the second threshold value. When the degree of soiling of the mop swab is greater than the second threshold value, it can be assumed that the area requires deep cleaning, so the mode determination unit 20 determines that the second cleaning mode is the cleaning mode of the present cleaning task.
In some embodiments, when the information acquisition unit 10 acquires the cleaning information includes acquiring the degree of soiling of the mop, the information acquisition unit 10 further includes: the information acquisition unit 10 acquires the cleaning time. At this time, the mode determination unit 20 may determine the cleaning mode based on the cleaning time and the degree of soiling of the mops.
In some embodiments, when the information acquiring unit 10 acquires the cleaning information includes acquiring the degree of soiling of the mop and the cleaning time, the mode determining unit 20 determines the cleaning mode based on the cleaning information includes: the mode determination unit 20 determines the second cleaning mode as the cleaning mode of the present cleaning task based on the relation between the change of the degree of contamination of the mop and the cleaning time satisfying the first condition.
In an exemplary embodiment, the mode determination unit 20 determines the second cleaning mode as the cleaning mode of the present cleaning task based on the fact that the sweeping time required for increasing the degree of soiling of the mop from the first degree of soiling to the second degree of soiling is less than a third threshold value. The first degree of soiling may be the initial degree of soiling, i.e. the degree of soiling of the mop cloth before cleaning. For example, when the degree of soiling of the mop swab is expressed in percent, 0% represents the cleanest state of the mop swab and 100% represents the dirtiest state of the mop swab. Assuming that the first degree of contamination is 0%, the second degree of contamination is 50%, and the third threshold value is 30, the unit of cleaning time is second(s). The second cleaning mode will be activated when the cleaning time required for the mop to reach a degree of soiling of 50% from the cleanest state (degree of soiling of 0%) is less than 30 s.
Of course, the first condition that the relation between the change in the degree of soiling of the mop and the cleaning time is satisfied is not limited to the above-described embodiment.
In the embodiment of the present application, the expression form of the degree of soiling of the mop and the manner of obtaining the same are not particularly limited.
In some embodiments, the information acquiring unit 10 acquiring the degree of soiling of the mop includes: the information acquisition unit 10 acquires the whiteness of the mop; and determining the dirt degree of the mop according to the whiteness. The information acquiring unit 10 may include a whiteness meter by which the information acquiring unit 10 can obtain the whiteness of the mop. The information acquiring unit 10 may further include a conversion module, which performs corresponding conversion on the obtained whiteness according to the expression form of the degree of soiling, and represents the degree of soiling of the mop in a selected expression form.
In some embodiments, when the acquiring of the cleaning information by the information acquiring unit 10 includes acquiring the degree of soiling of the mop, the method further includes: the information acquiring unit 10 acquires the degree of soiling of the mop before cleaning, and takes the degree of soiling of the mop before cleaning as the initial degree of soiling of the mop. The initial dirt degree is obtained before cleaning every time, and the dirt degree change condition of the mop cloth in the cleaning process can be more accurately obtained. Such as more accurately obtaining the rate of change of the degree of contamination. The rate of change of the degree of soiling may be a ratio of the difference in the degree of soiling to the time of sweeping. In the exemplary embodiment, the initial degree of soiling represents the cleanest state of the mop swab.
In some embodiments, the amount of water sprayed in the second cleaning mode is greater than the amount of water sprayed in the first cleaning mode. When the amount of water spray is included in the cleaning parameters of the cleaning mode, different amounts of water spray may be set in the first cleaning mode and the second cleaning mode. The second cleaning mode can be more suitable for cleaning the floor with high dirt degree by the water spraying amount of the second cleaning mode being larger than that of the first cleaning mode.
In some embodiments, the first cleaning mode has a one-way winding path, and the second cleaning mode has a two-way winding path. When the traveling path is included in the cleaning parameters of the cleaning mode, different traveling paths may be set in the first cleaning mode and the second cleaning mode. The walking path of the second cleaning mode is bidirectional roundabout advancing, so that the second cleaning mode can be more suitable for cleaning the ground with high dirt degree.
In some embodiments, the vibration frequency of the carriage in the second cleaning mode is greater than the vibration frequency of the carriage in the first cleaning mode. When the mop vibration frequency is included in the cleaning parameters of the cleaning mode, different mop vibration frequencies can be set in the first cleaning mode and the second cleaning mode. The vibration frequency of the carriage in the second cleaning mode is greater than that in the first cleaning mode, so that the second cleaning mode can be more suitable for cleaning the ground with high dirt degree.
In some embodiments, the rotational speed of the drum brush in the second cleaning mode is greater than the rotational speed of the drum brush in the first cleaning mode. When the cleaning parameters of the cleaning mode include the rotation speed of the drum brush, different rotation speeds of the drum brush may be set in the first cleaning mode and the second cleaning mode. The rotating speed of the rolling brush in the second cleaning mode is greater than that of the rolling brush in the first cleaning mode, so that the second cleaning mode can be more suitable for cleaning the ground with high dirt degree.
As can be seen from the foregoing embodiments, in the apparatus according to the embodiments of the present application, the cleaning parameters of the cleaning mode may include one or more of a traveling speed, a water spraying amount, a traveling path, a vibration frequency of the carriage, and a rotational speed of the roller brush. In some embodiments, the cleaning parameters of the cleaning mode include at least a walking speed.
In some embodiments, when the cleaning parameters of the cleaning mode include at least two types, the cleaning parameter adjustment sequence when the execution unit 30 switches from the first cleaning mode to the second cleaning mode follows the following rule: the walking speed is superior to other cleaning parameters. For example, the cleaning parameters of the cleaning mode include a traveling speed and a vibration frequency of the carriage. When the first cleaning mode is switched to the second cleaning mode, the execution unit 30 first reduces the traveling speed and then increases the vibration frequency of the carriage. For another example, the cleaning parameters of the cleaning mode include a traveling speed and a rolling brush rotation speed. When the first cleaning mode is switched to the second cleaning mode, the execution unit 30 first reduces the traveling speed and then increases the rotation speed of the roller brush.
The embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method of any one of the above embodiments. The computer-readable storage medium may include, but is not limited to, any type of disk including floppy disks, optical disks, DVD, CD-ROMs, microdrive, and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of media or device suitable for storing instructions and/or data.
Embodiments of the present application also provide a computer program product comprising a non-transitory computer readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any one of the virtual object position identification methods as set forth in the above method embodiments.
It is clear to a person skilled in the art that the solution of the present application can be implemented by means of software and/or hardware. The "unit" and "module" in this specification refer to software and/or hardware that can perform a specific function independently or in cooperation with other components, where the hardware may be, for example, a Field-ProgrammaBLE Gate Array (FPGA), an Integrated Circuit (IC), or the like.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some interfaces, devices or units, and may be an electric or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable memory. Based on such understanding, the technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product stored in a memory, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned memory comprises: various media capable of storing program codes, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable memory, which may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
The embodiment of the application further provides a sweeping robot, which comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor executes the computer program to realize the method of any one of the embodiments.
Please refer to fig. 3, which provides a schematic structural diagram of a sweeping robot according to an embodiment of the present application. As shown in fig. 3, the sweeping robot 300 may include: at least one processor 301, at least one network interface 304, a user interface 303, a memory 305, at least one communication bus 302.
Wherein a communication bus 302 is used to enable the connection communication between these components.
The user interface 303 may include a Display screen (Display) and a Camera (Camera), and the optional user interface 303 may further include a standard wired interface and a wireless interface.
The network interface 304 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), among others.
The Memory 305 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory 305 includes a non-transitory computer-readable medium. The memory 305 may be used to store instructions, programs, code sets, or instruction sets. The memory 305 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the various method embodiments described above, and the like; the storage data area may store data and the like referred to in the above respective method embodiments. The memory 305 may alternatively be at least one storage device located remotely from the processor 301. As shown in fig. 3, the memory 305, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a video information storage application program.
The above description is intended to be illustrative and not restrictive. For example, the above-described examples (or one or more versions thereof) may be used in combination with each other, and it is contemplated that the embodiments may be combined with each other in various combinations or permutations. The scope of the application should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.
Claims (14)
1. A method of cleaning, the method comprising:
acquiring cleaning information;
determining a cleaning mode based on the sweep information;
performing a cleaning task according to the determined cleaning mode; wherein
The cleaning modes include a first cleaning mode and a second cleaning mode, and the traveling speed of the second cleaning mode is lower than that of the first cleaning mode.
2. The method of claim 1, wherein the obtaining cleaning information comprises: acquiring a cleaning map of the cleaning task;
the determining a cleaning mode based on the sweep information includes:
and determining that the second cleaning mode is the cleaning mode of the cleaning task at this time based on the cleaning map being a new cleaning map.
3. The method of claim 1, wherein the obtaining cleaning information comprises: acquiring the interval time from the last cleaning task to the current cleaning task;
the determining a cleaning mode based on the sweep information includes:
and determining that the second cleaning mode is the cleaning mode of the cleaning task at this time based on the interval time being larger than a first threshold value.
4. The method of claim 1, wherein the obtaining cleaning information comprises: acquiring the dirt degree of the mop;
the determining a cleaning mode based on the sweep information includes:
and determining the second cleaning mode to be the cleaning mode of the cleaning task based on the dirt degree exceeding a second threshold value.
5. The method of claim 1, wherein the obtaining cleaning information comprises: acquiring the dirt degree and the cleaning time of the mop;
the determining a cleaning mode based on the sweep information includes: and determining the second cleaning mode as the cleaning mode of the cleaning task based on the condition that the relation between the change of the dirt degree of the mop and the cleaning time meets the first condition.
6. Method according to claim 5, characterized in that the determination of the second cleaning mode as the cleaning mode for the present cleaning task on the basis that the change in the degree of soiling of the mop in relation to the cleaning time fulfils a first condition comprises: and determining the second cleaning mode as the cleaning mode of the cleaning task based on the fact that the cleaning time required for increasing the dirt degree of the mop from the first dirt degree to the second dirt degree is less than a third threshold value.
7. Method according to any of claims 4-6, characterized in that the taking of the degree of soiling of the mops comprises: acquiring the whiteness of the mop;
and determining the dirt degree of the mop according to the whiteness.
8. The method of claim 1, wherein the amount of water sprayed in the second cleaning mode is greater than the amount of water sprayed in the first cleaning mode;
the first cleaning mode is a one-way roundabout forward traveling path, and the second cleaning mode is a two-way roundabout forward traveling path.
9. The method of claim 1, wherein the second cleaning mode sled vibration frequency is greater than the first cleaning mode sled vibration frequency.
10. The method of claim 1, wherein a rotational speed of the drum brush of the second cleaning mode is greater than a rotational speed of the drum brush of the first cleaning mode.
11. The method of claim 1, wherein the cleaning parameters of the cleaning mode include one or more of a walking speed, a water spray amount, a walking path, a planker vibration frequency, and a roller brush rotation speed; when the cleaning parameters of the cleaning mode include a walking speed and at least one other, the cleaning parameter adjustment rule for switching from the first cleaning mode to the second cleaning mode includes: walking speed takes precedence over other cleaning parameters.
12. A cleaning device, the device comprising:
an information acquisition unit for acquiring cleaning information;
a mode determination unit for determining a cleaning mode based on the sweeping information;
an execution unit for executing a cleaning task according to the determined cleaning mode; wherein
The cleaning modes include a first cleaning mode and a second cleaning mode, and the traveling speed of the second cleaning mode is lower than that of the first cleaning mode.
13. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the method of any one of the preceding claims 1-11.
14. A sweeping robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the method of any one of the preceding claims 1-11 when executing the computer program.
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| CN202010800843.5A CN114073448A (en) | 2020-08-11 | 2020-08-11 | Cleaning method and apparatus |
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| CN202010800843.5A CN114073448A (en) | 2020-08-11 | 2020-08-11 | Cleaning method and apparatus |
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