CN115067816A - Cleaning equipment and control method and device thereof - Google Patents
Cleaning equipment and control method and device thereof Download PDFInfo
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- CN115067816A CN115067816A CN202210909600.4A CN202210909600A CN115067816A CN 115067816 A CN115067816 A CN 115067816A CN 202210909600 A CN202210909600 A CN 202210909600A CN 115067816 A CN115067816 A CN 115067816A
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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
- 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
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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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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The disclosure is applicable to the technical field of cleaning equipment, and provides a control method and a control device of the cleaning equipment and the cleaning equipment, wherein the control method of the cleaning equipment comprises the following steps: acquiring a track of the ground brush moving continuously on the ground, wherein the track comprises a plurality of turning nodes, and each turning node is a turning point of the ground brush moving reversely; calculating a first cleaning area of a ground brush moving from a first steering node to a second steering node and a second cleaning area of the ground brush moving from a third steering node to a fourth steering node by taking the starting point of the track as the first steering node, and taking the fourth steering node as a new first steering node; calculating the overlapping area of the first cleaning area and the second cleaning area; calculating the proportion of the coincidence area to the first cleaning area; and comparing the proportion with a preset proportion threshold value, and automatically adjusting the working state of the cleaning equipment based on the comparison result. The method and the device for cleaning the cleaning equipment save the trouble of manually adjusting the working state of the cleaning equipment in the cleaning process, and enable the cleaning equipment to be more intelligent.
Description
Technical Field
The disclosure belongs to the technical field of cleaning equipment, and particularly relates to a control method and device of the cleaning equipment and the cleaning equipment.
Background
In a scenario where a user uses a cleaning device such as a vacuum cleaner or a floor washer to clean a floor, it is often encountered that the cleaning device passes through a position which is not cleaned, and then the user moves the cleaning device back to the position for repeated cleaning or tries to adjust an operating range of the cleaning device for cleaning so as to expect to clean the position.
Obviously, if a user tries to adjust the operating gear of the cleaning device in the aforementioned cleaning scene to seek to clean the position, multiple gear attempts may need to be performed, and after the cleaning of the position is completed, the gear needs to be adjusted back to the previous state, which is very troublesome.
Disclosure of Invention
In view of the above, embodiments of the present disclosure provide a control method and apparatus for a cleaning device, and a cleaning device, so as to solve the problem that a user needs to manually repeatedly adjust the state of the cleaning device to try to clean the floor in the prior art.
A first aspect of an embodiment of the present disclosure provides a control method of a cleaning apparatus, including:
acquiring a track of the ground brush moving continuously on the ground, wherein the track comprises a plurality of turning nodes, and each turning node is a turning point of the ground brush moving reversely;
taking the starting point of the track as a first turning node, calculating a first cleaning area of the brush moving from the first turning node to the second turning node and a second cleaning area of the brush moving from the third turning node to the fourth turning node, and taking the fourth turning node as a new first turning node;
calculating the overlapping area of the first cleaning area and the second cleaning area;
calculating the proportion of the coincidence area to the first cleaning area;
and comparing the proportion with a preset proportion threshold value, and automatically adjusting the working state of the cleaning equipment based on the comparison result.
A second aspect of the embodiments of the present disclosure provides a control device of a cleaning apparatus, including:
the track acquisition module is configured to acquire a track of the ground brush moving continuously on the ground, wherein the track comprises a plurality of turning nodes, and each turning node is a turning point of the reverse moving ground brush;
an area calculation module configured to calculate a first sweeping area of the brush moving from the first turning node to the second turning node and a second sweeping area of the brush moving from the third turning node to the fourth turning node with the start point of the trajectory as the first turning node, and to take the fourth turning node as a new first turning node;
a coincidence calculation module configured to calculate a coincidence area of the first cleaning area and the second cleaning area;
a proportion calculation module configured to calculate a proportion of the overlap area to the first cleaning area;
and the state control module is configured to compare the proportion with a preset proportion threshold value and automatically adjust the working state of the cleaning equipment based on the comparison result.
A third aspect of embodiments of the present disclosure provides a cleaning apparatus, including at least:
the ground brush is provided with an angular velocity sensor and an orientation sensor;
the encoder is arranged on the roller of the floor brush;
controlling means is connected with angular velocity sensor, position sensor and encoder electricity respectively, and controlling means includes: a memory, a processor and a computer program stored in the memory and executable on the processor, the steps of the control method of the cleaning device being realized when the computer program is executed by the processor.
Compared with the prior art, the embodiment of the disclosure has the following beneficial effects: the working state of the cleaning equipment is adjusted by calculating the coincidence degree of the cleaning areas of the floor brush passing through different steering nodes in the continuous moving process, so that the working state of the cleaning equipment can change along with the movement action of the floor brush on the ground in a self-adaptive manner, the trouble of manually adjusting the working state of the cleaning equipment in the cleaning process is eliminated, the user operation is simplified, and the use of the cleaning equipment is more intelligent.
Drawings
To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without inventive efforts.
Fig. 1 is a schematic flow chart of a control method of a cleaning device according to an embodiment of the disclosure;
FIG. 2 is a schematic diagram of a track of a next movement of the floor brush in a coordinate system established by taking the floor brush as a cylinder according to an embodiment of the present disclosure;
FIG. 3 is a schematic flow chart diagram illustrating another method for controlling a cleaning apparatus according to an embodiment of the disclosure;
FIG. 4 is a schematic diagram of a control device of a cleaning apparatus provided in an embodiment of the present disclosure;
FIG. 5 is a schematic structural diagram of a cleaning device provided by an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a control device according to an embodiment of the present disclosure.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the disclosed embodiments. It will be apparent, however, to one skilled in the art that the present disclosure may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present disclosure with unnecessary detail.
Referring to fig. 1, an embodiment of the present disclosure provides a control method of a cleaning apparatus, including:
s101, obtaining a track of continuous movement of the floor brush on the ground, wherein the track comprises a plurality of turning nodes, and each turning node is a turning point of the reversely moving floor brush;
s102, taking the starting point of the track as a first turning node, calculating a first cleaning area of the brush moving from the first turning node to a second turning node and a second cleaning area of the brush moving from a third turning node to a fourth turning node, and taking the fourth turning node as a new first turning node;
s103, calculating the overlapping area of the first cleaning area and the second cleaning area;
s104, calculating the proportion of the overlapping area to the first cleaning area;
and S105, comparing the proportion with a preset proportion threshold value, and automatically adjusting the working state of the cleaning equipment based on the comparison result.
In particular, the cleaning device may be a power mop, a vacuum cleaner, a floor scrubber or the like, the floor brush being one of the cleaning elements of the cleaning device, and generally the shape of the floor brush may be configured as a disc or a cylinder. If the floor brush is a disc, the center point of the disc can be regarded as the position of the floor brush to obtain the continuous moving track of the floor brush on the ground; if the floor brush is a cylinder, the center point of the cylinder can be regarded as the position of the floor brush to obtain the continuous moving track of the floor brush on the ground. For example, as shown in fig. 2, the ground brush is a cylinder, the center point of the cylinder axis is regarded as the position of the ground brush, and the ground brush is dragged to move along the trajectory of a → B → C → D, then A, B, C, D are the turning nodes of the ground brush respectively, where a1 is the starting point of the trajectory.
The turning node represents a turning position point at which the user changes the direction of the floor brush in a back-and-forth moving manner when dragging the floor brush for cleaning. For example, when a user uses the floor brush to mop the floor, the user firstly pushes the floor brush forwards and then pushes the floor brush backwards, and then the position point of the floor brush when the floor brush is changed from the forward movement to the backward movement is a turning node of the floor brush in the continuous movement process of the floor; and then, the user pushes the floor brush forwards again, and the position point when the floor brush is converted from the backward movement to the forward movement is another turning node in the floor-to-floor movement process of the floor brush.
In connection with fig. 2, the line segments of two adjacent turning nodes may represent that the user has completed one cleaning action in the track direction using the floor brush. For example, the line segments AB, BC, and CD correspond to a cleaning action, respectively, as indicated by the trajectory A → B → C → D in FIG. 2. Preferably, in the disclosed embodiment, the cleaning area traversed by the floor brush along the line segment AB is designated as a first cleaning area, S1, and the cleaning area traversed by the floor brush along the line segment CD is designated as a second cleaning area, S2.
Obviously, during the movement of the floor brush along the trajectory of a → B → C → D, the cleaning area of the line segment BC is also passed, which corresponds to the cleaning area corresponding to one cleaning action spaced between the second cleaning area and the first cleaning area. In practical applications, the first cleaning area and the second cleaning area may be calculated by one or more cleaning actions, or the first cleaning area and the second cleaning area may also be calculated without any cleaning actions, for example, a cleaning area where the floor brush passes along the line AB in fig. 2 is taken as the first cleaning area, and a cleaning area where the floor brush passes along the line BC is taken as the second cleaning area, which is not limited by the embodiment of the disclosure.
In a more detailed aspect, the overlap of the first cleaning area and the second cleaning area reflects the degree of overlap of the cleaning areas of the floor brush after a plurality of successive cleaning actions. Specifically, if the overlapping area is larger, the probability that the floor brush repeatedly moves back and forth in the same area is higher, which indicates that the probability that the cleaning effect of the floor brush in the area is not obvious is higher; conversely, the smaller the overlapping area, the smaller the probability that the floor brush repeatedly moves back and forth in the same area, which indicates that the possibility that the cleaning effect of the floor brush is insignificant in that area is smaller. Therefore, according to the embodiment of the disclosure, the working state of the cleaning device is adjusted by calculating the coincidence degree of the cleaning areas of the floor brush passing through different steering nodes in the continuous moving process, so that the working state of the cleaning device can change along with the movement action of the floor brush on the ground in a self-adaptive manner, the trouble of manually adjusting the working state of the cleaning device in the cleaning process is avoided, the user operation is simplified, and the cleaning device is more intelligent.
In some embodiments, the obtaining of the track of the continuous movement of the floor brush on the floor according to the control method of the cleaning apparatus provided in fig. 1 includes: establishing a coordinate system by taking the starting point of the track of the movement of the floor brush as an origin; acquiring the direction, the angular speed and the mileage of the ground brush moving on the ground; determining a turning node of the moving track based on the orientation; calculating the coordinates of the steering nodes based on the angular speed and the mileage; and generating a track of the ground brush moving along the steering node in a straight line based on the coordinates of the steering node.
Specifically, taking the cleaning device as a dust collector as an example, the shape of the ground brush is a cylinder, as shown in fig. 2, the central point of the cylinder axis is taken as the position of the ground brush, the position of the ground brush contacting each time is taken as an origin, a two-dimensional coordinate system taking the cylinder axis direction as an X axis is established, the Y axis direction is perpendicular to the axis direction, and the plane where the X axis and the Y axis are located is parallel to the ground, so that when the ground brush continuously moves on the ground, the origin is equivalent to the starting point of the track of the ground brush movement.
In practical application, a magnetic induction sensor, an angular velocity sensor and an encoder can be arranged on the floor brush to correspondingly acquire the moving direction, the angular velocity and the mileage of the floor brush.
The method comprises the steps of determining a turning node of the floor brush in the continuous movement process on the ground according to the orientation of the floor brush, and specifically realizing the steps of calculating the orientation component of the floor brush in the Y-axis direction based on the established two-dimensional coordinate system, and determining the turning node according to the change of the orientation component. For example, as shown in fig. 2, during the movement of the floor brush along the line segment AB, the azimuth component of the floor brush in the Y-axis direction is calculated to be positive, and when the floor brush moves to the point B and turns to move along the line segment BC, the azimuth component of the floor brush in the Y-axis direction becomes negative, so as to determine the point B as the turning node; similarly, when the ground brush moves to the point C and then moves along the line segment CD, the azimuth component of the ground brush in the Y-axis direction becomes positive again, and at this time, the point C at the position is determined to be the turning node.
With continued reference to fig. 2, the direction and angle of the movement of the floor brush relative to the two-dimensional coordinate system can be calculated by the angular velocity of the floor brush, and the mileage is the actual movement displacement of the floor brush. Then, if the user pushes the floor brush to move along the trajectory of a → B → C → D, let a be the origin of coordinates (0,0), the length of the floor brush be t, the length vectors of the line segments AB, BC, CD be r1, r2, r3, the angle between the line segment AB and the positive direction of the X axis be α, the angle between the line segment BC and the positive direction of the X axis be β, and the angle between the line segment CD and the positive direction of the X axis be γ, then, in combination with the angular velocity and the mileage at which the floor brush moves, it can be calculated:
the coordinates of A are (0, 0);
b is (r1 × cos α, r1 × sin α);
the coordinates of C are (r1 × cos α + r2 × cos β, r1 × sin α + r2 × sin β);
d is plotted as (r1 × cos α + r2 × cos β + r3 × cos γ, r1 × sin α + r2 × sin β + r3 × sin γ).
After the coordinates of the turning nodes A, B, C and D are obtained through calculation, vectors of two adjacent turning nodes can be calculated, and a vector sequence of the moving track of the ground brush can be generated:
it should be noted that the generated ground brush movement track is a straight line track moving along the turning nodes, and the actual movement track of the ground brush between two adjacent turning nodes may not be a straight line but a broken line. For example, the actual trajectory of the brush moving from turning node a to turning node B may be a broken line, not a straight line, since the angular velocity may change while the brush is moving from turning node a to turning node B, although the azimuth is in the same direction. However, whether the actual movement trajectory of the floor brush is a straight line or a broken line, the coordinates of the turning node B point can be calculated from the distance traveled and the angular velocity. In the embodiment of the disclosure, the mileage vector of two adjacent turning nodes is calculated to be used as the moving track of the floor brush, so that the calculation amount of the subsequent cleaning area can be simplified, and a large error can not be caused when the overlapping area is finally calculated.
According to the embodiment of the disclosure, the starting point of the track of the ground brush movement is used as the origin, the coordinate system is established, the direction, the angular speed and the mileage of the ground brush movement are combined, the turning nodes in the ground brush movement process can be accurately identified, the coordinates of each turning node are calculated, and the track of the ground brush movement can be quickly generated by using the coordinates of the turning nodes.
In some embodiments, calculating a first swept area of the brush moving from the first turning node to the second turning node comprises: acquiring coordinates of a first steering node and a second steering node; based on the shape of the floor brush, the area of the plane where the floor brush moves straight from the first turning node to the second turning node is calculated and taken as the first sweeping area.
Specifically, in the case where the ground brush is cylindrical, referring to fig. 2, the cleaning region linearly moving from the first turning node a to the second turning node B is a parallelogram, wherein, assuming that the length of the ground brush is t, the coordinates of the first turning node a are (0,0), and the coordinates of the second turning node B are (r1 × cos α, r1 × sin α), the area of the parallelogram is taken as the first cleaning area and is labeled as S1, then the first cleaning area can be calculated:
S1＝r1*sinα*t。
next, calculating a second swept area for the scrubber to move from the third steering node to the fourth steering node, comprising:
coordinates of a third steering node and a fourth steering node are obtained;
and calculating the plane area of the floor brush linearly moving from the third turning node to the fourth turning node based on the shape of the floor brush, and taking the plane area as the second cleaning area.
Similarly, in the case where the ground brush is shaped as a cylinder, referring to fig. 2, the cleaning region linearly moving from the third turning node C to the fourth turning node D is another parallelogram, where the coordinates of the third turning node C are (r 1+ r2 + cos β, r 1+ r2 + sin β) and the coordinates of the fourth turning node D are (r 1+ r2 + cos β + r 3+ cos γ, r 1+ sin α + r2 + sin β + r 3) and the another parallelogram is used as a second area and is labeled S2, then the second cleaning area can be calculated:
S2＝r3*sinγ*t。
in some embodiments, calculating the area of coincidence of the first swept area and the second swept area comprises: calculating all vertex coordinates of the shapes of the first cleaning area and the second cleaning area; and determining the coincidence area of the first cleaning area and the second cleaning area based on the vertex coordinates.
In practice, the implementation of calculating the overlapping area of two known shapes is not exclusive, and a specific embodiment of calculating the overlapping area S0 of sweeping area S1 and second sweeping area S2 is given herein in conjunction with fig. 2.
Referring to fig. 2, the shape of the floor brush is a cylinder, and the first cleaning area S1 and the second cleaning area S2 are both parallelograms, wherein four vertices of the parallelogram of the first cleaning area S1 are respectively a, b, c, and d, and four vertices of the parallelogram of the second cleaning area S2 are respectively e, f, g, and h. Then, it can be calculated:
the coordinate of a is (-t/2, 0);
the coordinate of b is (t/2, 0);
c is (r1 × cos α + t/2, r1 × sin α);
d has the coordinates of (r1 × cos α -t/2, r1 × sin α);
e is represented by (r1 × cos α + r2 × cos β -t/2, r1 × sin α + r2 × sin β);
f is (r1 × cos α + r2 × cos β + t/2, r1 × sin α + r2 × sin β);
g is (r1 × cos α + r2 × cos β + r3 × cos γ + t/2, r1 × sin α + r2 × sin β + r3 × sin γ);
the coordinates of h are (r1 × cos α + r2 × cos β + r3 × cos γ -t/2, r1 × sin α + r2 × sin β + r3 × sin γ).
In addition, the intersection of the quadrangles of the first cleaning area S1 and the second cleaning area S2 can be determined by calculating the intersection of the two line segments of the four sides ab, bc, cd, and da of the quadrangle where the first cleaning area S1 is located and the four sides ef, fg, gh, and he of the quadrangle where the second cleaning area S2 is located.
For example, assuming that x1 ═ r1 ═ cos α + r2 × (β -t/2), y1 ═ r1 × (α + r2 ×) sin β, and x2 ═ r1 ═ cos α + r2 × (β + r3 × (γ -t/2), and y2 ═ r1 × (α + r2 × (β + r 3) × (γ) the coordinates of the two vertices e and h are reduced to (x1, y1) and (x2, y2), respectively, then the straight line equation for he can be obtained as:
y＝(y2-y1)*x/(x2-x1)+(y1-y2)*x1/(x2-x1)+y1；
wherein, assuming that K1 is (y2-y1)/(x2-x1), and B1 is (y1-y2) x1/(x2-x1) + y1, the he linear equation can be simplified as: y-K1 x + B1.
Similarly, assuming that x3 ═ r1 ═ cos α + t/2, y3 ═ r1 ═ sin α, x4 ═ r1 ═ cos α -t/2, and y4 ═ r1 ═ sin α, the coordinates of the two vertices c and d are simplified to (x3, y3) and (x4, y4), respectively, the cd linear equation can be obtained as:
y＝(y4-y3)*x/(x4-x3)+(y3-y4)*x3/(x4-x3)+y3；
wherein, assuming that K2 is (y4-y3)/(x4-x3), and B2 is (y3-y4) x3/(x4-x3) + y3, the cd linear equation can be simplified as: y-K2 x + B2.
Next, the two equations are combined into a system of equations:
the coordinates of the intersection k of the two straight lines he and cd are obtained by calculating the solution of this equation system (1). Obviously, the coordinates of the intersection point j of the straight lines bc and ef can also be calculated by the same method as described above, and details are not described here.
Further, after the coordinates of the intersection points k and j are obtained, the coordinates of the four vertices e, j, c, and k of the quadrangle in which the overlapping area S0 is located are obtained. Then, the implementation of finding the area by using the vertex coordinates of an arbitrary quadrangle is not unique, and a specific implementation scheme is given below.
Let the coordinates of the four vertices e, j, c, k be:
e(x1，y1)；
j(x6，y6)；
c(x3，y3)；
k(x5，y5)；
where four vertices e, j, c, k can be connected in sequence to form an arbitrary quadrilateral ejck, and the quadrilateral ejck (area) ═ Δ abc +/Δ acd, then:
Δ abc (area) 1/2(x1y6+ x6y3+ x3y1-x1y3+ x6y1+ x3y 6);
Δ acd (area) 1/2(x1y3+ x3y5+ x5y1-x1y5+ x3y1+ x5y 3).
It can be seen that the overlapping area of any shape can be calculated by the specific implementation provided in the above examples.
In some embodiments, with respect to the control method of the cleaning apparatus provided in fig. 1, the working state of the cleaning apparatus includes a power gear, a rotational speed gear and a liquid injection gear of the motor in the cleaning apparatus, and the working state of the cleaning apparatus is automatically adjusted based on the comparison result, including: under the condition that the proportion is larger than or equal to a first proportion threshold value, increasing a power gear, a rotating speed gear or/and a liquid spraying amount gear of a motor in the cleaning equipment by one gear; reducing the power gear, the rotating speed gear or/and the liquid spraying amount gear of the cleaning equipment by one gear under the condition that the proportion is less than or equal to a second proportion threshold; under the condition that the proportion is smaller than the first proportion threshold and larger than the second proportion threshold, keeping a power gear, a rotating speed gear or/and a liquid spraying amount gear of a motor in the cleaning equipment unchanged; wherein the first proportional threshold is greater than the second proportional threshold.
Specifically, the power gear, the rotating speed gear and the liquid spraying amount gear can have a plurality of gears, and when the first gear needs to be increased according to the comparison result, if the gear of the current working state of the cleaning equipment is the highest gear, the current highest gear is kept; on the contrary, when the first gear needs to be lowered according to the comparison result, if the gear in which the current working state of the cleaning device is located is the lowest gear, the current lowest gear is kept.
In addition, the operating states to be set differ from cleaning appliance to cleaning appliance. For example, if the cleaning device is a dust collector provided with a floor brush, the power gear, the rotating speed gear and the like of a motor for controlling the suction force in the dust collector can be automatically adjusted based on the comparison result; if the cleaning equipment is an electric mop or a dust collector with a floor mopping function, the cleaning equipment is provided with a liquid spraying device, and a valve opening and closing gear, a hydraulic valve pressure gear and the like for controlling the liquid spraying amount of liquid spraying decoration in the cleaning equipment can be automatically adjusted based on the comparison result; if the cleaning equipment is a floor washer, some floor washers are simultaneously provided with a floor brush and a liquid spraying device, and the power gear of a motor for controlling suction force and the gear of the rotating speed of the motor in the floor washer can be automatically adjusted based on the comparison result, or/and the opening and closing gear of a valve for controlling the amount of liquid spraying decoration liquid in the floor washer and the pressure gear of a hydraulic valve can be automatically adjusted.
Specifically, the first ratio threshold and the second ratio threshold may be thresholds preset according to empirical data or experiments, or may also be new thresholds obtained by adjusting the set thresholds according to user data, which is not limited in this embodiment of the disclosure.
In some embodiments, the first proportional threshold is generally set between 50% -80%, for example, the first proportional threshold may be set at 50%, 55%, 60%, 65%, 70%, 75%, 80%, etc.; while the second ratio threshold is typically set below 20% -45%, for example, the second ratio threshold may be set at 45%, 40%, 35%, 30%, 25%, 20%, etc. Preferably, in one embodiment, the first proportional threshold is set to 60% and the second proportional threshold is set to 30%.
In some embodiments, referring to fig. 3, another control method of a cleaning apparatus is further provided in the embodiments of the present disclosure, including:
s310, detecting the contact state of the ground brush and the ground in real time when the cleaning equipment works, wherein the contact state comprises a ground-contacting state and a ground-separating state;
s321, stopping executing the control method of the cleaning apparatus in fig. 1 when the floor brush is in the ground-off state, and returning to S310;
s322, under the condition that the floor brush is in the ground contact state, judging whether the floor brush is away from the ground and then contacts the ground;
s3221, if yes, re-determining the track starting point of the movement of the ground brush, starting to execute the control of the cleaning equipment, and returning to S310;
s3222, if not, the method for controlling the cleaning apparatus in fig. 1 is continuously performed, and the process returns to S310.
Specifically, the floor brush of the cleaning device needs to be kept to continuously move close to the ground, the control method of the cleaning device in fig. 1 can work normally, and once the floor brush is detected to leave the ground, the control method of the cleaning device is stopped; when the floor brush makes a touchdown again, the origin is re-determined at the position of the touchdown, and the control method of the cleaning apparatus of fig. 1 is re-executed.
According to the technical scheme provided by the embodiment of the disclosure, the running state of the control method of the cleaning equipment is adjusted in real time by detecting the contact state of the floor brush and the ground in real time, so that the condition of error adjustment or wrong adjustment of the control method of the cleaning equipment is avoided.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure.
The following are embodiments of the disclosed apparatus that may be used to perform embodiments of the disclosed methods. For details not disclosed in the embodiments of the apparatus of the present disclosure, refer to the embodiments of the method of the present disclosure.
Fig. 4 is a schematic diagram of a control device of a cleaning apparatus according to an embodiment of the disclosure. As shown in fig. 4, the control device of the cleaning apparatus includes:
a track obtaining module 401 configured to obtain a track of the ground brush moving continuously on the ground, the track including a plurality of turning nodes, each turning node being a turning point of the ground brush moving reversely;
an area calculation module 402 configured to calculate a first sweeping area of the brush moving from the first turning node to the second turning node and a second sweeping area of the brush moving from the third turning node to the fourth turning node with the start point of the trajectory as the first turning node, and to take the fourth turning node as a new first turning node;
a coincidence calculation module 403 configured to calculate a coincidence area of the first cleaning area and the second cleaning area;
a proportion calculation module 404 configured to calculate a proportion of the overlap area to the first cleaning area;
a state control module 405 configured to compare the ratio with a preset ratio threshold and automatically adjust the operating state of the cleaning device based on the result of the comparison.
According to the technical scheme provided by the embodiment of the disclosure, the working state of the cleaning equipment is adjusted by calculating the coincidence degree of the cleaning areas of the floor brush passing through different steering nodes in the continuous moving process, so that the working state of the cleaning equipment can change along with the change of the moving action of the floor brush on the ground in a self-adaptive manner, the trouble of manually adjusting the working state of the cleaning equipment in the cleaning process is avoided, the user operation is simplified, and the use of the cleaning equipment is more intelligent.
In some embodiments, the control device of the cleaning apparatus further comprises:
a ground contact detection module 406 configured to detect a contact state of the ground brush with the ground in real time when the cleaning device is in operation, wherein the contact state includes a ground-contacting state and a ground-contacting state;
the first control module 407 is configured to stop executing the control method of the cleaning device when the floor brush is in the ground-off state, and return to the real-time detection of the contact state of the floor brush and the ground when the cleaning device works;
the second control module 408 is configured to determine whether the floor brush is in the ground contact state and then contacts the ground after the floor brush is lifted off: if so, re-determining the track starting point of the movement of the floor brush, starting to execute the control method of the cleaning equipment, and returning to the real-time detection of the contact state of the floor brush and the ground when the cleaning equipment works; if not, the control method of the cleaning equipment is continuously executed, and the contact state of the floor brush and the ground when the cleaning equipment works is detected in real time.
In some embodiments, the trajectory acquisition module 401 in fig. 4 establishes a coordinate system with the starting point of the trajectory of the scrubber movement as the origin; acquiring the direction, the angular speed and the mileage of the ground brush moving on the ground; determining a turning node of the moving track based on the orientation; calculating the coordinates of the steering nodes based on the angles and the mileage; and generating a track of the ground brush moving along the steering node in a straight line based on the coordinates of the steering node.
In some embodiments, the area calculation module 402 in fig. 4 obtains coordinates of the first steering node and the second steering node; based on the shape of the brush, the planar area of the brush as it translates from the first steering node to the second steering node is calculated and taken as the first swept area.
In some embodiments, the area calculation module 402 in fig. 4 obtains coordinates of the third steering node and the fourth steering node; based on the shape of the brush, the planar area of the brush as it translates from the third steering node to the fourth steering node is calculated and taken as the second swept area.
In some embodiments, the coincidence calculation module 403 in fig. 4 calculates all vertex coordinates of the shape in which each of the first sweeping area and the second sweeping area is located; and determining the coincidence area of the first cleaning area and the second cleaning area based on the vertex coordinates.
In some embodiments, the working state includes a power gear, a rotation speed gear, or/and a liquid injection amount gear of a liquid injection valve in the cleaning device, and the state control module 405 in fig. 4 is configured to increase the power gear, the rotation speed gear, or/and the liquid injection amount gear of the motor in the cleaning device by one gear if the ratio is greater than or equal to a first ratio threshold; reducing the power gear, the rotating speed gear or/and the liquid spraying amount gear of the cleaning equipment by one gear under the condition that the proportion is less than or equal to a second proportion threshold; under the condition that the proportion is smaller than the first proportion threshold and larger than the second proportion threshold, keeping a power gear, a rotating speed gear or/and a liquid spraying amount gear of a motor in the cleaning equipment unchanged; wherein the first proportional threshold is greater than the second proportional threshold.
In some embodiments, the first proportional threshold is 50% -80% and the second proportional threshold is 20% -45%.
Referring to fig. 5, an embodiment of the present disclosure provides a cleaning apparatus 5, where the cleaning apparatus 5 at least includes: a floor brush 51, an encoder 52 and a control device 53. Wherein, the floor brush 51 is provided with an angular velocity sensor and an orientation sensor (not shown in fig. 5, in practice, the angular velocity sensor and the orientation sensor can be arranged on the control device), the encoder 52 is arranged on the roller edge of the floor brush 51, and the control device 53 is electrically connected with the angular velocity sensor, the orientation sensor and the encoder 52 respectively.
In practical applications, the cleaning device 5 may be embodied as a vacuum cleaner, a power mop, a floor washing machine, and the like, which is not limited by the embodiment of the disclosure.
As shown in fig. 6, the control device 53 may include: a processor 601, a memory 602, and a computer program 603 stored in the memory and executable on the processor. The processor 601, when executing the computer program 603, implements the steps in the above-described respective cleaning apparatus control method embodiments, such as steps S101 to S105 shown in fig. 1. Alternatively, the processor 601, when executing the computer program 603, implements the functions of the modules/units in the above-described device embodiments, such as the functions of the modules 401 to 405 shown in fig. 4.
The Processor 601 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like.
The memory 602 may be an internal storage unit of the control device 53, for example, a hard disk or a memory of the control device 53. The memory 602 may also be an external storage device of the control apparatus 53, for example, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like provided on the control apparatus 53. The memory 602 may also include both an internal storage unit of the control apparatus 53 and an external storage device. The memory 602 is used for storing computer programs and other programs and data required for controlling the apparatus.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, the present disclosure may implement all or part of the flow of the method in the above embodiments, and may also be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of the above methods and embodiments. The computer program may comprise computer program code which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like.
The above examples are only intended to illustrate the technical solutions of the present disclosure, not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present disclosure, and they should be construed as being included in the scope of the present disclosure.
Claims (10)
1. A control method of a cleaning apparatus, characterized by comprising:
obtaining a track of the ground brush moving continuously on the ground, wherein the track comprises a plurality of turning nodes, and each turning node is a turning point of the reverse moving ground brush;
taking the starting point of the track as a first turning node, calculating a first cleaning area of the brush moving from the first turning node to a second turning node and a second cleaning area of the brush moving from a third turning node to a fourth turning node, and taking the fourth turning node as a new first turning node;
calculating the overlapping area of the first cleaning area and the second cleaning area;
calculating the proportion of the overlapping area to the first cleaning area;
and comparing the ratio with a preset ratio threshold value, and automatically adjusting the working state of the cleaning equipment based on the comparison result.
2. The control method of a cleaning apparatus according to claim 1, characterized by further comprising:
detecting the contact state of a ground brush and the ground when the cleaning equipment works in real time, wherein the contact state comprises a ground-contacting state and a ground-leaving state;
stopping executing the control method of the cleaning device under the condition that the floor brush is in the ground-off state;
and under the condition that the floor brush is in a ground contact state, judging whether the floor brush contacts the ground again after the floor brush contacts the ground: if so, re-determining the starting point of the track of the movement of the floor brush, and executing the control method of the cleaning equipment; if not, continuing to execute the control method of the cleaning equipment.
3. The method of controlling a cleaning apparatus according to claim 1, wherein obtaining a trajectory of the continuous movement of the floor brush over the floor surface comprises:
establishing a coordinate system by taking the starting point of the track of the movement of the floor brush as an origin;
acquiring the direction, the angular speed and the mileage of the ground brush moving on the ground;
determining a turning node of the movement track based on the orientation;
calculating coordinates of the steering node based on the angle and the mileage;
and generating a track of the ground brush moving along the steering node in a straight line based on the coordinates of the steering node.
4. The method of claim 3, wherein calculating a first sweeping area of the scrubber brush moving from a first turning node to a second turning node comprises:
acquiring coordinates of a first steering node and a second steering node;
based on the shape of the brush, a planar area of the brush as translated from the first steering node to the second steering node is calculated and taken as a first cleaning area.
5. The method of claim 4, wherein calculating a second sweeping area of the floor brush moving from a third steering node to a fourth steering node comprises:
coordinates of a third steering node and a fourth steering node are obtained;
based on the shape of the floor brush, the planar area of the floor brush translated from the third steering node to the fourth steering node is calculated and taken as a second sweeping area.
6. The control method of a cleaning apparatus according to claim 5, wherein calculating a coincidence area of the first sweeping area and the second sweeping area includes:
calculating all vertex coordinates of the shape of the first cleaning area and the second cleaning area;
determining a coincident area of the first cleaning area and the second cleaning area based on the vertex coordinates.
7. The control method of the cleaning device according to any one of claims 1 to 6, wherein the working state comprises a power gear, a rotating speed gear or/and a liquid spraying gear of a liquid spraying valve in the cleaning device;
automatically adjusting an operating state of the cleaning device based on a result of the comparison, comprising:
under the condition that the ratio is larger than or equal to a first ratio threshold, increasing a power gear, a rotating speed gear or/and a liquid spraying amount gear of a motor in the cleaning equipment by one gear;
reducing the power gear, the rotating speed gear or/and the liquid spraying amount gear of the cleaning equipment by one gear under the condition that the ratio is smaller than or equal to a second ratio threshold;
keeping the power gear, the rotating speed gear or/and the liquid spraying gear of the cleaning equipment unchanged under the condition that the ratio is smaller than the first ratio threshold and larger than the second ratio threshold;
wherein the first proportional threshold is greater than the second proportional threshold.
8. The control method of a cleaning apparatus according to claim 7, characterized in that the first proportional threshold is 50-80% and the second proportional threshold is 20-45%.
9. A control device for a cleaning apparatus, comprising:
the track acquisition module is configured to acquire a track of the ground brush moving continuously on the ground, wherein the track comprises a plurality of turning nodes, and each turning node is a turning point of the reverse moving ground brush;
an area calculation module configured to calculate a first sweeping area of the brush moving from a first turning node to a second turning node and a second sweeping area of the brush moving from a third turning node to a fourth turning node with a start point of the trajectory as the first turning node, and to treat the fourth turning node as a new first turning node;
a coincidence calculation module configured to calculate a coincidence area of the first sweeping area and the second sweeping area;
a proportion calculation module configured to calculate a proportion of the overlap area to the first cleaning area;
and the state control module is configured to compare the ratio with a preset ratio threshold value and automatically adjust the working state of the cleaning equipment based on the comparison result.
10. A cleaning device, characterized in that it comprises at least:
the ground brush is provided with an angular velocity sensor and an orientation sensor;
the encoder is arranged on the roller of the floor brush;
a control device electrically connected to the angular velocity sensor, the azimuth sensor, and the encoder, respectively, the control device including: memory, processor and computer program stored in the memory and executable on the processor, which when executed by the processor, performs the steps of the method according to any one of claims 1 to 8.
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