CN110448225B - Cleaning strategy adjusting method and system and cleaning equipment - Google Patents
Cleaning strategy adjusting method and system and cleaning equipment Download PDFInfo
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- CN110448225B CN110448225B CN201910585323.4A CN201910585323A CN110448225B CN 110448225 B CN110448225 B CN 110448225B CN 201910585323 A CN201910585323 A CN 201910585323A CN 110448225 B CN110448225 B CN 110448225B
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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
- A47L11/40—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
Abstract
The invention is suitable for the technical field of cleaning equipment, and provides a cleaning strategy adjusting method, a cleaning strategy adjusting system and cleaning equipment, wherein a detection sensor is arranged at the bottom of the cleaning equipment, and the method comprises the following steps: acquiring parameter values obtained by detecting the cleaning surface by the detection sensors at a plurality of different moments within a preset time range, wherein the parameter values comprise at least one of a distance value, a reflectivity, a reflection intensity and a flight time; calculating characteristic parameters within a preset time range according to the parameter values; and determining the material of the cleaning surface according to the characteristic parameters, and adjusting the cleaning strategy of the cleaning equipment according to the material of the cleaning surface. According to the method, the detection sensor is arranged at the bottom of the cleaning equipment, the parameter value detected by the detection sensor is obtained, the material of the surface to be cleaned is identified according to the obtained parameter value, and finally the cleaning strategy of the cleaning equipment is adjusted according to the material of the surface to be cleaned, so that deep cleaning is realized, and the cleaning effect of the cleaning equipment is improved.
Description
Technical Field
The invention belongs to the technical field of cleaning equipment, and particularly relates to a cleaning strategy adjusting method and system and cleaning equipment.
Background
With the development of society and the improvement of living standard of people, cleaning work becomes a problem which people must face in life, but due to the influence of working pressure, many people are reluctant to clean in person, so that cleaning equipment is born. Cleaning devices have been sought after by users since the market, and more households use cleaning devices for cleaning.
Among the prior art, present cleaning equipment can't discern the material of being cleaned the surface, leads to cleaning equipment can't adjust the mode of operation of self according to the material of difference, and cleaning performance is not good, can't clean deeply, influences the cleaning work of robot.
Disclosure of Invention
The embodiment of the invention provides a method for adjusting a cleaning strategy, aiming at solving the technical problem of poor cleaning effect of the existing cleaning equipment.
The embodiment of the invention is realized in such a way that a cleaning strategy adjusting method is applied to cleaning equipment, a detection sensor is arranged at the bottom of the cleaning equipment, and the method comprises the following steps:
acquiring parameter values obtained by detecting the cleaning surface by the detection sensors at a plurality of different moments within a preset time range, wherein the parameter values comprise at least one of a distance value, a reflectivity, a reflection intensity and a flight time;
calculating characteristic parameters within the preset time range according to the parameter values;
and determining the material of the cleaning surface according to the characteristic parameters, and adjusting the cleaning strategy of the cleaning equipment according to the material of the cleaning surface.
The embodiment of the invention also provides a system for adjusting the cleaning strategy, which is applied to the cleaning equipment, wherein the bottom of the cleaning equipment is provided with a detection sensor, and the system comprises:
the parameter acquisition module is used for acquiring parameter values obtained by detecting the cleaning surface by the detection sensors at a plurality of different moments within a preset time range, wherein the parameter values comprise at least one of a distance value, reflectivity, reflection intensity and flight time;
the parameter calculation module is used for calculating the characteristic parameters within the preset time range according to the parameter values;
and the strategy adjusting module is used for determining the material of the cleaning surface according to the characteristic parameters and adjusting the cleaning strategy of the cleaning equipment according to the material of the cleaning surface.
The embodiment of the invention also provides a cleaning device, which comprises a processor, a memory and a computer program which is stored on the memory and can be run on the processor, wherein when the processor runs the computer program, the cleaning device executes the cleaning strategy adjusting method.
An embodiment of the present invention further provides a storage medium, which stores a computer program used in the cleaning device, and the computer program is executed by a processor to implement the method for adjusting the cleaning strategy.
The invention achieves the following beneficial effects: the detection sensor is arranged at the bottom of the cleaning equipment, and parameter values obtained by detecting the cleaning surface by the detection sensor, such as distance values, reflectivity, reflection intensity, flight time and the like, are acquired.
Drawings
Fig. 1 is a flowchart of a method for adjusting a cleaning strategy according to an embodiment of the present invention;
FIG. 2 is a diagram of a cleaning surface for testing a medium distance value according to an embodiment of the present invention;
FIG. 3 is a graph of distance values obtained from the cleaning apparatus along the sweeping surface sweeping test of FIG. 2;
fig. 4 is a flowchart of a method for adjusting a cleaning strategy according to a second embodiment of the present invention;
fig. 5 is a flowchart of a method for adjusting a cleaning strategy according to a third embodiment of the present invention;
fig. 6 is a block diagram of a system for adjusting a cleaning strategy according to the fourth embodiment of the present invention;
fig. 7 is a block diagram of a cleaning apparatus in the fifth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The existing cleaning equipment cannot identify the material of the cleaned surface, so that the cleaning equipment cannot adjust the working mode of the cleaning equipment according to different materials, and the cleaning effect is poor. Therefore, an object of the present invention is to provide a method and a system for adjusting a cleaning strategy, and a cleaning device, which can identify the material of a surface to be cleaned by using a parameter value detected by a detection sensor on the cleaning surface, and adjust the cleaning strategy according to the material of the surface to be cleaned, thereby realizing deep cleaning and improving the cleaning effect of the cleaning device.
Example one
Referring to fig. 1, a method for adjusting a sweeping strategy according to a first embodiment of the present invention is shown, and is applied to a cleaning device, where the cleaning device is implemented by software and/or hardware, and a detection sensor is disposed at the bottom of the cleaning device, and the method includes steps S01 to S03.
And step S01, acquiring parameter values obtained by detecting the cleaning surface by the detection sensors at a plurality of different moments in a preset time range.
Preferably, the parameter value is a distance value, that is, a distance between the detection sensor and the cleaning surface is used as a parameter value for identifying the material of the cleaning surface. When the parameter value is preferably a distance value, the detection sensor may be a distance measurement sensor, and the distance measurement sensor may detect the distance value by an acoustic or optical distance measurement method, and may specifically be, for example, an infrared sensor, a radar sensor, or the like.
It will be appreciated that the parameter values are collected by the detection sensors. In specific implementation, the parameter values acquired by the detection sensor may be acquired at intervals within a preset time range, for example, the parameter values acquired by the detection sensor are actively acquired at intervals of 1s within 5s, or the parameter values acquired by the detection sensor to the cleaning surface are acquired at intervals within the preset time range and uploaded, for example, the parameter values acquired by the detection sensor to the cleaning surface are acquired at intervals of 1s within 5s and uploaded with the acquired data, and both of the two methods may enable the cleaning device to acquire the parameter values acquired by the detection sensor detecting the cleaning surface at different times within the preset time range.
It should be noted that, in actual operation, the cleaning device may continuously and actively acquire the parameter value from the detection sensor, or the detection sensor may continuously acquire and upload the parameter value, but the cleaning device may split the whole operation clock into a plurality of continuous or discontinuous time periods, each time period being one of the preset time ranges, and the cleaning device may identify the material of the surface to be cleaned according to the parameter value acquired in each time period, for example, identify the material of the surface to be cleaned every 5 seconds.
And step S02, calculating the characteristic parameters within the preset time range according to the parameter values.
The characteristic parameters may include a distance average and/or a distance mean square error, that is, the average and/or mean square error of a plurality of parameter values may be used to identify the material of the cleaning surface, so that the error may be reduced, and the reliability of the adjustment of the cleaning strategy may be improved.
And step S03, determining the material of the cleaning surface according to the characteristic parameters, and adjusting the cleaning strategy of the cleaning equipment according to the material of the cleaning surface.
It should be noted that the distance, reflectivity, reflection intensity or time of flight detected by the detection sensor may fluctuate greatly when the cleaning device is used for sweeping over smooth surfaces, such as floors, and rough surfaces, such as carpets. For example, when the detection sensor is a distance measuring sensor, when the cleaning device is sweeping over a rough surface (e.g., a carpet), the light emitted by the distance measuring sensor is reflected back in advance because the surface is rough. Referring to fig. 2 to 3, which are graphs showing the distance values measured by the distance measuring sensor from the cleaning surface during the whole sweeping process of the cleaning device from the smooth surface → the short hair carpet → the long hair carpet → the smooth surface, it can be seen that the distance values measured by the distance measuring sensor fluctuate greatly when the cleaning device sweeps on the smooth surface (such as the floor) and the rough surface (such as the carpet), and the more rough the surface, the smaller the distance value. Therefore, based on the distance average and/or the distance mean square error obtained in step S02, it can be identified whether the current cleaning surface is a smooth surface or a rough surface, and the degree of roughness of the cleaning surface.
In specific implementation, the sweeping strategy of the cleaning device may be adjusted in the following manner: when the cleaning surface is a smooth surface, the moving speed can be increased, the suction force can be reduced, the rotating speed of the rolling brush motor and/or the side brush motor can be increased, and the like; when the cleaning surface is a smooth surface, the moving speed can be reduced, the suction force can be increased, the rotating speed of the rolling brush motor and/or the side brush motor can be reduced, the side brush motor can be turned off, and the like.
To sum up, in the method for adjusting the cleaning strategy in this embodiment, the detection sensor is disposed at the bottom of the cleaning device, and the parameter values, such as distance value, reflectivity, reflection intensity, flight time, obtained by detecting the cleaning surface by the detection sensor are obtained, because the parameter values measured by the detection sensor greatly fluctuate when the cleaning device is used for cleaning on a smooth surface (such as a floor) and a rough surface (such as a carpet), the material of the surface to be cleaned can be identified according to the obtained parameter values, and finally the cleaning strategy of the cleaning device is adjusted according to the material of the cleaning surface, thereby realizing deep cleaning and improving the cleaning effect of the cleaning device.
Example two
Referring to fig. 4, a method for adjusting a sweeping strategy according to a second embodiment of the present invention is shown, and is applied to a cleaning device, where the cleaning device is implemented by software and/or hardware, and a detection sensor is disposed at the bottom of the cleaning device, and the method includes steps S11 to S17.
And step S11, acquiring parameter values obtained by detecting the cleaning surface by the detection sensors at a plurality of different moments in a preset time range.
Wherein the parameter value is one of a distance value, a reflectivity, a reflection intensity and a flight time.
And step S12, calculating the average value in the preset time range according to the plurality of parameter values.
And step S13, calculating the mean square error in the preset time range according to the plurality of parameter values.
Wherein, the calculation formula of the mean square error is as follows:
the average is calculated as:
wherein x isiThe ith parameter value, n being the number of said parameter values. In the embodiment, the average value and the mean square deviation of a plurality of parameter values are taken to identify the material of the cleaning surface, so that the error can be reduced, and the reliability of the adjustment of the cleaning strategy is improved.
And step S14, determining the material of the cleaning surface according to the average value and the mean square error.
In specific implementation, the average value and the surface material corresponding to the mean square error can be determined by looking up a mapping table. The mapping table can prestore each surface material and the corresponding parameter value range, so that the material of the current cleaned surface can be obtained by looking up the table only by calculating the characteristic parameters.
Step S15, determining whether the cleaning device is in a tilted state.
In specific implementation, Inertial Measurement Unit (IMU) information of the cleaning device can be obtained through measurement, euler angles can be calculated through the IMU information, roll angles, pitch angles and yaw angles of the cleaning device can be obtained, and whether the cleaning device is in an inclined state or not can be judged through the roll angles, the pitch angles and the yaw angles.
Wherein the step S16 is performed when the cleaning device is determined not to be in the tilted state, and the step S17 is performed when the cleaning device is determined to be in the tilted state.
And step S16, adjusting the cleaning strategy of the cleaning equipment according to the material of the cleaning surface.
Step S17, maintaining a current sweeping strategy of the cleaning device.
It will be appreciated that, in order to avoid erroneous sweeping strategy adjustments by the cleaning apparatus, the current sweeping strategy of the cleaning apparatus is maintained when it is identified that the cleaning apparatus is in a tilted state, since there may be errors in the parameter values collected by the detection sensors when the cleaning apparatus is in a tilted state.
In the present embodiment, step S16 may adjust the sweeping strategy (sweeping parameter) of the cleaning device according to the setting parameters of table 1 below.
Table 1:
| material of | Side brush | Rolling brush | Speed of travel | Suction force |
| Short-hair blanket | Is opened | Is opened | 0.15m/s | 1800Pa |
| Long woolen blanket | Close off | Close off | 0.10m/s | 1800Pa |
| Smooth floor | Is opened | Is opened | 0.25m/s | 1200Pa |
In summary, in the adjusting method of the cleaning strategy in this embodiment, before the adjustment of the cleaning strategy is made, it is determined whether the cleaning device is in an inclined state, and only when the cleaning device is not in the inclined state, the cleaning strategy of the cleaning device is adjusted according to the material of the cleaning surface, so as to avoid the misoperation.
EXAMPLE III
Referring to fig. 5, a method for adjusting a sweeping strategy according to a third embodiment of the present invention is shown, and is applied to a cleaning device, where the cleaning device is implemented by software and/or hardware, a distance measuring sensor is disposed at the bottom of the cleaning device, and the distance measuring sensor is a photoelectric sensor, and the method includes steps S31 to S37.
And step S31, acquiring parameter values obtained by detecting the cleaning surface by the detection sensors at a plurality of different moments in a preset time range.
Wherein the parameter value is a distance value. And step S32, calculating the average value in the preset time range according to the plurality of parameter values.
And step S33, calculating the mean square error in the preset time range according to the plurality of parameter values.
And step S34, determining the material of the cleaning surface according to the average value and the mean square error.
And step S35, judging whether the working current of the rolling brush motor or the side brush motor of the cleaning equipment is smaller than a preset value.
When the working current of the rolling brush motor or the side brush motor of the cleaning equipment is judged to be not less than the preset value, the step S36 is executed; and when the working currents of the rolling brush motor and the side brush motor of the cleaning device are judged to be less than the preset value, executing the step S37.
It will be appreciated that, in general, the rougher the surface to be cleaned, the greater the resistance of the wiper, and the greater the operating current of the roller brush motor and the side brush motor. And when the working current is smaller than the preset value, the cleaning surface is represented as a smooth surface.
And step S36, adjusting the cleaning strategy of the cleaning equipment according to the material of the cleaning surface.
Step S37, maintaining a current sweeping strategy of the cleaning device.
To sum up, in the method for adjusting a cleaning strategy in this embodiment, since the distance measuring sensor is a photoelectric sensor, the distance measuring sensor is affected by color, for example, when the cleaning device cleans a smooth surface made of black material, the system may erroneously determine to clean the carpet, so as to make an erroneous adjustment of the cleaning strategy.
Further, in another embodiment of the present invention, the method further comprises:
and when the cleaning equipment cleans in a preset area, the cleaning strategy adjusting function is closed, and the cleaning is carried out according to a cleaning strategy corresponding to the preset area.
It can be understood that there are no multiple surface materials in some areas (for example, rooms with full carpet), or a user does not want to perform cleaning strategy adjustment in some areas, and these areas can be delineated, so that when the cleaning device cleans these areas, the cleaning strategy adjustment function is turned off, and cleaning is performed according to the preset cleaning strategy corresponding to the current area, which can save electric power and improve intelligence.
Example four
Referring to fig. 6, a cleaning strategy adjusting system according to a fourth embodiment of the present invention is shown, and is applied to a cleaning device, where the cleaning device may be implemented by software and/or hardware, a detection sensor is disposed at the bottom of the cleaning device, the system includes a parameter obtaining module 11, a parameter calculating module 12, and a strategy adjusting module 13, where:
the parameter obtaining module 11 is configured to obtain parameter values obtained by detecting the cleaning surface by the detection sensors at a plurality of different moments within a preset time range.
Preferably, the parameter value is a distance value, that is, a distance between the detection sensor and the cleaning surface is used as a parameter value for identifying the material of the cleaning surface. When the parameter value is preferably a distance value, the detection sensor may be a distance measurement sensor, and the distance measurement sensor may detect the distance value by an acoustic or optical distance measurement method, and may specifically be, for example, an infrared sensor, a radar sensor, or the like.
It will be appreciated that the parameter values are collected by the detection sensors. In specific implementation, the parameter values acquired by the detection sensor may be acquired at intervals within a preset time range, for example, the parameter values acquired by the detection sensor are actively acquired at intervals of 1s within 5s, or the parameter values acquired by the detection sensor to the cleaning surface are acquired at intervals within the preset time range and uploaded, for example, the parameter values acquired by the detection sensor to the cleaning surface are acquired at intervals of 1s within 5s and uploaded with the acquired data, and both of the two methods may enable the cleaning device to acquire the parameter values acquired by the detection sensor detecting the cleaning surface at different times within the preset time range.
It should be noted that, in actual operation, the cleaning device may continuously and actively acquire the parameter value from the detection sensor, or the detection sensor may continuously acquire and upload the parameter value, but the cleaning device may split the whole operation clock into a plurality of continuous or discontinuous time periods, each time period being one of the preset time ranges, and the cleaning device may identify the material of the surface to be cleaned according to the parameter value acquired in each time period, for example, identify the material of the surface to be cleaned every 5 seconds.
The parameter calculating module 12 is configured to calculate the characteristic parameter within the preset time range according to the parameter value.
The characteristic parameters may include a distance average and/or a distance mean square error, that is, the average and/or mean square error of a plurality of parameter values may be used to identify the material of the cleaning surface, so that the error may be reduced, and the reliability of the adjustment of the cleaning strategy may be improved.
The strategy adjusting module 13 is configured to determine a material of the cleaning surface according to the characteristic parameter, and adjust a cleaning strategy of the cleaning device according to the material of the cleaning surface.
It should be noted that the distance, reflectivity, reflection intensity or time of flight detected by the detection sensor may fluctuate greatly when the cleaning device is used for sweeping over smooth surfaces, such as floors, and rough surfaces, such as carpets. For example, when the detection sensor is a distance measuring sensor, when the cleaning device is sweeping over a rough surface (e.g., a carpet), the light emitted by the distance measuring sensor is reflected back in advance because the surface is rough. Referring to fig. 2 to 3, which are graphs showing the distance values measured by the distance measuring sensor from the cleaning surface during the whole sweeping process of the cleaning device from the smooth surface → the short hair carpet → the long hair carpet → the smooth surface, it can be seen that the distance values measured by the distance measuring sensor fluctuate greatly when the cleaning device sweeps on the smooth surface (such as the floor) and the rough surface (such as the carpet), and the more rough the surface, the smaller the distance value. Therefore, based on the distance average and/or the distance mean square error obtained in step S02, it can be identified whether the current cleaning surface is a smooth surface or a rough surface, and the degree of roughness of the cleaning surface.
In specific implementation, the sweeping strategy of the cleaning device may be adjusted in the following manner: when the cleaning surface is a smooth surface, the moving speed can be increased, the suction force can be reduced, the rotating speed of the rolling brush motor and/or the side brush motor can be increased, and the like; when the cleaning surface is a smooth surface, the moving speed can be reduced, the suction force can be increased, the rotating speed of the rolling brush motor and/or the side brush motor can be reduced, the side brush motor can be turned off, and the like.
Furthermore, the parameter calculating module 12 is further configured to calculate an average value in the preset time range according to the plurality of parameter values, and calculate a mean square error in the preset time range according to the plurality of parameter values.
Furthermore, the strategy adjusting module 13 is further configured to determine whether the cleaning device is in an inclined state, and adjust the cleaning strategy of the cleaning device according to the material of the cleaning surface if the determination result is negative.
Furthermore, the strategy adjusting module 13 is further configured to determine whether a working current of a rolling brush motor or a side brush motor of the cleaning device is smaller than a preset value, and adjust the cleaning strategy of the cleaning device according to the material of the cleaning surface if the determination result is negative.
Furthermore, the strategy adjusting module 13 is further configured to maintain the current sweeping strategy of the cleaning device when it is determined that the cleaning device is in an inclined state or the operating currents of the rolling brush motor and the side brush motor of the cleaning device are both smaller than the preset value.
Furthermore, the strategy adjusting module 13 is further configured to close the cleaning strategy adjusting function when the cleaning device cleans in a preset area, and perform cleaning according to a cleaning strategy corresponding to the preset area.
To sum up, the adjustment system of the cleaning strategy in the embodiment sets up the detection sensor at the bottom of the cleaning device, and obtains the parameter values obtained by the detection sensor by detecting the cleaning surface, such as distance value, reflectivity, reflection intensity, flight time, etc. because the cleaning device cleans on smooth surface (such as floor) and rough surface (such as carpet), the parameter values measured by the detection sensor will fluctuate greatly, so the material of the surface to be cleaned can be identified according to the obtained parameter values, and finally the cleaning strategy of the cleaning device is adjusted according to the material of the cleaning surface, thereby realizing deep cleaning and improving the cleaning effect of the cleaning device. In addition, redundancy judgment is carried out through inclination and current, misjudgment is reduced, and the reliability of cleaning strategy adjustment is improved.
EXAMPLE five
Referring to fig. 7, a cleaning apparatus according to a fifth embodiment of the present invention is shown, which includes a processor 10, a memory 20, a computer program 30 stored in the memory and running on the processor, and a detection sensor 40 disposed at the bottom of the cleaning apparatus, wherein when the processor 10 runs the computer program 30, the cleaning apparatus performs the above-mentioned adjustment method of the sweeping strategy.
The cleaning device may be, but is not limited to, a sweeping robot, a floor washing machine, a vacuum cleaner, etc., and the processor 10 may be, in some embodiments, a Central Processing Unit (CPU), an upper computer, a controller, a microcontroller, a microprocessor or other data Processing chip, and is configured to run program codes stored in the memory 20 or process data.
The memory 20 includes at least one type of readable storage medium, which includes a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, and the like. The memory 20 may in some embodiments be an internal storage unit of the cleaning device, for example a hard disk of the cleaning device. The memory 20 may also be an external storage device of the cleaning device in other embodiments, such as a plug-in hard disk provided on the cleaning device, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 20 may also include both an internal storage unit of the cleaning device and an external storage device. The memory 20 may be used not only to store application software installed in the cleaning apparatus and various kinds of data, but also to temporarily store data that has been output or will be output.
Optionally, the cleaning device may further comprise a user interface, which may comprise a Display (Display), an input unit such as a remote control, physical keys, etc., a network interface, a communication bus, etc., and the optional user interface may also comprise a standard wired interface, a wireless interface. Alternatively, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, or the like. The display, which may also be referred to as a display screen or display unit, is suitable for displaying information processed in the cleaning appliance and for displaying a visual user interface. The network interface may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), typically used to establish a communication link between the apparatus and other electronic devices. The communication bus is used for realizing connection communication among various components in the cleaning device.
It should be noted that the configuration shown in fig. 7 does not constitute a limitation of the cleaning device, which may in other embodiments comprise fewer or more components than shown, or some components may be combined, or a different arrangement of components.
In summary, in the cleaning device in this embodiment, the detection sensor is disposed at the bottom of the cleaning device, and the parameter values, such as the distance value, the reflectivity, the reflection intensity, the flight time, etc., obtained by the detection sensor when the cleaning device cleans the smooth surface (such as a floor) and the rough surface (such as a carpet), the parameter values measured by the detection sensor fluctuate greatly, so that the material of the surface to be cleaned can be identified according to the obtained parameter values, and finally the cleaning strategy of the cleaning device is adjusted according to the material of the surface to be cleaned, thereby achieving deep cleaning and improving the cleaning effect of the cleaning device. In addition, redundancy judgment is carried out through inclination and current, misjudgment is reduced, and the reliability of cleaning strategy adjustment is improved.
The present embodiment also provides a storage medium on which a computer program used in the above cleaning apparatus is stored, which when executed by a processor implements the above cleaning strategy adjustment method.
The storage medium may be, but is not limited to, a ROM/RAM, a magnetic disk, an optical disk, and other readable storage media.
Those of skill in the art will understand that the logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be viewed as implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. A cleaning strategy adjusting method is applied to a cleaning device, a detection sensor is arranged at the bottom of the cleaning device, and the method comprises the following steps:
acquiring parameter values obtained by detecting the cleaning surface by the detection sensors at a plurality of different moments within a preset time range, wherein the parameter values comprise at least one of a distance value, a reflectivity, a reflection intensity and a flight time;
calculating characteristic parameters within the preset time range according to the parameter values;
determining the material of the cleaning surface according to the characteristic parameters, and adjusting the cleaning strategy of the cleaning equipment according to the material of the cleaning surface;
before the step of adjusting the sweeping strategy of the cleaning device according to the material of the sweeping surface, the method further comprises the following steps:
judging whether the working current of a rolling brush motor or an edge brush motor of the cleaning equipment is smaller than a preset value or whether the cleaning equipment is in an inclined state;
when the working current of a rolling brush motor or an edge brush motor of the cleaning equipment is judged to be not less than a preset value or the cleaning equipment is in a non-inclined state, executing a step of adjusting a cleaning strategy of the cleaning equipment according to the material of the cleaning surface;
and when the cleaning equipment is judged to be in an inclined state or the working currents of the rolling brush motor and the side brush motor of the cleaning equipment are smaller than the preset value, maintaining the current sweeping strategy of the cleaning equipment.
2. The method for adjusting a sweeping strategy according to claim 1, wherein the step of calculating the characteristic parameter within a preset time range according to the parameter value comprises:
calculating an average value in the preset time range according to a plurality of parameter values; and
and calculating the mean square error in the preset time range according to the plurality of parameter values.
3. The method for adjusting a sweeping strategy according to claim 1, further comprising:
and when the cleaning equipment cleans in a preset area, the cleaning strategy adjusting function is closed, and the cleaning is carried out according to a cleaning strategy corresponding to the preset area.
4. A system for adjusting a sweeping strategy is applied to a cleaning device, a detection sensor is arranged at the bottom of the cleaning device, and the system comprises:
the parameter acquisition module is used for acquiring parameter values obtained by detecting the cleaning surface by the detection sensors at a plurality of different moments within a preset time range, wherein the parameter values comprise at least one of a distance value, reflectivity, reflection intensity and flight time;
the parameter calculation module is used for calculating the characteristic parameters within the preset time range according to the parameter values;
the strategy adjusting module is used for determining the material of the cleaning surface according to the characteristic parameters and adjusting the cleaning strategy of the cleaning equipment according to the material of the cleaning surface;
the strategy adjusting module is also used for judging whether the working current of a rolling brush motor or a side brush motor of the cleaning equipment is smaller than a preset value or whether the cleaning equipment is in an inclined state; when the working current of a rolling brush motor or an edge brush motor of the cleaning equipment is judged to be not less than a preset value or the cleaning equipment is in a non-inclined state, adjusting the cleaning strategy of the cleaning equipment according to the material of the cleaning surface;
the strategy adjusting module is further used for maintaining the current sweeping strategy of the cleaning equipment when the cleaning equipment is judged to be in an inclined state or the working currents of the rolling brush motor and the side brush motor of the cleaning equipment are both smaller than the preset value.
5. The adjustment system for cleaning strategy according to claim 4, wherein the parameter calculation module is further configured to calculate an average value in the preset time range according to a plurality of the parameter values, and calculate a mean square error in the preset time range according to a plurality of the parameter values.
6. A cleaning device comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, wherein the cleaning device executes the method of adjusting a sweeping strategy according to any one of claims 1 to 3 when the computer program is executed by the processor.
7. A storage medium, characterized in that it stores a computer program for use in a cleaning device according to claim 6, which computer program, when executed by a processor, implements a method of adjusting a sweeping strategy according to any one of claims 1 to 3.
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| CN113545716B (en) * | 2020-04-26 | 2022-08-16 | 江苏美的清洁电器股份有限公司 | Control method of cleaning apparatus, and computer-readable storage medium |
| CN112137505B (en) * | 2020-08-31 | 2022-08-12 | 追觅创新科技(苏州)有限公司 | Method and device for identifying ground features by automatic cleaning equipment |
| CN115104947A (en) * | 2021-03-17 | 2022-09-27 | 达利通香港有限公司 | Floor material recognition device and suction head and dust collector with same |
| CN113705544B (en) * | 2021-10-28 | 2022-02-08 | 季华实验室 | Automobile interior cleaning method and device, electronic equipment and storage medium |
| CN115104974B (en) * | 2022-07-07 | 2023-08-04 | 添可智能科技有限公司 | Cleaning device control method and cleaning device |
| CN115349778B (en) * | 2022-08-15 | 2023-12-19 | 奥比中光科技集团股份有限公司 | Control method and device of sweeping robot, sweeping robot and storage medium |
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