CN111990927B - Cleaning method and device and electronic equipment - Google Patents

Cleaning method and device and electronic equipment Download PDF

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Publication number
CN111990927B
CN111990927B CN202010833879.3A CN202010833879A CN111990927B CN 111990927 B CN111990927 B CN 111990927B CN 202010833879 A CN202010833879 A CN 202010833879A CN 111990927 B CN111990927 B CN 111990927B
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China
Prior art keywords
dust collection
station
duration
fault
dust
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CN111990927A (en
Inventor
聂艳东
杨波
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Wuxi Qingyi Intelligent Technology Co ltd
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Wuxi Qingyi Intelligent Technology Co ltd
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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
    • 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
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
    • 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
    • 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
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
    • H02J7/0036—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits using connection detecting circuits
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
    • H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits

Abstract

The embodiment of the invention discloses a cleaning method, a cleaning device and electronic equipment. Wherein, the method comprises the following steps: sending a dust collection request to the dust collection station so that the dust collection station responds to the dust collection request and transmits voltage information of the charging contact to the cleaning device; and entering a dust collection wait; determining whether there is a malfunction of the dust collecting station according to the voltage information of the charging contact; if yes, the dust collection waiting is ended and the fault state of the dust collection station is fed back. According to the embodiment of the invention, when the fault of the dust collecting station is detected, the feedback processing is carried out in time, so that the real-time interaction among the sweeping robot, the dust collecting station and the manager can be effectively realized, and the safety problem caused by the idling of equipment is avoided.

Description

Cleaning method and device and electronic equipment
Technical Field
The present invention relates to cleaning technologies, and in particular, to a cleaning method and apparatus, and an electronic device.
Background
With the development of cleaning equipment (e.g., sweeping robots), it is becoming a trend to equip sweeping robots with dust collection stations. The dust collecting station is used for supplementing and extending the sweeping robot and supplementing short boards of the sweeping robot; for example, the sweeping robot is guided to automatically return to charge; for example, the size of the dust bag is limited by the compact shape of the sweeping robot in order to adapt to the flexibility of the space, and the dust collection station collects the dust bag of the sweeping robot, so that the frequency of manually cleaning the dust bag is reduced, and the efficiency of the sweeping robot is improved. At present, the dust collection work of the cleaning equipment is realized only by simple instruction transmission with a dust collection station; for example, when the cleaning device has a dust collection need, it is guided by the dust collection station to travel to the dust collection station for a dust collection operation.
The defects of the scheme are as follows: once an abnormal failure occurs in the dust collection station (e.g., the dust bag is full or not loaded), the cleaning device cannot exchange information with the dust collection station, resulting in idling of the device and great potential safety hazard.
Disclosure of Invention
The embodiment of the application provides a cleaning method, a cleaning device and electronic equipment, which can enable the cleaning equipment to realize real-time interaction with a dust collecting station in a dust collecting process, so that the safety problem caused by idling of the equipment is avoided.
In a first aspect, an embodiment of the present invention provides a cleaning method, including:
sending a dust collection request to a dust collection station so that the dust collection station responds to the dust collection request and transmits voltage information of the charging contact to the cleaning equipment; and entering a dust collection wait;
determining whether there is a malfunction of the dust collecting station according to the voltage information of the charging contact;
if yes, ending dust collection waiting and feeding back the fault state of the dust collection station.
Optionally, determining whether there is a fault in the dust collecting station according to the voltage information of the charging contact includes:
monitoring the duration of the voltage switching of the charging contact of the cleaning device to a low level voltage;
and if the duration is within the fault monitoring interval, determining that the dust collecting station has a fault and determining the fault type of the dust collecting station according to the duration.
Optionally, determining the fault type of the dust collecting station according to the duration of the duration includes:
if the duration is less than or equal to a first time threshold, determining that the fault type of the dust collection station is full;
if the duration is greater than a first duration threshold and less than or equal to a second duration threshold, determining that the fault type of the dust collection station is dust bag missing;
if the duration is greater than a second duration threshold and less than or equal to a third duration threshold, determining that the fault type of the dust collection station is abnormal;
and the first time length threshold, the second time length threshold and the third time length threshold are all positioned in the fault monitoring interval.
Optionally, the method further includes:
and if the duration is greater than the third duration threshold, determining that the dust collecting station is fault-free.
Optionally, after finishing the dust collection waiting, the method further comprises:
controlling the cleaning device and the dust collecting station to enter a charging mode.
Optionally, after determining that the dust collection station is fault-free, the method further comprises:
controlling the dust collecting station and/or the cleaning device into a dust collecting operation.
Optionally, the method further includes:
if the dust collection operation is detected to be finished, determining whether abnormal power failure exists in the cleaning equipment according to the voltage information of the charging contact;
and if so, controlling the cleaning equipment to realign the dust collection station, and controlling the cleaning equipment and the dust collection station to enter a charging mode after realignment.
Optionally, after detecting that the dust collecting operation is finished, the method further includes:
detecting whether the cleaning equipment has a continuous sweeping task or not;
if so, controlling the cleaning equipment to evaluate the residual electric quantity, and executing a continuous sweeping task based on an evaluation result;
and if not, controlling the cleaning equipment to enter a charging mode.
In a second aspect, an embodiment of the present invention provides a cleaning device, including:
the request sending module is used for sending a dust collection request to a dust collection station so that the dust collection station responds to the dust collection request and transmits voltage information of the charging contact to the cleaning equipment; and entering a dust collection wait;
the fault determining module is used for determining whether the dust collecting station has faults or not according to the voltage information of the charging contact;
and the dust collection feedback module is used for finishing dust collection waiting and feeding back the fault state of the dust collection station if the fault state is judged to be abnormal.
Optionally, the fault determining module is specifically configured to:
monitoring the duration of the switching of the voltage of the charging contact of the cleaning device to a low level voltage;
and if the duration is within the fault monitoring interval, determining that the dust collecting station has a fault and determining the fault type of the dust collecting station according to the duration.
Optionally, the fault determining module is further specifically configured to:
if the duration is less than or equal to a first duration threshold, determining that the fault type of the dust collection station is full of dust bags;
if the duration is greater than a first duration threshold and less than or equal to a second duration threshold, determining that the fault type of the dust collection station is that dust bags are not loaded;
if the duration is greater than a second duration threshold and less than or equal to a third duration threshold, determining that the fault type of the dust collection station is abnormal;
and the first time length threshold, the second time length threshold and the third time length threshold are all positioned in the fault monitoring interval.
Optionally, the failure determining module is further configured to determine that the dust collecting station has no failure if the duration is greater than the third duration threshold.
Optionally, the apparatus further comprises:
And the mode control module is used for controlling the cleaning equipment and the dust collection station to enter a charging mode.
Optionally, the apparatus further comprises:
a dust collection operation control module for controlling the dust collection station and/or the cleaning apparatus to enter a dust collection operation.
Optionally, the apparatus further comprises:
the power failure determining module is used for determining whether abnormal power failure exists in the cleaning equipment according to the voltage information of the charging contact point if the dust collection operation is detected to be finished;
and the alignment control module is used for controlling the cleaning equipment to align the dust collecting station again if the dust collecting station is in the alignment state, and controlling the cleaning equipment and the dust collecting station to enter a charging mode after the dust collecting station is aligned again.
Optionally, the apparatus further comprises:
the task detection module is used for detecting whether the cleaning equipment has a continuous sweeping task or not;
the evaluation module is used for controlling the cleaning equipment to evaluate the residual electric quantity if the residual electric quantity is judged to be the residual electric quantity, and executing a continuous sweeping task based on an evaluation result;
and the mode control module is also used for controlling the cleaning equipment to enter a charging mode if the cleaning equipment does not enter the charging mode.
In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes:
one or more processors;
A storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the cleaning method of any of the embodiments of the present invention.
The embodiment of the invention sends a dust collection request to the dust collection station, so that the dust collection station responds to the dust collection request and transmits the voltage information of the charging contact to the cleaning equipment; and entering a dust collection wait; determining whether there is a malfunction of the dust collecting station according to the voltage information of the charging contact; if yes, the dust collection waiting is ended and the fault state of the dust collection station is fed back. According to the embodiment of the invention, when the fault of the dust collecting station is detected, the feedback processing is carried out in time, so that the real-time interaction among the sweeping robot, the dust collecting station and the manager can be effectively realized, and the safety problem caused by the idling of equipment is avoided.
Drawings
FIG. 1 is a schematic flow chart of a cleaning method according to a first embodiment of the present invention;
FIG. 2 is a schematic flow chart of a cleaning method according to a second embodiment of the present invention;
FIG. 3 is a schematic structural view of a cleaning apparatus according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device in a fourth embodiment of the present invention;
FIG. 5 is a schematic voltage diagram of a dust collecting station and a cleaning apparatus in a second embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic flow chart of a cleaning method according to a first embodiment of the invention. The present embodiment can be applied to a case where a dust collecting process of the cleaning apparatus is effectively processed. Wherein, the cleaning equipment is preferably a sweeping robot so as to effectively realize the real-time interaction of the dust collecting station and the outside. The method of the embodiment can be performed by a cleaning device, which can be implemented by hardware and/or software and can be configured in an electronic device. The cleaning method described in any of the embodiments of the present application can be implemented. As shown in fig. 1, the method specifically includes the following steps:
s110, sending a dust collection request to a dust collection station so that the dust collection station responds to the dust collection request and transmits voltage information of the charging contact to the cleaning equipment; and enter dust collection waiting.
In this embodiment, the dust collection station is installed indoors to supplement and extend the sweeping robot; for example, temporary post replacement of the sweeping robot, cleaning of a dust collection box of the sweeping robot or charging of the sweeping robot can be provided, so that the sweeping robot can effectively process indoor cleaning tasks in real time.
The dust collection request is judged and sent by the sweeping robot according to preset conditions; for example, the sweeping robot may determine whether the dust collecting box is full according to the installed spatial pressure sensor, and if the determination result indicates that the dust collecting box is full, the sweeping robot may guide the sweeping robot to perform the pile alignment operation by sending an infrared signal to the dust collecting station as a dust collecting request when the dust collecting station detects the infrared signal. The sweeping robot and the dust collecting station in the embodiment have two voltage modes, namely a high-level voltage and a low-level voltage; wherein the high level voltage represents a charging voltage; the low level voltage represents a 0V voltage, i.e., a reference voltage; and the two voltages can be switched according to a certain trigger signal, so that real-time interaction between the two voltages is effectively realized.
Before the sweeping robot and the dust collecting pile are in pile alignment, the voltage state of the sweeping robot is a normal state (low level voltage); the dust collecting station is in a high level voltage state. When the dust collecting station receives (does not indicate response to) a dust collecting request sent by the sweeping robot, the sweeping robot is guided to align the pile, the robot to be swept is connected with the dust collecting station, the dust collecting station can transmit voltage information of the charging contact to the cleaning equipment, the voltage connection state of the cleaning equipment is controlled in real time through the charging contact, and if the voltage triggered by charging is detected to be high-level voltage, the voltage state of the cleaning equipment is switched from low-level voltage to high-level voltage, and the cleaning equipment enters a waiting state.
S120, determining whether the dust collection station has a fault according to the voltage information of the charging contact; if yes, go to S130; if not, executing S120.
Because the cleaning equipment cannot know the running state of the dust collecting station in the traditional mode, the cleaning equipment cannot know the running state in time when the dust collecting station breaks down, so that the cleaning equipment can run idle, the electric energy of the cleaning equipment is consumed, and the dust collecting operation cannot be effectively carried out; therefore, the cleaning equipment is adopted in the embodiment to judge whether the dust collection station has a fault or not based on the voltage information of the charging contact, and the efficient detection of the fault of the dust collection station can be effectively realized.
S130, ending dust collection waiting and feeding back the fault state of the dust collection station.
In this embodiment, if it is determined that the dust collection station is in the fault state, the dust collection waiting needs to be immediately finished, and the fault state of the dust collection station is fed back in real time, so that the cleaning device and the manager can conveniently master the state of the dust collection station in real time, and the manager can timely overhaul the dust collection station.
The dust collection feedback is to make the floor sweeping robot and the manager know the working state of the dust collection station in time, and when the fault information of the dust collection station occurs, the dust collection station can be processed in time, so that the dust collection processing efficiency is effectively improved. According to the embodiment of the invention, when the fault of the dust collecting station is detected, the feedback processing is carried out in time, so that the real-time interaction among the sweeping robot, the dust collecting station and the manager can be effectively realized, and the safety problem caused by the idling of equipment is avoided.
Specifically, the dust collection feedback may be in the form of sound, light, vibration or APP (Application) reminding to alert the user of the fault information; for example, the fault state of the dust collection station is converted into voice data for broadcasting; and/or sending the fault status of the dust collection station to the dust collection station for the dust collection station to display the fault status on a display screen. In this embodiment, the fault status of the dust collecting station needs to be displayed to the outside in real time to remind the manager and the sweeping robot. When the control module of robot of sweeping the floor detects the fault state at collection dirt station, with fault state signal transmission to voice broadcast module, according to predetermineeing the pronunciation, report out trouble content to realize the interaction with the people. When interacting with people through the dust collection station, the control module of mainly passing through the robot transmits the trouble status signal of dust collection station to the dust collection station, makes the dust collection station show trouble information on the display screen according to the trouble status signal that receives to effectively realize the real-time interaction of dust collection station and people.
The embodiment of the invention sends a dust collection request to the dust collection station, and determines the fault state of the dust collection station according to the duration of the low level voltage when the voltage connection state of the cleaning equipment is detected to be the low level voltage, so as to carry out dust collection feedback. According to the embodiment of the invention, when the fault of the dust collecting station is detected, the feedback processing is carried out in time, so that the real-time interaction among the sweeping robot, the dust collecting station and the manager can be effectively realized, and the safety problem caused by the idling of equipment is avoided.
Example two
FIG. 2 is a schematic flow chart of a cleaning method according to a second embodiment of the present invention. The embodiment is further expanded and optimized on the basis of the above embodiment, and can be combined with any optional options in the above technical solutions. As shown in fig. 2, the method includes:
s210, sending a dust collection request to a dust collection station so that the dust collection station responds to the dust collection request and transmits voltage information of the charging contact to the cleaning equipment; and enter dust collection waiting.
And S220, monitoring the duration of the voltage of the charging contact of the cleaning equipment switched to the low level voltage.
In the embodiment, whether the voltage of the charging contact of the cleaning equipment is switched from the high-level voltage to the low-level voltage is monitored in real time through a monitoring module of the cleaning equipment; if the voltage of the charging contact is monitored to be switched from high level voltage to low level voltage, recording the duration after switching; and if the voltage of the charging contact is not monitored to be switched from the high level voltage to the low level voltage, continuing monitoring.
And S230, if the duration is within the fault monitoring interval, determining that the dust collecting station has a fault and determining the fault type of the dust collecting station according to the duration.
Because robot and the collection dirt station of sweeping the floor under traditional mode are only through simple one-way instruction transmission, realize collection dirt and handle, nevertheless whether the collection dirt station is out of order to produce at the collection dirt in-process, the robot of sweeping the floor can't learn, then can lead to the robot of sweeping the floor to idle always to influence dust collection efficiency, also can cause the potential safety hazard problem of equipment simultaneously.
In this embodiment, in order to solve the above problem, the duration that the sweeping robot is at the low level voltage is used to determine whether the dust collecting station has a fault, so that the fault type of the dust collecting station in the dust collecting process can be effectively identified, and therefore the sweeping robot can change the working state in time according to the fault type of the dust collecting station, and the resource waste and safety problems of the equipment are avoided. Specifically, the failure types of the dust collecting station in the embodiment include full dust bag, neglected loading of dust bag and abnormal fan; wherein the fan is an operating part installed in the dust collecting station for performing a dust collecting process.
And S240, ending dust collection waiting and feeding back the fault state of the dust collection station.
Optionally, determining the fault type of the dust collecting station according to the duration comprises:
if the duration is less than or equal to the first time threshold, determining that the fault type of the dust collection station is full;
if the duration is longer than the first time threshold and is less than or equal to the second time threshold, determining that the fault type of the dust collection station is dust bag missing;
if the duration is longer than the second duration threshold and is less than or equal to the third duration threshold, determining that the fault type of the dust collection station is abnormal;
And the first time length threshold value, the second time length threshold value and the third time length threshold value are all positioned in the fault monitoring interval.
In this embodiment, the duration is the duration of the low level when the voltage connection state of the sweeping robot is switched from the high level voltage to the low level voltage, and the duration is the duration of the low level when the voltage connection state of the sweeping robot is switched from the low level voltage to the high level voltage; the voltage profile of the dust collection station and cleaning apparatus is shown in fig. 5 for a duration such as T3 in fig. 5. The switching of the high-level voltage to the low-level voltage and the switching of the low-level voltage to the high-level voltage are controlled by the dust collecting station, and for example, a trigger signal can be sent to the sweeping robot during switching to indicate the robot to switch the voltage. In fig. 5, T0 represents a normal working state of the sweeping robot; t1 represents the waiting time after the sweeping robot sends the dust collection request; t2 denotes a normal dust collection time period; t3 represents the duration of the low level voltage; t4 represents the abnormal power failure time node of the sweeping robot; t5 denotes a normal charging period; t6 denotes a charge completion node.
Specifically, the first time length threshold may be 100ms +1 ms; wherein, 1ms is an error value; the second duration threshold may be 200ms +1 ms; the third duration threshold may be 300ms +1 ms. The first time length threshold value, the second time length threshold value and the third time length threshold value are set by relevant professionals according to multiple test tests, and the first time length threshold value, the second time length threshold value and the third time length threshold value are kept to be increased in sequence.
Wherein, the fault type of the dust collecting station is full of dust bags, which indicates that the dust collecting work can not be carried out at present and the operation can be carried out only by replacing the dust bags; the fault type of the dust collecting station is dust bag neglected loading, which indicates that no container can receive dust in a dust collecting box of the sweeping robot; the fault type of the dust collection station is fan abnormity, which indicates that the dust collection station can not start dust collection operation and hardware cannot support. The embodiment determines the fault type of the dust collecting station according to different preset threshold values and the duration of the low level voltage, and can quickly and effectively identify different faults of the dust collecting station.
On the basis of the foregoing embodiment, optionally, the method of this embodiment further includes:
and if the duration is longer than the third duration threshold, determining that the dust collecting station has no fault.
In this embodiment, the third threshold may be 300ms +1 ms; at this time, it means that no malfunction occurs in the dust collecting station, i.e., normal dust collecting operation can be performed. The embodiment carries out the dirt collection and judges before the robot of sweeping the floor carries out the collection dirt to effectively detect out the robot of sweeping the floor and can normally carry out the collection dirt operation under what kind of specific condition.
On the basis of the foregoing embodiment, optionally, after finishing the dust collection waiting, the method of this embodiment further includes:
And controlling the cleaning equipment and the dust collection station to enter a charging mode.
In this embodiment, after the dust collection waiting is finished, it indicates that the sweeping robot (cleaning device) and the dust collection station are not suitable for performing dust collection operation, and the working modes of the sweeping robot and the cleaning device need to be switched to charging, so as to effectively ensure that the sweeping robot and the cleaning device can have sufficient electric quantity to process the next task.
On the basis of the foregoing embodiment, optionally, after determining that the dust collecting station is not faulty, the method of this embodiment further includes:
the dust collection station and/or the cleaning apparatus is controlled into a dust collection operation.
In this embodiment, after the sweeping robot starts the dust collecting operation, it needs to determine when it completes the dust collecting operation in real time, so as to instruct the sweeping robot to execute the next task according to the determination result. Specifically, whether the dust collection operation is finished or not can be judged according to the low-voltage duration of the sweeping robot; for example, when the duration is greater than or equal to 12s (e.g., T2 in fig. 5) and less than or equal to 14s (e.g., T4 in fig. 5), it indicates that the sweeping robot has completed the dust collecting operation, and it is necessary to stop the dust collection.
On the basis of the foregoing embodiment, optionally, the method of this embodiment further includes:
if the dust collection operation is detected to be finished, determining whether the cleaning equipment has abnormal power failure according to the voltage information of the charging contact;
If yes, the cleaning equipment is controlled to be aligned with the dust collecting station again, and the cleaning equipment and the dust collecting station are controlled to enter a charging mode after the dust collecting station is aligned with the cleaning equipment again.
In the embodiment, the duration of the charging contact at the low voltage level is determined, and if the duration is longer than 14s, the abnormal power failure of the sweeping robot is indicated, that is, the connection with the dust collection station is lost; the alignment with the dust collection station needs to be reestablished, and the sweeping robot detects whether the duration of the low-level voltage is less than T4-T2 through the charging contact; if yes, the pile aligning is finished; if not, the pile is failed.
On the basis of the foregoing embodiment, optionally, after detecting that the dust collecting operation is ended, the method of this embodiment further includes:
detecting whether the cleaning equipment has a continuous sweeping task or not;
if so, controlling the cleaning equipment to evaluate the residual electric quantity, and executing a continuous sweeping task based on an evaluation result;
if not, the cleaning equipment is controlled to enter a charging mode.
In this embodiment, after detecting that the dust collecting station has a fault and controlling the sweeping robot to be in the charging mode, it needs to determine whether there is a continuous sweeping task in the operation tasks; if so, detecting the residual electric quantity of the sweeping robot, and if the residual electric quantity can support the sweeping robot to complete the next continuous sweeping task, controlling the sweeping robot to execute the next continuous sweeping task; if the residual electric quantity is difficult to support the sweeping robot to complete the next sweeping continuing task, controlling the sweeping robot to enter a charging mode, and when the electric quantity is enough to complete the sweeping continuing task, performing the sweeping continuing task; for example, T5 in fig. 5 is the battery full time. Whether the robot of sweeping the floor has the task of sweeping continuously or not can be determined according to the embodiment, the charging time is long, the reasonable planning time of the robot of sweeping the floor can be effectively guaranteed, and the problem of delaying the task of sweeping is prevented.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a cleaning device in a third embodiment of the present invention, and this embodiment can be applied to effectively process the dust collecting process of the cleaning device. The device is configured in the electronic equipment, and can realize the cleaning method in any embodiment of the application. The device specifically comprises the following steps:
a request sending module 310, configured to send a dust collection request to a dust collection station, so that the dust collection station responds to the dust collection request and transmits voltage information of the charging contact to the cleaning device; and entering a dust collection wait;
a fault determination module 320 for determining whether there is a fault in the dust collection station based on the voltage information of the charging contacts;
and a dust collection feedback module 330, configured to end dust collection waiting and feed back a fault state of the dust collection station if the fault state is positive.
On the basis of the foregoing embodiment, optionally, the fault determining module 320 is specifically configured to:
monitoring the duration of the voltage switching of the charging contact of the cleaning device to a low level voltage;
and if the duration is within the fault monitoring interval, determining that the dust collecting station has a fault and determining the fault type of the dust collecting station according to the duration.
On the basis of the foregoing embodiment, optionally, the fault determining module 320 is further specifically configured to:
if the duration is less than or equal to a first duration threshold, determining that the fault type of the dust collection station is full of dust bags;
if the duration is greater than a first duration threshold and less than or equal to a second duration threshold, determining that the fault type of the dust collection station is that dust bags are not loaded;
if the duration is greater than a second duration threshold and less than or equal to a third duration threshold, determining that the fault type of the dust collection station is abnormal;
and the first time length threshold, the second time length threshold and the third time length threshold are all positioned in the fault monitoring interval.
Based on the above embodiment, optionally, the failure determining module 320 is further configured to determine that the dust collecting station is not failed if the duration is greater than the third duration threshold.
On the basis of the foregoing embodiment, optionally, the apparatus of this embodiment further includes:
and the mode control module is used for controlling the cleaning equipment and the dust collection station to enter a charging mode.
On the basis of the foregoing embodiment, optionally, the apparatus of this embodiment further includes:
A dust collection operation control module for controlling the dust collection station and/or the cleaning apparatus to enter a dust collection operation.
On the basis of the foregoing embodiment, optionally, the apparatus of this embodiment further includes:
the power failure determining module is used for determining whether abnormal power failure exists in the cleaning equipment according to the voltage information of the charging contact point if the dust collection operation is detected to be finished;
and the alignment control module is used for controlling the cleaning equipment to align the dust collecting station again if the dust collecting station is in the alignment state, and controlling the cleaning equipment and the dust collecting station to enter a charging mode after the dust collecting station is aligned again.
On the basis of the foregoing embodiment, optionally, the apparatus of this embodiment further includes:
the task detection module is used for detecting whether the cleaning equipment has a continuous sweeping task or not;
the evaluation module is used for controlling the cleaning equipment to evaluate the residual electric quantity if the residual electric quantity is judged to be the residual electric quantity, and executing a continuous sweeping task based on an evaluation result;
and the mode control module is also used for controlling the cleaning equipment to enter a charging mode if the cleaning equipment does not enter the charging mode.
By the cleaning device provided by the third embodiment of the invention, when the fault of the dust collecting station is detected, the feedback processing is carried out in time, so that the real-time interaction among the sweeping robot, the dust collecting station and the manager can be effectively realized, and the safety problem caused by the idling of equipment is avoided.
The cleaning device provided by the embodiment of the invention can execute the cleaning method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 4 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention, as shown in fig. 4, the electronic device includes a processor 410, a memory 420, an input device 430, and an output device 440; the number of the processors 410 in the electronic device may be one or more, and one processor 410 is taken as an example in fig. 4; the processor 410, the memory 420, the input device 430 and the output device 440 in the electronic apparatus may be connected by a bus or other means, and the bus connection is exemplified in fig. 4.
The memory 420 serves as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the cleaning method in the embodiments of the present invention. The processor 410 executes various functional applications and data processing of the electronic device by executing software programs, instructions and modules stored in the memory 420, so as to implement the cleaning method provided by the embodiment of the invention.
The memory 420 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 420 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 420 can further include memory located remotely from the processor 410, which can be connected to electronic devices through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 430 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the electronic apparatus, and may include a keyboard, a mouse, and the like. The output device 440 may include a display device such as a display screen.

Claims (8)

1. A method of cleaning, the method comprising:
sending a dust collection request to a dust collection station so that the dust collection station responds to the dust collection request and transmits voltage information of the charging contact to the cleaning equipment; and entering a dust collection wait;
determining whether there is a malfunction of the dust collecting station according to the voltage information of the charging contact;
if yes, ending dust collection waiting and feeding back the fault state of the dust collection station;
according to the dust collection request sent to the dust collection station, the dust collection station responds to the dust collection request and transmits voltage information of the charging contact to the cleaning equipment, and the dust collection station comprises:
after sending a dust collection request to a dust collection station, butting a charging contact of the dust collection station with a charging contact of a cleaning device;
when the dust collection station responds to a dust collection request, controlling the charging contact to be switched from a high level voltage to a low level voltage;
determining whether there is a fault in the dust collection station based on the voltage information of the charging contacts, including:
Monitoring the duration of the switching of the voltage of the charging contact of the cleaning device to a low level voltage;
if the duration is within the fault monitoring interval, determining that the dust collecting station has a fault and determining the fault type of the dust collecting station according to the duration;
determining the fault type of the dust collecting station according to the duration length, comprising:
if the duration is less than or equal to a first duration threshold, determining that the fault type of the dust collection station is full of dust bags;
if the duration is greater than a first duration threshold and less than or equal to a second duration threshold, determining that the fault type of the dust collection station is that dust bags are not loaded;
if the duration is greater than a second duration threshold and less than or equal to a third duration threshold, determining that the fault type of the dust collection station is abnormal;
and the first time length threshold, the second time length threshold and the third time length threshold are all positioned in the fault monitoring interval.
2. The method of claim 1, further comprising:
and if the duration is greater than the third duration threshold, determining that the dust collecting station is fault-free.
3. The method of claim 1, wherein after ending the dust collection wait, the method further comprises:
and controlling the cleaning equipment and the dust collection station to enter a charging mode.
4. The method of claim 2, wherein after determining that the dust collection station is not malfunctioning, the method further comprises:
controlling the dust collection station and/or the cleaning apparatus into a dust collection operation.
5. The method of claim 4, further comprising:
if the dust collection operation is detected to be finished, determining whether abnormal power failure exists in the cleaning equipment according to the voltage information of the charging contact;
and if so, controlling the cleaning equipment to realign the dust collection station, and controlling the cleaning equipment and the dust collection station to enter a charging mode after realignment.
6. The method of claim 5, wherein after detecting the end of the dust collection operation, the method further comprises:
detecting whether the cleaning equipment has a continuous sweeping task or not;
if so, controlling the cleaning equipment to evaluate the residual electric quantity, and executing a continuous sweeping task based on an evaluation result;
and if not, controlling the cleaning equipment to enter a charging mode.
7. A cleaning device, characterized in that the device comprises:
the request sending module is used for sending a dust collection request to a dust collection station so that the dust collection station responds to the dust collection request and transmits voltage information of the charging contact to the cleaning equipment; and entering a dust collection wait;
the fault determining module is used for determining whether the dust collecting station has a fault according to the voltage information of the charging contact;
the dust collection feedback module is used for finishing dust collection waiting and feeding back the fault state of the dust collection station if the fault state is judged to be abnormal;
the request sending module comprises:
after sending a dust collection request to a dust collection station, butting a charging contact of the dust collection station with a charging contact of a cleaning device;
when the dust collection station responds to a dust collection request, controlling the charging contact to be switched from a high level voltage to a low level voltage;
the fault determination module is further configured to:
monitoring the duration of the voltage switching of the charging contact of the cleaning device to a low level voltage;
if the duration is within the fault monitoring interval, determining that the dust collecting station has a fault and determining the fault type of the dust collecting station according to the duration;
the fault determination module is further specifically configured to:
If the duration is less than or equal to a first duration threshold, determining that the fault type of the dust collection station is full of dust bags;
if the duration is greater than a first duration threshold and less than or equal to a second duration threshold, determining that the fault type of the dust collection station is that dust bags are not loaded;
if the duration is greater than a second duration threshold and less than or equal to a third duration threshold, determining that the fault type of the dust collection station is abnormal;
and the first time length threshold, the second time length threshold and the third time length threshold are all positioned in the fault monitoring interval.
8. An electronic device, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement a cleaning method as claimed in any one of claims 1-6.
CN202010833879.3A 2020-08-18 2020-08-18 Cleaning method and device and electronic equipment Active CN111990927B (en)

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