CN113171038A

CN113171038A - Control method of automatic floor cleaning equipment, storage medium and automatic floor cleaning equipment

Info

Publication number: CN113171038A
Application number: CN202110529605.XA
Authority: CN
Inventors: 王箭; 黄竹生; 毕金廷; 班永
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2021-05-14
Filing date: 2021-05-14
Publication date: 2021-07-27

Abstract

The invention provides a control method of automatic ground cleaning equipment, a storage medium and the automatic cleaning equipment. The control method comprises the following steps: when the automatic ground cleaning equipment is in a working state, determining a first position of the automatic ground cleaning equipment at the current moment; determining a second position of the automatic floor cleaning equipment at the cleaning finishing moment and/or a third position of the automatic floor cleaning equipment at the obstacle crossing moment; calculating a first distance of the travel route between the first location and the second location and/or a second distance of the travel route between the first location and the third location; and controlling the working state of the water supply device of the automatic ground cleaning equipment according to the first distance or the second distance. The problem that water stains are left on the ground when equipment is over obstacles and after cleaning is finished is solved.

Description

Control method of automatic floor cleaning equipment, storage medium and automatic floor cleaning equipment

Technical Field

The invention relates to the technical field of floor cleaning, in particular to a control method of automatic floor cleaning equipment, a storage medium and the automatic floor cleaning equipment.

Background

In the floor cleaning products such as a handheld floor cleaning machine, a floor cleaning robot and the like in the market at present, a user picks up the floor cleaning machine after cleaning is finished, a pool of water stains can remain on the floor at the stop position of the floor cleaning machine, the floor cleaning machine needs to be cleaned again, and user experience is influenced; meanwhile, when steps appear on the clean ground, a pool of water stain is remained in front of the steps, and the user is difficult to remove.

Referring to fig. 1, a roller 200 of a floor cleaning device 100 rolls on the floor to scrub the floor, a water spray port 300 of a water supply device sprays water to the roller 200 to soak the working surface of the roller, a wiper strip 600 contacting with the floor is disposed behind the roller 200 to wipe off excessive cleaning water on the floor through which the roller passes, a wiper plate 400 contacting with the working surface of the roller is disposed above the wiper strip 600 and below the water spray port 300 to wipe off dirty water on the roller 200, an air duct 500 is formed between the wiper plate 400 and the wiper strip, the roller 200, the floor, the wiper plate 400, and the wiper strip 600 form a closed cavity, and a fan provides negative pressure through the air duct 500 to suck away sewage in the closed cavity. The reason for causing the ground residual water phenomenon is that no matter when the user takes up the machine or the machine passes through the step, the roller 200 can be separated from the ground, the cavity can not be closed at the moment, water can not be sucked away through the air duct by the fan, and is pushed together by the scraping strip 600, so that the ground residual water phenomenon is caused. Or the water pushed by the scraping strips 600 is too much, the equipment stops running at the end position, and the negative pressure provided by the fan cannot instantaneously suck the water in the closed cavity, so that the phenomenon that a pool of water is remained on the ground is caused.

The inventor of the present invention has finally obtained the present invention through a long period of research and practice.

Disclosure of Invention

Aspects of the present invention provide a control method for an automatic floor cleaning device, a storage medium, and an automatic floor cleaning device, which are used to solve the problem that water stains remain on the floor when the device is over the obstacle and after cleaning is finished.

The technical scheme adopted by the invention is as follows:

in one aspect, a control method of an automatic floor cleaning device is provided:

when the automatic ground cleaning equipment is in a working state, determining a first position of the automatic ground cleaning equipment at the current moment;

determining a second position of the automatic floor cleaning equipment at the cleaning end time;

calculating a first distance of a travel route between the first location and the second location;

and controlling the working state of a water supply device of the automatic ground cleaning equipment according to the first distance.

Further, the controlling the working state of the water supply device of the automatic floor cleaning equipment according to the first distance comprises:

and when the first distance is smaller than a first preset distance, the water supply device stops supplying water.

For example, the first preset distance may be determined according to a travel distance required for completely removing the residual water on the floor below the automatic floor cleaning apparatus in a state where the water supply device stops supplying water until the cleaning is finished in the operating state of the automatic floor cleaning apparatus.

Further, the determining the second position of the automatic floor cleaning device at the cleaning end time includes:

and determining a second position of the automatic floor cleaning equipment at the cleaning end time by the first positioning mode.

In still another aspect, there is provided a control method of a floor automatic cleaning apparatus, including:

determining a third position of the automatic floor cleaning device at the moment of crossing the obstacle;

calculating a second distance of the route of travel between the first location and the third location;

and controlling the working state of a water supply device of the automatic ground cleaning equipment according to the second distance.

Further, the controlling the working state of the water supply device of the automatic floor cleaning device according to the second distance comprises:

and when the second distance is smaller than a second preset distance, the water supply device stops supplying water.

Further, a fourth position where the automatic floor cleaning device finishes the obstacle crossing action is determined, and when the automatic floor cleaning device reaches the fourth position, the water supply device recovers water supply.

Illustratively, the second preset distance is determined according to a travel distance required for completely removing residual water on the floor below the floor in a state where the water supply device stops supplying water until the floor automatic cleaning apparatus crosses an obstacle in a normal plane travel working state.

Further, the determining a third position of the floor automatic cleaning device at the moment of crossing the obstacle includes:

determining a third position of the automatic ground cleaning equipment at the moment of crossing the obstacle in a second positioning mode;

and determining a fourth position of the automatic floor cleaning equipment at the moment of finishing the action of crossing the obstacle by a third positioning mode.

In another aspect, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the above-mentioned method for controlling a floor scrubbing apparatus.

In still another aspect, there is provided an automatic floor cleaning apparatus, including:

a housing having a fitting cavity therein;

the roller is arranged in the assembly cavity and is used for contacting with the ground and rolling to clean the ground;

a water supply device connected with the casing for spraying cleaning water to the roller;

a suction device connected with the casing for sucking water remained on the ground after the drum passes through to keep the ground clean;

the automatic floor cleaning device further comprises:

the induction device is arranged on the shell and used for determining a first position of the automatic ground cleaning equipment at the current moment when the automatic ground cleaning equipment is in a working state; determining a second position of the automatic floor cleaning equipment at the cleaning end time; determining a third position of the automatic floor cleaning device at the moment of crossing the obstacle;

a control device, which is electrically or signal-connected with the sensing device, and comprises a memory and a processor,

the memory is configured to store a computer program;

the processor is configured to execute the computer program to implement:

and calculating a first distance of a travel route between the first position and the second position and a second distance of the travel route between the first position and the third position according to the first position, the second position and the third position determined by the sensing device, and controlling the working state of a water supply device of the automatic ground cleaning equipment according to the first distance or the second distance.

Further, the processor is further configured to execute the computer program to implement:

and when the first distance is smaller than a first preset distance, or when the second distance is smaller than a second preset distance, the water supply device stops supplying water.

Further, the sensing device is also used for determining a fourth position of the automatic ground cleaning equipment at the moment of finishing the action of crossing the obstacle;

the processor is further configured to execute the computer program to implement:

according to the fourth position determined by the sensing device, when the automatic floor cleaning equipment reaches the fourth position, the water supply device recovers water supply.

Further, the sensing device includes:

the first sensing device is used for determining a first position of the automatic floor cleaning equipment at the current moment and determining a second position of the automatic floor cleaning equipment at the cleaning finishing moment when the automatic floor cleaning equipment is in a working state;

the second sensing device is used for determining a first position of the automatic floor cleaning equipment at the current moment and determining a third position of the automatic floor cleaning equipment at the moment of crossing an obstacle when the automatic floor cleaning equipment is in a working state;

and the third sensing device is used for determining a fourth position of the automatic floor cleaning equipment at the moment of finishing the action of crossing the obstacle.

Illustratively, the first sensing device is an LDS or DTOF sensor, which is disposed on the top of the housing;

the second sensing device is at least one of a structured light sensing module, a depth camera, an area array radar and an infrared sensor and is arranged at the front end of the shell;

the third induction device is a gyroscope and is connected with the shell.

It can be understood that when cleaning equipment is about to accomplish the cleaning task, judge self position and end position distance, when the distance is less than a definite value, stop supplying water, utilize the clean ground of the last residual water volume of cylinder, there is not a large amount of residual water basically in the airtight cavity this moment, until accomplishing the cleaning task. When the cleaning equipment needs to cross the obstacle, the obstacle is identified and the distance between the cleaning equipment and the obstacle is calculated, when the distance is smaller than a certain value, water supply is stopped, the residual water on the roller is used for cleaning the ground, at the moment, a large amount of residual water does not exist in the closed cavity basically, and a large amount of residual water is not scraped off when the obstacle is crossed. Thereby solving the problems of ending position and obstacle crossing residual water.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 shows a partial schematic construction of a prior art floor scrubbing apparatus;

FIG. 2 shows a flow diagram of a control method of an embodiment of the invention;

FIG. 3 shows a flow chart diagram of a control method of another embodiment of the present invention;

FIG. 4 shows a flow diagram of a control method of another embodiment of the present invention;

FIG. 5 shows a flow chart diagram of a control method of another embodiment of the present invention;

FIG. 6 shows a flow chart diagram of a control method of another embodiment of the present invention;

FIG. 7 is a schematic diagram showing a control structure of an automatic floor cleaning device according to an embodiment of the present invention;

fig. 8 shows a schematic structural view of an automatic floor cleaning device according to an embodiment of the present invention.

Wherein, the correspondence between the reference numbers and the component names in fig. 1 and fig. 8 is:

100 floor cleaning equipment, 200 rollers, 300 water spray nozzles, 400 water scraping plates, 500 air ducts, 600 scraping strips, 1 first sensor, 2 second sensors, 3 collision plates and 4 upper covers.

Detailed Description

The above and further features and advantages of the present invention are described in more detail below with reference to the accompanying drawings.

In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.

It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.

In the embodiment of the application, the automatic floor cleaning equipment can be applied to scenes such as families, office buildings, shopping malls and the like, and the basic service function of the automatic floor cleaning equipment is to clean the floor in the scene. The automatic floor cleaning equipment can walk autonomously, is used for performing floor cleaning functions, and also has the functions of calculation, communication, internet surfing and the like. The automatic ground cleaning equipment is required to be mapped and navigated when the automatic ground cleaning equipment walks autonomously in a scene, an LDS or DTOF sensor is adopted in the current mainstream scheme to scan the surrounding environment through 360-degree rotation and laser, and therefore mapping and navigation are performed, and technicians in the field can select the mapping and navigation according to the applied scene and other relevant conditions.

In the present application, the automatic floor cleaning apparatus has at least a water spray wiping function, and an exemplary structure is shown in fig. 1, in which a drum 200 of a floor cleaning apparatus 100 is rolled on a floor to scrub the floor, and water spray nozzles 300 of a water supply device spray water toward the drum 200 to wet a working surface of the drum. The scraping strip 600 contacting with the ground is arranged at the rear of the roller 200 to scrape redundant cleaning water on the ground passing through the roller, the scraping plate 400 contacting with the working surface of the roller is arranged above the scraping strip 600 and below the water spraying opening 300 to scrape dirty water on the roller 200, an air duct 500 is formed between the scraping plate 400 and the scraping strip, the roller 200, the ground, the scraping plate 400 and the scraping strip 600 form a closed cavity, and the fan provides negative pressure through the air duct 500 to suck away sewage in the closed cavity. The reason for causing the ground residual water phenomenon is that no matter when the user takes up the machine or the machine passes through the step at the end position, the roller 200 can be separated from the ground, the cavity can not be closed at the moment, water can not be sucked away through the air duct by the fan, and is pushed together by the scraping strip 600, so that the ground water stain residual phenomenon is caused. Or the water pushed by the scraping strips 600 is too much, the equipment stops running at the end position, and the negative pressure provided by the fan cannot instantly suck the water in the closed cavity, so that the phenomenon of residual water stains on the ground is caused.

In one embodiment of the present application, a control method is provided for controlling a floor scrubbing apparatus. As shown in fig. 2, fig. 2 is a flow chart of a control method according to an embodiment of the present invention, so as to solve the problem of residual water stain on the ground.

S101: when the automatic ground cleaning equipment is in a working state, determining a first position of the automatic ground cleaning equipment at the current moment;

s102: determining a second position of the automatic floor cleaning equipment at the cleaning finishing time;

s103: calculating a first distance of a travel route between the first location and the second location;

s104: and controlling the working state of a water supply device of the automatic ground cleaning equipment according to the first distance.

Automatic floor cleaning equipment can map, navigate and locate the position of a machine during operation. When a normal cleaning task is executed, in order to solve the problem of residual water stain on the ground, when the automatic ground cleaning equipment reaches a second position at the cleaning finishing moment, the fan sucks water in a sealed cavity defined by the roller/the ground/the water scraping plate/the water scraping strip through the air duct. It can be understood that the idea of solving the problem is for increasing the suction or reducing the inflow in the airtight cavity, and increase suction needs to cooperate the fan, and the power increase of fan may increase power consumptively, if required power is too big, then need select high-power fan, and then increased complete machine weight, and this is unfavorable to ground self-cleaning equipment's design. Moreover, even if the power of the fan is high, the water in the closed cavity is difficult to be sucked up instantly before the equipment is separated from the ground. Then it is. A preferred direction is to adjust the water supply of the water supply device at a distance from the cleaning end position.

It can be understood that the automatic floor cleaning device has various working environments, such as marble floor, cement floor, and carpet, and the different cleaning surfaces determine different water amounts required for wiping. For example, for a carpet with good water absorption, the water supply amount of the water supply device can be adjusted to be small enough when the carpet is at a certain distance from the cleaning end position, so that residual water or excessive moisture on the carpet can be avoided at the cleaning end position. For marble floors, the best way is to completely consume the remaining water in the closed cavity just before the cleaning end position is reached. The technician can set the working state of the water supply device for controlling the automatic ground cleaning equipment according to the first distance according to the equipment working environment so as to achieve the optimal cleaning state.

In one embodiment, a control method is provided for controlling a floor scrubbing apparatus. As shown in fig. 3, fig. 3 is a flowchart illustrating the control method in the present embodiment. The method comprises the following steps:

s201: when the automatic ground cleaning equipment is in a working state, determining a first position of the automatic ground cleaning equipment at the current moment;

s202: determining a second position of the automatic floor cleaning equipment at the cleaning finishing time;

s203: calculating a first distance of a travel route between the first location and the second location;

s204: and when the first distance is smaller than a first preset distance, the water supply device stops supplying water.

In the design, the working mode is as follows: when the ground cleaning equipment is about to end a cleaning task, the travel distance (first distance) between the equipment and a cleaning end position (second position) is calculated, when a set minimum safe distance value (first preset distance) is reached, the equipment closes the water supply device, the water supply device can be a water pump, the water spray opening does not spray water to the roller any more at the moment, so that the water scraping plate cannot be scraped by water continuously, residual water in a closed cavity formed by the roller/the ground/the water scraping plate/the scraping strip is sucked away from the air channel by the fan when the equipment reaches the cleaning end position, and the ground cannot have much residual water or no residual water.

The first working mode is designed in the software logic of the whole machine, and the problem of residual water is solved. Particularly, in order to achieve a better absorption effect on residual water, after the water supply device is closed, the power of the fan can be raised through logic control, so that the residual water is absorbed more quickly, less ground residue is left, and a minimum safety distance value (a first preset distance) can be shortened.

In one embodiment, a control method is provided for controlling a floor scrubbing apparatus. As shown in fig. 4, fig. 4 is a flowchart illustrating the control method in the present embodiment. The method comprises the following steps:

s301: when the automatic ground cleaning equipment is in a working state, determining a first position of the automatic ground cleaning equipment at the current moment;

s302: determining a third position of the automatic ground cleaning equipment at the moment of crossing the obstacle;

s303: calculating a second distance of the route of travel between the first location and the third location;

s304: and controlling the working state of a water supply device of the automatic ground cleaning equipment according to the second distance.

The automatic ground cleaning equipment can identify obstacles in advance and perform obstacle crossing action in operation. When a normal cleaning task is executed, the idea of solving the problem of ground surface residual water when obstacles cross is similar to the idea of solving the problem of ground surface residual water at the cleaning ending position, and details are not repeated herein. And a technician can set the working state of the water supply device for controlling the automatic ground cleaning equipment according to the second distance according to the equipment working environment so as to achieve the optimal cleaning state.

In one embodiment, a control method is provided for controlling a floor scrubbing apparatus. As shown in fig. 5, fig. 5 is a flowchart illustrating the control method in the present embodiment. The method comprises the following steps:

s401: when the automatic ground cleaning equipment is in a working state, determining a first position of the automatic ground cleaning equipment at the current moment;

s402: determining a third position of the automatic ground cleaning equipment at the moment of crossing the obstacle;

s403: calculating a second distance of the route of travel between the first location and the third location;

s404: and when the second distance is smaller than a second preset distance, the water supply device stops supplying water.

The second working mode is as follows: when the ground cleaning equipment is about to cross the obstacle, the front position (third position) can be detected to have the obstacle, the distance (second distance) between the ground cleaning equipment and the obstacle is measured and calculated, when the distance is smaller than the set minimum safety distance (second preset distance) of crossing the obstacle, the equipment closes the water supply device, the water spray nozzle does not spray water to the roller at the moment, so the water scraping plate cannot be scraped off continuously, the residual water in the closed cavity formed by the roller/the ground/the water scraping plate/the scraping strip is sucked away from the air channel by the fan at the moment, the ground cannot have much residual water or no residual water, even when the roller rides on the obstacle (the equipment is lifted), the water in the closed cavity is sucked away in advance, the water on the roller is also scraped off by the water scraping plate in advance, the obstacle is pressed, no excess water is extruded, and the problem of residual water in front of the step surface is solved. The minimum safe distance value B is set to meet the condition that the ground water is sucked away before the roller is lifted by the obstacle.

The second working mode is designed in the software logic of the whole machine, so that the problem of residual water is solved; particularly, in order to achieve a better absorption effect on residual water, after the water supply device is closed, the power of the fan can be logically controlled and increased, so that the residual water is absorbed more quickly, the ground residue is less, and the obstacle crossing minimum safety distance (second preset distance) can be shortened.

It should be noted that the first and second working modes can be simultaneously designed in the software logic of the whole machine, and the problem of residual water can be solved under two working conditions; in the two working modes, after the water supply device is closed, the power of the lifting fan can be controlled logically.

In one embodiment, a control method is provided for controlling a floor scrubbing apparatus. As shown in fig. 6, fig. 6 is a flowchart illustrating the control method in the present embodiment. The method comprises the following steps:

s501: when the automatic ground cleaning equipment is in a working state, determining a first position of the automatic ground cleaning equipment at the current moment;

s502: determining a third position of the automatic ground cleaning equipment at the moment of crossing the obstacle;

s503: calculating a second distance of the route of travel between the first location and the third location;

s504: when the second distance is smaller than a second preset distance, the water supply device stops supplying water;

s505: and determining a fourth position where the automatic floor cleaning equipment finishes the action of crossing the obstacle, and when the automatic floor cleaning equipment reaches the fourth position, the water supply device recovers water supply.

In this design, it should be noted that when the floor cleaning device is about to cross an obstacle, it can detect that there is an obstacle in the front position (third position), and measure the distance (second distance) to the obstacle, and when the distance is smaller than the set minimum safety distance (second preset distance) for crossing the obstacle, the device turns off the water supply device. The automatic ground cleaning equipment can also judge whether the action of crossing the obstacle is finished or not in the operation, and when the action of crossing the obstacle is finished, the normal water supply of a water supply device of the equipment is recovered, and the cleaning task is continuously executed.

In the above-mentioned embodiment, the minimum safe distance value (the first preset distance) is set to satisfy that the automatic floor cleaning device does not touch the obstacle and that the floor water is sucked away by the air duct until the machine stops, that is, the first preset distance is determined according to the travel distance required by the automatic floor cleaning device to completely remove the residual water on the floor below the automatic floor cleaning device in the state that the water supply device stops supplying water in the operating state until the cleaning is finished. The minimum safety distance (second preset distance) for obstacle crossing is set so that the water on the ground is sucked away before the roller is lifted by the obstacle. The second preset distance is determined according to the travel distance required by the automatic floor cleaning equipment to completely remove residual water on the floor below the automatic floor cleaning equipment in the normal plane travel working state until the automatic floor cleaning equipment crosses an obstacle in the state that the water supply device stops supplying water.

Optionally, the second position of the automatic floor cleaning device at the cleaning end time is determined in a different manner, and the third position of the automatic floor cleaning device at the obstacle crossing time is determined in a different manner. For example, determining the cleaning end position of the floor scrubbing unit takes place in a map-built navigation mode, whereas determining the obstacle crossing position of the floor scrubbing unit takes place in an obstacle detection mode.

According to a second aspect of the invention, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method of controlling a floor scrubbing apparatus. Therefore, the computer-readable storage medium has all the advantages of the control method, and will not be described herein again.

In one embodiment, according to a third aspect of the present invention, there is provided an automatic floor cleaning device, as shown in fig. 7, comprising a cabinet, a drum, a water supply means, and a suction means. The casing is provided with an assembly cavity therein. The roller is arranged in the assembly cavity and is used for contacting with the ground and rolling to clean the ground. The water supply device is connected with the machine shell and used for spraying cleaning water to the roller, and the water supply device can be a water pump. The suction device is connected with the machine shell and used for sucking water remained on the ground after the roller passes through the machine shell so as to keep the ground clean, and the suction device can be a fan.

In this embodiment, the automatic floor cleaning device further comprises a sensing device and a control device. The induction device is arranged on the shell and used for determining a first position of the automatic ground cleaning equipment at the current moment when the automatic ground cleaning equipment is in a working state; determining a second position of the automatic floor cleaning equipment at the cleaning finishing time; a third position at which the floor scrubbing apparatus is located at the time of crossing the obstacle is determined. The control device is electrically connected or in signal connection with the sensing device and comprises a memory and a processor. The memory is configured to store a computer program. The processor is configured to execute the computer program to implement: and calculating a first distance of a travelling route between the first position and the second position according to the first position, the second position and the third position determined by the sensing device, calculating a second distance of the travelling route between the first position and the third position, and controlling the working state of a water supply device of the automatic ground cleaning equipment according to the first distance or the second distance.

In a particular embodiment, the processor is further configured to execute the computer program to implement: and when the first distance is smaller than a first preset distance, or when the second distance is smaller than a second preset distance, the water supply device stops supplying water.

In a specific embodiment, the sensing device is further configured to determine a fourth position of the floor cleaning robot at the time of completing the obstacle crossing operation. The processor is further configured to execute the computer program to implement: and according to the fourth position determined by the sensing device, when the automatic ground cleaning equipment reaches the fourth position, the water supply device restores water supply.

In a specific embodiment, the sensing device includes a first sensing device, a second sensing device, and a third sensing device. The first sensing device is used for determining a first position of the automatic floor cleaning equipment at the current moment and determining a second position of the automatic floor cleaning equipment at the cleaning finishing moment when the automatic floor cleaning equipment is in a working state. The second sensing device is used for determining a first position of the automatic floor cleaning equipment at the current moment and determining a third position of the automatic floor cleaning equipment at the moment of crossing the obstacle when the automatic floor cleaning equipment is in a working state. The third sensing device is used for determining a fourth position of the automatic floor cleaning equipment at the moment of finishing the action of crossing the obstacle.

In a preferred embodiment, as shown in FIG. 8, the floor scrubbing robot is a robotic scrubber carrying a scrubber cleaning system and the floor tool for automatic sweeping and movement. The automatic sweeping and obstacle-crossing and trapped-escaping actions of the existing geo-referenced navigation can be realized, the first sensor 1 is used for map building navigation and positioning the position of a machine, and the first sensor 1 can be an LDS sensor or a DTOF sensor. The front part of the machine is provided with a second sensor 2 which can identify step obstacles in advance, and the second sensor 2 can be a structured light sensor, a depth camera, an area array radar, an infrared sensor and the like. A gyroscope is mounted inside the device. The front end of the automatic floor washing robot is provided with a collision plate 3, and the rear side of the collision plate is provided with an upper cover 4 which plays a role in appearance and support. The upper cover 4 is provided with a first sensor 1 for map building navigation of the washing machine and calculating the distance from the wall. The front end of the striking plate 3 is simultaneously provided with the second sensor 2 which can be used for detecting the obstacles (such as steps, round sticks and the like) in front in advance when walking. The lower part of the automatic floor washing robot is provided with a base, a driving wheel is arranged on the base and is responsible for the whole machine to walk, and a roller is also arranged on the base and is used for cleaning stains.

When the automatic floor washing robot executes a normal cleaning task, the LDS or DTOF sensor arranged at the upper part performs mapping by rotating and scanning the surrounding environment, and a user can arrange the cleaning task on the mapped mapping, so that an end position is set on the mapping. The automatic floor washing robot executes a water spraying cleaning task according to a planned route on a map, when the cleaning task is about to end, the distance between the automatic floor washing robot and the end position is calculated, after a set minimum safety distance value for ending is reached, the machine turns off a water pump, and at the moment, a water spraying port does not spray water to a roller any more. When the automatic floor washing robot is about to cross the obstacle, the front part of the automatic floor washing robot is provided with an obstacle avoidance module (the obstacle avoidance module can be a structured light sensor, a depth camera, an area array radar, an infrared sensor and the like), when the obstacle avoidance module detects that obstacles (such as steps, round sticks and the like) exist in the front, the distance between the obstacle avoidance module and the obstacles is measured and calculated, when the distance is smaller than the set minimum safety distance of crossing the obstacle, a water pump is closed, and at the moment, a water spraying port does not spray water on a roller any more. And (4) recovering the water pump of the robot to pump water after the gyroscope judges that the robot is over the obstacle, and continuously executing the cleaning task.

The obstacle avoidance module can be arranged on the front part of the collision plate or the front part of the base or the front part of the upper cover, and only the following conditions are required to be met: the obstacle avoidance module is arranged at the front part of the whole machine, no structure is shielded in the angle of view of the lens, and the intensity of the fixed position of the camera is reliable. The LDS or DTOF sensor can be arranged on the upper part of the upper cover or the upper part of the base, and only the following conditions are required to be met: the LDS or DTOF sensor is arranged at the upper part of the whole machine, the angle of view of the sensor is free from structural shielding, and the strength of the fixed position is reliable.

The foregoing is merely a preferred embodiment of this invention, which is intended to be illustrative, and not limiting. The structure, the connection mode and the like of all the components in the invention can be changed, and the equivalent transformation and the improvement on the basis of the technical scheme of the invention are not excluded from the protection scope of the invention.

Claims

1. A method of controlling an automatic floor cleaning device, comprising:

2. The method for controlling an automatic floor cleaning device according to claim 1, wherein the controlling of the operation state of the water supply device of the automatic floor cleaning device according to the first distance comprises:

3. A control method of an automatic floor cleaning device according to claim 2,

and determining the first preset distance according to the travel distance required by completely removing residual water on the ground below the automatic ground cleaning equipment in the state that the water supply device stops supplying water when the automatic ground cleaning equipment is in the working state to the cleaning end.

4. A method of controlling an automatic floor cleaning device according to claim 1 or 2, wherein said determining a second position of the automatic floor cleaning device at the end of cleaning comprises:

5. A method of controlling an automatic floor cleaning device, comprising:

6. The method for controlling an automatic floor cleaning device according to claim 5, wherein the controlling of the operation state of the water supply device of the automatic floor cleaning device according to the second distance comprises:

7. A method of controlling an automatic floor cleaning device as claimed in claim 6, further comprising: and determining a fourth position where the automatic floor cleaning equipment is positioned at the moment of finishing the action of crossing the obstacle, and when the automatic floor cleaning equipment reaches the fourth position, the water supply device recovers water supply.

8. A control method of an automatic floor cleaning device according to claim 6,

and determining the second preset distance according to the travel distance required by completely removing residual water on the ground below the automatic ground cleaning equipment in the state that the water supply device stops supplying water when the automatic ground cleaning equipment crosses the obstacle in the normal plane travel working state.

9. The method of claim 7, wherein determining the third position of the automatic floor cleaning device at the time of crossing the obstacle comprises:

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of a method for controlling an automatic floor cleaning device according to any one of claims 1 to 9.

11. An automatic floor cleaning device comprising:

a housing having a fitting cavity therein;

it is characterized by also comprising:

the memory is configured to store a computer program;

the processor is configured to execute the computer program to implement:

12. A floor scrubbing apparatus as claimed in claim 11, wherein said processor is further configured to execute said computer program to implement:

13. The automatic floor cleaning apparatus of claim 12, wherein the sensing device is further configured to determine a fourth position of the automatic floor cleaning apparatus at a time when the automatic floor cleaning apparatus completes the obstacle crossing operation;

14. An automatic floor cleaning device as claimed in claim 11 or 12, characterized in that said sensing means comprise:

the second sensing device is used for determining a first position of the automatic floor cleaning equipment at the current moment and determining a third position of the automatic floor cleaning equipment at the moment of crossing the obstacle when the automatic floor cleaning equipment is in a working state.

15. An automatic floor cleaning device as claimed in claim 13, wherein said sensing means comprises:

16. An automatic floor cleaning device as claimed in claim 15,

the first sensing device is an LDS or DTOF sensor and is arranged at the top of the shell;

the third induction device is a gyroscope and is connected with the shell.