CN113598653A

CN113598653A - Cleaning method and device, equipment and computer readable storage medium

Info

Publication number: CN113598653A
Application number: CN202110899226.XA
Authority: CN
Inventors: 杨云龙; 赵海强; 李旭
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Rockrobo Technology Co Ltd
Priority date: 2021-08-05
Filing date: 2021-08-05
Publication date: 2021-11-05
Anticipated expiration: 2041-08-05
Also published as: CN113598653B

Abstract

The embodiment of the application provides a cleaning method, a cleaning device, equipment and a computer-readable storage medium, wherein the method comprises the following steps: obtaining ranging information; obtaining obstacle distance information according to the ranging information; controlling the power of the wind turbine based at least on the obstacle distance information. The embodiment of the application provides a cleaning method which can flexibly deal with different environments.

Description

Cleaning method and device, equipment and computer readable storage medium

Technical Field

The present application belongs to the technical field of cleaning devices, and in particular, to a cleaning method and apparatus for a cleaning device, a device, and a computer-readable storage medium.

Background

The sweeper generally can only perform cleaning tasks in a given cleaning mode. In any environment, cleaning operation can be performed only according to a predetermined mode, which results in that corners of some obstacles such as corners of walls cannot be cleaned, and dirt such as dust and lint can be left out.

Disclosure of Invention

An object of the embodiments of the present application is to provide a cleaning method, a control apparatus, a device, and a computer-readable storage medium, which can flexibly cope with different environments.

In one aspect, an embodiment of the present application provides a cleaning method, including:

obtaining ranging information;

obtaining obstacle distance information according to the ranging information;

controlling the power of the wind turbine based at least on the obstacle distance information.

In a second aspect, embodiments of the present application provide a cleaning device, the device comprising:

an information acquisition unit for acquiring ranging information;

an information processing unit for obtaining obstacle distance information from the ranging information;

a control unit for controlling a power of the wind turbine based at least on the obstacle distance information.

In a third aspect, an embodiment of the present application provides a cleaning apparatus, including:

a fan;

the distance measuring sensor is used for detecting the distance from the brush head to an obstacle;

the controller is connected with the fan and the distance measuring sensor and used for controlling the power of the fan at least according to the distance from the brush head to an obstacle, which is detected by the distance measuring sensor.

In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method of the foregoing embodiment.

In a fifth aspect, the present application provides a cleaning device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method of the above embodiments is implemented.

In the cleaning method provided by the embodiment of the application, distance measurement information is acquired; obtaining obstacle distance information according to the ranging information; controlling the power of the wind turbine based at least on the obstacle distance information. It can be determined from the obstacle distance information whether the cleaning apparatus is located near an obstacle such as a wall. Thereby carry out corresponding adjustment to fan power, can hinder environmental control fan suction power to barriers such as spacious environment and corner to adapt to different environment, improve clean effect.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

The summary of various implementations or examples of the technology described in this application is not a comprehensive disclosure of the full scope or all features of the disclosed technology.

Drawings

In the drawings, which are not necessarily drawn to scale, like reference numerals may describe similar components in different views. Like reference numerals having letter suffixes or different letter suffixes may represent different instances of similar components. The drawings illustrate various embodiments, by way of example and not by way of limitation, and together with the description and claims, serve to explain embodiments of the application. The same reference numbers will be used throughout the drawings to refer to the same or like parts, where appropriate. Such embodiments are illustrative, and are not intended to be exhaustive or exclusive embodiments of the present apparatus or method.

Fig. 1 shows a schematic flow diagram of a cleaning method according to an embodiment of the present application.

Fig. 2 shows a schematic structural diagram of a cleaning device according to an embodiment of the present application.

Fig. 3 shows a schematic structural diagram of a cleaning device provided in an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings of the embodiments of the present application. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the application without any inventive step, are within the scope of protection of the application.

Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. As used in this application, the terms "first," "second," and the like do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

Detailed descriptions of known functions and known components are omitted in the present application in order to keep the following description of the embodiments of the present application clear and concise.

Fig. 1 shows a schematic flow diagram of an embodiment of the cleaning method of the present application. Referring to fig. 1, an embodiment of the present application provides a cleaning method, including:

s101, obtaining ranging information;

s102, obtaining obstacle distance information according to the ranging information;

s103, controlling the power of the fan at least based on the obstacle distance information.

In the cleaning method of the embodiment of the application, whether the cleaning equipment is located near the obstacles such as the wall body or not can be determined according to the obstacle distance information. Therefore, the power of the fan can be adjusted aiming at the cleaning area different from the conventional cleaning environment, so that when the cleaning equipment cleans the area, the power of the fan is different from the conventional power, and the cleaning equipment can flexibly adapt to different situations.

In some embodiments, controlling the power of the wind turbine based at least on the obstacle distance information comprises: increasing the power of the fan based at least on the distance to the obstacle being less than the distance threshold.

When the distance to the obstacle is smaller than the distance threshold value, the cleaning device can be considered to reach the position near the obstacle, the power of the fan is increased at the moment, the suction power of the fan is increased, and the wall corner and other similar areas can be cleaned better.

In the embodiment of the application, whether the cleaning equipment is located near the obstacles such as a wall body or not can be determined according to the obstacle distance information, and when the distance from the obstacle is within a certain range, for example, is smaller than a distance threshold value, the power of the fan can be increased so as to clean the positions such as a corner. In addition, the power of the fan is maintained based on the distance to the obstacle being not less than the distance threshold. When the distance from the obstacle is out of a certain range, the power of the fan does not need to be increased, and at the moment, the power of the fan can be kept.

The distance threshold may be empirically determined. The distance threshold may be pre-stored in the cleaning device. The distance threshold may be set at the time of shipment of the cleaning device, without change.

In further exemplary embodiments, the distance threshold may also be modified. For example, the user inputs a specific value through the operation interface.

In some embodiments, the distance threshold may also be automatically adjusted based on historical data. For example, the distance threshold may be adjusted smaller when the cleaning device has traveled a greater distance after determining that the distance to the obstacle is less than the threshold.

In some embodiments, the cleaning method of embodiments of the present application further comprises: intercepting at least one of collision information and motion information; it may be possible to listen to only collision information or motion information, or it may be possible to listen to both collision information and motion information.

Controlling power of the wind turbine based on at least the obstacle distance information while also listening for at least one of the collision information and the movement information comprises: and when the distance from the obstacle is less than the distance threshold value and at least one of the collision information and the movement information is not intercepted, increasing the power of the fan. Or when the distance from the obstacle is smaller than the distance threshold value and the collision information and the movement information are intercepted, the power of the fan is kept.

In the embodiment of the application, after the distance from the obstacle meets the requirement, whether the power of the fan is adjusted or not is determined by combining other information so as to more accurately cope with different environments.

Whether the cleaning apparatus collides with an obstacle can be determined by the collision information. From the motion information, the motion state of the cleaning device, i.e. whether the cleaning device is moving, can be determined. The obstacle that the cleaning equipment approaches can be judged by combining the information, and the obstacle belongs to a wall and the like which cannot be moved by the cleaning equipment, or belongs to an obstacle that can be moved by the cleaning equipment. When the collision information and the movement information are monitored, the obstacle can be moved by the cleaning equipment, the power of the fan can be adjusted at the moment, and the power of the fan is kept.

In some embodiments, the specific manner of increasing the power of the wind turbine is not limited. In an exemplary embodiment, increasing the power of the wind turbine includes: and increasing the working voltage of the fan. The power of the fan is increased by increasing the working voltage of the fan.

In this application embodiment, cleaning device's fan is connected with the control pin of controller. The adjustment of the working voltage of the fan can be realized by adjusting the pin. In an exemplary embodiment, increasing the operating voltage of the wind turbine comprises: and increasing the PWM duty ratio of a pin for controlling the power supply of the fan.

In the embodiment of the present application, the ranging information may be a raw signal of the ranging sensor, or may be a signal after further processing.

In some embodiments, obtaining ranging information comprises: acquiring an electric signal output by a receiver of a ranging sensor; obtaining the obstacle distance information from the ranging information includes: obtaining obstacle distance information according to the electric signal; increasing power to the wind turbine based at least on the distance to the obstacle being less than the distance threshold, comprising: increasing the power of the fan based at least on the value of the electrical signal being greater than the electrical signal threshold; wherein the electrical signal threshold is a value of an electrical signal output by the receiver when the distance to the obstacle is equal to the distance threshold.

In the embodiment of the application, the distance to the obstacle is judged directly by the electric signal output by the receiver of the ranging sensor. On this basis, the method of the embodiment of the application is specifically as follows: acquiring an electric signal output by a receiver of a ranging sensor; obtaining obstacle distance information according to the electric signal; increasing the power of the fan based at least on the value of the electrical signal being greater than the electrical signal threshold; wherein the electrical signal threshold is a value of an electrical signal output by the receiver when the distance to the obstacle is equal to the distance threshold.

In the embodiment of the application, the distance to the obstacle is determined directly according to the value of the electric signal output by the receiver. In an exemplary embodiment, the distance to the obstacle may be determined according to a level value of the electrical signal output by the receiver. The closer the distance to the obstacle, the larger the level value output from the receiver, and the distance to the obstacle can be expressed. Therefore, the level value of the electric signal is larger than the electric signal threshold value, and the power of the fan can be increased. Wherein the electrical signal threshold is a level value of the electrical signal output by the receiver when the distance to the obstacle is equal to the distance threshold. At this time, the electrical signal threshold may be specifically a level threshold.

The distance to the barrier is judged directly with the electric signal of distance measuring sensor's receiver output, has reduced data processing step, has reduced treater consumption, and is lower to the treater requirement, has reduced the cost of treater.

In the embodiment of the application, the distance measuring sensor comprises an infrared distance measuring sensor and an ultrasonic distance measuring sensor.

In some embodiments, an infrared distance measuring sensor is taken as an example. Acquiring an electrical signal output by a receiver of a ranging sensor includes: acquiring a signal level value output by an infrared receiving tube of an infrared distance measuring sensor;

obtaining the obstacle distance information from the electrical signal includes: obtaining obstacle distance information according to the signal level value;

increasing the power of the wind turbine based at least on the value of the electrical signal being greater than the electrical signal threshold, comprising: increasing the power of the fan based at least on the signal level value being greater than the level threshold; wherein the content of the first and second substances,

the level threshold is a signal level value output by the infrared receiving tube when the distance to the obstacle is equal to the distance threshold.

In the embodiment of the application, the power of the fan is directly adjusted on the basis of the signal level value output by the infrared receiving tube, and the operation process is reduced.

The embodiment of the application also provides a cleaning device. The apparatus may implement the method of any of the embodiments described above. The above method embodiments may be used for understanding the apparatus of the present application. The following description of the apparatus may also be used to understand the method of the above embodiments.

Fig. 2 shows a schematic structural view of an embodiment of the cleaning device of the present application. Referring to fig. 2, a cleaning apparatus of an embodiment of the present application includes:

an information acquisition unit 10 for acquiring ranging information;

an information processing unit 20 for obtaining obstacle distance information from the ranging information;

a control unit 30 for controlling the power of the wind turbine at least based on the obstacle distance information.

In the cleaning device provided by the embodiment of the application, the information acquisition unit acquires ranging information; the information processing unit obtains the distance information of the obstacle according to the ranging information; the control unit controls the power of the fan based on at least the obstacle distance information. It can be determined from the obstacle distance information whether the cleaning apparatus is located near an obstacle such as a wall. Thereby carry out corresponding adjustment to fan power, can hinder environmental control fan suction power to barriers such as spacious environment and corner to adapt to different environment, improve clean effect.

The working process of the cleaning device in the embodiment of the present application may specifically refer to the method embodiment described above, and is not described herein again.

An embodiment of the present application further provides a cleaning device, including:

a fan;

and the controller is connected with the fan and the distance measuring sensor and is used for controlling the power of the fan at least according to the distance from the brush head to the obstacle, which is detected by the distance measuring sensor.

In the cleaning equipment provided by the embodiment of the application, the distance measuring sensor can detect the distance from the brush head to an obstacle; the controller can control the power of the fan based at least on the distance of the brush head to the obstacle. When the distance sensor detects that the distance from the brush head to the obstacle is less than the distance threshold value, the controller increases the power of the fan. Whether the cleaning device is located near an obstacle such as a wall can be determined based on the distance of the brush head from the obstacle. Thereby carry out corresponding adjustment to fan power, can hinder environmental control fan suction power to barriers such as spacious environment and corner to adapt to different environment, improve clean effect.

In some embodiments, the controller controls the power of the fan based at least on the distance from the brushhead to the obstacle detected by the ranging sensor, including: the controller increases the power of the fan at least when the ranging sensor detects that the distance from the brush head to the obstacle is less than a distance threshold.

In addition, the controller increases the power of the fan when the distance sensor detects that the distance from the brush head to the obstacle is not less than the distance threshold.

In some embodiments, the cleaning apparatus further comprises an impact sensor and a motion sensor. Wherein the collision sensor is configured to generate collision information based on detecting a collision; the motion sensor is used for generating motion information based on detecting the motion of the cleaning equipment; the controller is connected with the collision sensor to monitor collision information generated by the collision sensor; the controller is connected with the motion sensor to listen to the motion information generated by the motion sensor; the controller increases the power of the fan when the distance from the obstacle is less than the distance threshold and at least one of the collision information and the movement information is not sensed.

In the embodiment of the application, whether the cleaning equipment collides with an obstacle or not can be determined by detecting collision information through the collision sensor. The motion state of the cleaning device, i.e., whether the cleaning device is moving, may be determined based on the motion information detected by the motion sensor. The obstacle that the cleaning equipment approaches can be judged by combining the information, and the obstacle belongs to a wall and the like which cannot be moved by the cleaning equipment, or belongs to an obstacle that can be moved by the cleaning equipment. When the collision signal and the movement information are intercepted, the fact that the cleaning device is in contact with the obstacle can be determined, the obstacle is pushed to move, namely the obstacle can be moved by the cleaning device, at the moment, the power of the fan can be kept without adjusting the power of the fan, and the controller can be used for keeping the power of the fan.

The motion sensor may be a six-axis sensor.

In some embodiments, the specific manner in which the controller increases the power of the wind turbine is not limited. In an exemplary embodiment, the controller increases the operating voltage of the fan to increase the power of the fan.

In this application embodiment, cleaning device's fan is connected with the control pin of controller. The adjustment of the working voltage of the fan can be realized by adjusting the pin. In an exemplary embodiment, the controller increases the PWM duty cycle of the pin that controls the supply of power to the fan to increase the operating voltage of the fan.

In some embodiments, a ranging sensor is provided at the end of the brushhead. The distance from the brush head to the obstacle can be determined more accurately.

In some embodiments, the controller acquires an electrical signal output by a receiver of the ranging sensor; obtaining obstacle distance information according to the electric signal; the controller increases the power of the fan at least based on the value of the electrical signal being greater than the electrical signal threshold; wherein the content of the first and second substances,

the electrical signal threshold is a value of an electrical signal output by the receiver when the distance to the obstacle is equal to the distance threshold.

In the embodiment of the application, the distance to the obstacle is directly judged according to the value of the electric signal output by the receiver of the ranging sensor. On this basis, the cleaning device of the embodiment of the application is specifically as follows: the controller acquires an electric signal output by a receiver of the ranging sensor; obtaining obstacle distance information according to the electric signal; increasing the power of the fan based at least on the value of the electrical signal being greater than the electrical signal threshold; wherein the electrical signal threshold is a value of an electrical signal output by the receiver when the distance to the obstacle is equal to the distance threshold.

In the embodiment of the application, the controller determines the distance to the obstacle directly according to the value of the electric signal output by the receiver. In an exemplary embodiment, the distance to the obstacle may be determined according to a level value of the electrical signal output by the receiver. The closer the distance to the obstacle, the larger the level value output from the receiver, and the distance to the obstacle can be expressed. Therefore, the level value of the electric signal is larger than the electric signal threshold value, and the power of the fan can be increased. Wherein the electrical signal threshold is a level value of the electrical signal output by the receiver when the distance to the obstacle is equal to the distance threshold. At this time, the electrical signal threshold may be specifically a level threshold.

In the embodiment of the application, the controller directly judges the distance to the obstacle according to the electric signal output by the receiver of the ranging sensor, so that the data processing steps are reduced, the power consumption of the processor is reduced, the requirement on the processor is low, and the cost of the processor is reduced.

In some embodiments, the ranging sensor includes an infrared ranging sensor and an ultrasonic ranging sensor. The receivers of different ranging sensors output different electrical signals.

The electric signal comprises a signal level value output by an infrared receiving tube of the infrared distance measuring sensor and an electric energy signal value output by the ultrasonic distance measuring sensor. In the embodiment of the application, the power of the fan is directly adjusted on the basis of the signal level value output by the infrared receiving tube, and the operation process is reduced.

The embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method of any one of the above embodiments. The computer-readable storage medium may include, but is not limited to, any type of disk including floppy disks, optical disks, DVD, CD-ROMs, microdrive, and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of media or device suitable for storing instructions and/or data.

Embodiments of the present application also provide a computer program product comprising a non-transitory computer readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any one of the cleaning methods as recited in the above method embodiments.

It is clear to a person skilled in the art that the solution of the present application can be implemented by means of software and/or hardware. The "unit" and "module" in this specification refer to software and/or hardware that can perform a specific function independently or in cooperation with other components, where the hardware may be, for example, a Field-ProgrammaBLE Gate Array (FPGA), an Integrated Circuit (IC), or the like.

It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some interfaces, devices or units, and may be an electric or other form.

Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable memory. Based on such understanding, the technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product stored in a memory, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned memory comprises: various media capable of storing program codes, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.

Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable memory, which may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.

Embodiments of the present application further provide a cleaning device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method of any of the above embodiments is implemented.

Please refer to fig. 3, which provides a schematic structural diagram of a cleaning apparatus according to an embodiment of the present application. As shown in fig. 3, the cleaning apparatus 300 may include: at least one processor 301, at least one network interface 304, a user interface 303, a memory 305, at least one communication bus 302.

Wherein a communication bus 302 is used to enable the connection communication between these components.

The user interface 303 may include a Display screen (Display) and a Camera (Camera), and the optional user interface 303 may further include a standard wired interface and a wireless interface.

The network interface 304 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), among others.

Processor 301 may include one or more processing cores, among other things. The processor 301 interfaces various parts throughout the terminal 300 using various interfaces and lines to perform various functions of the terminal 300 and process data by executing or executing instructions, programs, code sets or instruction sets stored in the memory 305 and invoking data stored in the memory 305. Optionally, the processor 301 may be implemented in at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 301 may integrate one or more of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a modem, and the like. Wherein, the CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing the content required to be displayed by the display screen; the modem is used to handle wireless communications. It is understood that the modem may not be integrated into the processor 301, but may be implemented by a single chip.

The Memory 305 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory 305 includes a non-transitory computer-readable medium. The memory 305 may be used to store instructions, programs, code sets, or instruction sets. The memory 305 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the various method embodiments described above, and the like; the storage data area may store data and the like referred to in the above respective method embodiments. The memory 305 may alternatively be at least one storage device located remotely from the processor 301. As shown in fig. 3, the memory 305, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and an application program.

In the cleaning device 300 shown in fig. 3, the user interface 303 is mainly used as an interface for providing input for a user, and acquiring data input by the user; and the processor 301 may be adapted to invoke an application stored in the memory 305 and to perform the steps of the method of any of the embodiments described above in detail.

The above description is intended to be illustrative and not restrictive. For example, the above-described examples (or one or more versions thereof) may be used in combination with each other, and it is contemplated that the embodiments may be combined with each other in various combinations or permutations. The scope of the application should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.

Claims

1. A method of cleaning, comprising:

obtaining ranging information;

obtaining obstacle distance information according to the ranging information;

2. The method of claim 1, wherein controlling power of a wind turbine based at least on the obstacle distance information comprises:

increasing the power of the fan based at least on the distance to the obstacle being less than a distance threshold;

or, when the distance to the obstacle is not less than the distance threshold, maintaining the power of the fan.

3. The method of claim 2, further comprising:

intercepting collision information and motion information;

controlling power of a wind turbine based at least on the obstacle distance information, comprising:

when the distance from the obstacle is smaller than a distance threshold value and at least one of the collision information and the movement information is not monitored, increasing the power of the fan;

or when the distance from the obstacle is smaller than a distance threshold value and the collision information and the movement information are intercepted, the power of the fan is kept.

4. The method of claim 1, wherein the increasing the power of the wind turbine comprises:

and increasing the PWM duty ratio of a pin for controlling the power supply of the fan so as to increase the working voltage of the fan.

5. The method of claim 2 or 3, wherein obtaining ranging information comprises: acquiring an electric signal output by a receiver of a ranging sensor;

obtaining obstacle distance information from the ranging information comprises: obtaining the obstacle distance information according to the level value of the electric signal;

increasing the power of the wind turbine based at least on the distance to the obstacle being less than a distance threshold, comprising: increasing the power of the fan based at least on the level value of the electrical signal being greater than an electrical signal threshold; wherein the content of the first and second substances,

the electrical signal threshold is a level value of the electrical signal output by the receiver when the distance to the obstacle is equal to the distance threshold.

6. A cleaning device, the device comprising:

an information acquisition unit for acquiring ranging information;

7. A cleaning apparatus, comprising:

a fan;

8. The cleaning apparatus as recited in claim 7, wherein the controller is configured to control the power of the fan based at least on the brushhead-to-obstacle distance detected by the range sensor, comprising:

the controller increases the power of the fan at least when the ranging sensor detects that the distance from the brush head to the obstacle is less than a distance threshold;

or when the distance measuring sensor detects that the distance from the brush head to the obstacle is not less than the distance threshold value, the controller increases the power of the fan.

9. The cleaning apparatus defined in claim 7, further comprising an impact sensor and a motion sensor, wherein

The collision sensor is used for generating collision information based on the detected collision;

the motion sensor is used for generating motion information based on the detected motion of the cleaning equipment;

the controller is connected with the collision sensor to monitor collision information generated by the collision sensor;

the controller is connected with the motion sensor to listen motion information generated by the motion sensor;

when the distance to the obstacle is less than a distance threshold and at least one of the collision information and the movement information is not sensed, the controller increases the power of the fan.

10. The cleaning apparatus of claim 8,

the controller increases a PWM duty ratio of a pin for controlling the power supply of the fan so as to increase the working voltage of the fan.

11. The method of claim 7, wherein a receiver of the ranging sensor outputs an electrical signal in response to the received signal; the controller increases the power of the fan at least based on the level value of the electric signal being greater than the electric signal threshold; wherein the content of the first and second substances,

12. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the method of any one of the preceding claims 1 to 5.

13. A cleaning device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the method of any of the preceding claims 1-5 when executing the computer program.