CN113974508A - Method and device for controlling floor washing machine, control equipment and computer storage medium - Google Patents
Method and device for controlling floor washing machine, control equipment and computer storage medium Download PDFInfo
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- CN113974508A CN113974508A CN202111261553.9A CN202111261553A CN113974508A CN 113974508 A CN113974508 A CN 113974508A CN 202111261553 A CN202111261553 A CN 202111261553A CN 113974508 A CN113974508 A CN 113974508A
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- cover plate
- sewage tank
- inlet
- outlet
- washing machine
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
Abstract
The embodiment of the invention relates to the technical field of cleaning equipment, and discloses a method, a device, control equipment and a computer storage medium for controlling a floor washing machine, wherein the floor washing machine is provided with a sewage tank and comprises a tank body, an inlet cover plate, an outlet cover plate, a driving assembly and a posture sensor, the driving assembly is used for driving the outlet cover plate to close or open an outlet and driving the inlet cover plate to close or open an inlet, and the method comprises the following steps: acquiring attitude parameters of the sewage tank detected by an attitude sensor; judging the state of the sewage tank according to the attitude parameters; if the sewage tank is in an inclined state, controlling the driving assembly to drive the outlet cover plate to close the outlet and the inlet cover plate to close the inlet; and if the sewage tank is in a vertical state, controlling the driving assembly to drive the outlet cover plate to open the outlet and the inlet cover plate to open the inlet. Through the mode, the embodiment of the invention can reduce the risk that sewage overflows or enters the fan, thereby reducing the possibility of damage of the fan and improving the user experience.
Description
Technical Field
The embodiment of the invention relates to the technical field of cleaning equipment, in particular to a method and a device for controlling a floor washing machine, control equipment and a computer storage medium.
Background
Along with the advocation of intelligent house theory, more and more intelligent house products have replaced traditional house product, for example intelligent floor cleaning machine has replaced traditional broom to still combine the function of mop, the inside water purification case and the sewage case that is provided with of floor cleaning machine can once only accomplish the step of sweeping the floor and mopping the ground, simplified user's cleaning process.
In the process of implementing the embodiment of the present invention, the inventors of the embodiment of the present invention find that: at present, no leakage-preventing structure and control method are arranged in a floor washing machine sewage tank on the market, and when a host machine is inclined or laid down, sewage flows out from an inlet channel or an outlet channel of a filter screen easily, so that the sewage overflows or enters the inside of a fan, the fan is damaged, and user experience is influenced.
Disclosure of Invention
The technical problem mainly solved by the embodiments of the present invention is to provide a method, an apparatus, a control device and a computer storage medium for controlling a floor washing machine, which can control a sewage tank to be in a closed state when the floor washing machine is inclined, so as to reduce the risk of sewage overflowing or entering the inside of a fan, thereby reducing the possibility of damage to the fan and improving user experience.
In order to solve the above technical problem, one technical solution adopted by the embodiments of the present invention is: the method for controlling the floor washing machine is provided with a sewage tank, the sewage tank comprises a tank body, an inlet cover plate, an outlet cover plate, a driving assembly and an attitude sensor, the tank body is provided with a containing cavity, an inlet and an outlet, the inlet and the outlet are communicated with the containing cavity, the driving assembly is respectively connected with the outlet cover plate and the inlet cover plate and is used for driving the outlet cover plate to move so that the outlet cover plate closes the outlet or opens the outlet and drives the inlet cover plate to move so that the inlet cover plate closes the inlet or opens the inlet, the attitude sensor is arranged in the sewage tank, and the method comprises the following steps: acquiring current attitude parameters of a sewage tank of the floor washing machine detected by the attitude sensor; judging whether the sewage tank is in an inclined state or a vertical state according to the attitude parameters; if the sewage tank is in an inclined state, controlling the driving assembly to drive the outlet cover plate to move so that the outlet cover plate closes the outlet, and driving the inlet cover plate to move so that the inlet cover plate closes the inlet; and if the sewage tank is in a vertical state, controlling the driving assembly to drive the outlet cover plate to move so that the outlet cover plate opens the outlet, and driving the inlet cover plate to move so that the inlet cover plate opens the inlet.
Optionally, the attitude parameters include three-dimensional coordinates of a first calibration point of the wastewater tank, and three-dimensional coordinates of a second calibration point of the wastewater tank.
Optionally, the step of determining whether the wastewater tank is in an inclined state or in a vertical state according to the posture parameter further includes: calculating an included angle between the sewage tank and an XY plane according to the attitude parameters; judging whether the included angle is smaller than a preset angle or not; if the inclination angle is smaller than the preset value, determining that the sewage tank is in an inclined state; and if not, determining that the sewage tank is in a vertical state.
Optionally, the step of calculating an included angle between the sewage tank and an XY plane according to the attitude parameter further includes: calculating an offset value of the first calibration point of the sewage tank relative to the second calibration point in the X-axis direction, an offset value of the first calibration point of the sewage tank in the Y-axis direction and an offset value of the first calibration point of the sewage tank in the z-axis direction according to the attitude parameters; calculating the projection length of the sewage tank projected on an XY plane according to the offset value in the X-axis direction and the offset value in the Y-axis direction; calculating the height of the current posture of the sewage tank according to the deviation value in the Z-axis direction; and calculating to obtain an included angle between the sewage tank and the XY plane according to the projection length and the height.
Optionally, the method further comprises: judging whether the current state of the floor washing machine is in a working state or not; and if the current attitude parameter is in the working state, the step of acquiring the current attitude parameter of the sewage tank of the floor washing machine detected by the attitude sensor is executed.
Optionally, the method further comprises: and if the current state of the floor washing machine is not in a working state, executing control to drive the driving assembly to drive the outlet cover plate to move so that the outlet cover plate closes the outlet, and driving the inlet cover plate to move so that the inlet cover plate closes the inlet.
Optionally, the step of determining whether the current state of the scrubber is the working state further includes: acquiring the current of a roller brush motor of the floor washing machine; judging whether the current of the rolling brush motor is larger than or equal to a preset threshold value or not; if so, determining that the floor washing machine is in a working state; and if not, determining that the floor washing machine is not in a working state.
In order to solve the above technical problem, another technical solution adopted in the embodiments of the present invention is: there is provided an apparatus for controlling a scrubber, the apparatus comprising: the acquisition module is used for acquiring the current attitude parameter of the sewage tank of the floor washing machine detected by the attitude sensor; the second judgment module is used for judging whether the sewage tank is in an inclined state or a vertical state according to the attitude parameters; the first control module is used for controlling the driving assembly to drive the outlet cover plate to move so that the outlet cover plate closes the outlet and drive the inlet cover plate to move so that the inlet cover plate closes the inlet if the sewage tank is in an inclined state; and the second control module is used for controlling the driving assembly to drive the outlet cover plate to move so as to enable the outlet cover plate to open the outlet and drive the inlet cover plate to move so as to enable the inlet cover plate to open the inlet if the sewage tank is in a vertical state.
In order to solve the above technical problem, another technical solution adopted by the embodiment of the present invention is: there is provided a control apparatus including: the floor washing machine is provided with a sewage tank, and the sewage tank comprises a tank body, an inlet cover plate, an outlet cover plate, a driving assembly and an attitude sensor; a controller, comprising: at least one processor, and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of the above.
In order to solve the above technical problem, another technical solution adopted in the embodiments of the present invention is: there is provided a computer storage medium having stored thereon computer-executable instructions for causing a server to perform a method as in any one of the above.
The embodiment of the invention has the beneficial effects that: different from the situation of the prior art, the control process of the method for controlling the floor washing machine in the embodiment of the invention is that the current attitude parameter of the floor washing machine is obtained through the attitude sensor, the attitude of the floor washing machine is judged according to the current attitude parameter, when the attitude is judged to be in an inclined state, the driving assembly is controlled to move, so that the sewage tank of the floor washing machine is in a closed state, and when the attitude is judged to be in a vertical state, the driving assembly is controlled to move, so that the sewage tank of the floor washing machine is in a working state. Through the mode, the embodiment of the invention can control the sewage tank to be in the closed state when the floor washing machine inclines, so that the risk that sewage overflows or enters the inside of the fan is reduced, the possibility of damage to the fan is reduced, and the user experience is improved.
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. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a schematic illustration of an environment in which a method of controlling a scrubber according to an embodiment of the invention may be used;
FIG. 2 is a flow chart of a method of controlling a scrubber according to an embodiment of the present invention;
FIG. 3 is a flow chart of the method for controlling a scrubber according to the present invention, wherein the sewage tank is determined to be in an inclined state or a vertical state according to the attitude parameter;
FIG. 4 is a flow chart of calculating an included angle between the wastewater tank and an XY plane according to the attitude parameters in a method of controlling a scrubber according to an embodiment of the invention;
FIG. 5 is a flow chart of a method of controlling a scrubber according to another embodiment of the present invention;
FIG. 6 is a flow chart of a method of controlling a scrubber machine according to another embodiment of the present disclosure for obtaining current to a brush motor of the scrubber machine;
FIG. 7 is a block diagram of an apparatus for controlling a scrubber according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a control apparatus for controlling a scrubber machine according to an embodiment of the present invention.
Detailed Description
In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and specific examples. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. As used in this specification, the terms "upper," "lower," "inner," "outer," "vertical," "horizontal," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and simplicity in description, and do not indicate or imply that the referenced devices or elements must be in a particular orientation, constructed and operated in a particular orientation, and are not to be considered limiting of the invention. Furthermore, 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.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
Referring to fig. 1, fig. 1 is a schematic diagram of an application environment of a method for controlling a floor washing machine according to the present invention, the application environment includes a floor washing machine 10 having a sewage tank 101, the sewage tank 101 includes a tank 1011, an inlet cover 1012, an outlet cover 1013, a driving assembly 1014 and an attitude sensor 1015, the controller 20 is electrically connected to the driving assembly 1014 and the attitude sensor 1015, the attitude sensor 1015 detects a current attitude parameter of the floor washing machine 10 and transmits the attitude parameter to the controller 20, and the controller 20 controls the driving assembly 1014 to move, thereby completing control of the floor washing machine 10.
Fig. 2 shows a flow chart of a method of controlling a scrubber according to the invention, which method comprises the following steps, as shown in fig. 2:
step S110, acquiring the current attitude parameter of the sewage tank of the floor washing machine detected by the attitude sensor;
the first calibration point is the highest point of the sewage tank along the height direction, and the second calibration point is the lowest point of the sewage tank along the height direction.
The attitude parameters include a three-dimensional coordinate of a first calibration point of the sewage tank and a three-dimensional coordinate of a second calibration point of the sewage tank, and the first calibration point and the second calibration point are set when the scrubber leaves a factory.
The attitude sensor can acquire the three-dimensional coordinates of the first calibration point and the second calibration point in real time, record and send the three-dimensional coordinates to the controller.
Step S120, judging whether the sewage tank is in an inclined state or in a vertical state according to the attitude parameters;
it can be understood that the inclination state and the vertical state of the embodiment of the invention are relative, an angle critical value exists between the inclination state and the vertical state, and the inclination angle of the sewage tank of the floor washing machine at the current posture is calculated, and the sewage tank can be judged to be in the vertical state or the inclination state after the inclination angle is compared with a preset angle.
In some embodiments, referring to fig. 3, step S120 includes:
step S1201, calculating an included angle between the sewage tank and an XY plane according to the attitude parameters;
the included angle is the included angle between the projection of a connecting line between the first calibration point and the second calibration point in the sewage tank and the XY plane.
Step S1202, judging whether the included angle is smaller than a preset angle or not;
step S1203, if the quantity is smaller than the preset value, determining that the sewage tank is in an inclined state;
and step S1204, if not, determining that the sewage tank is in a vertical state.
In some embodiments, referring to fig. 4, step S1201 includes:
step S12011, calculating the deviant of the first calibration point of the sewage tank relative to the second calibration point in the X-axis direction, the deviant of the first calibration point in the Y-axis direction and the deviant of the first calibration point in the Z-axis direction according to the attitude parameters;
in the embodiment of the present invention, after obtaining the three-dimensional coordinates of the second calibration point and the first calibration point, a three-dimensional rectangular coordinate system is established with the second calibration point as the origin of the coordinate system, the offset value in the X-axis direction is obtained by subtracting the X-axis coordinate of the second calibration point from the X-axis coordinate of the first calibration point, the offset value in the Y-axis direction is obtained by subtracting the Y-axis coordinate of the second calibration point from the Y-axis coordinate of the first calibration point, the offset value in the Z-axis direction is obtained by subtracting the Z-axis coordinate of the second calibration point from the Z-axis coordinate of the first calibration point, and the offset values are absolute values.
Step S12012, calculating the projection length of the sewage tank projected on an XY plane according to the offset value of the X-axis direction and the offset value of the Y-axis direction;
step S12013, calculating the height of the current posture of the sewage tank according to the deviation value in the Z-axis direction;
and step S12014, calculating to obtain an included angle between the sewage tank and an XY plane according to the projection length and the height.
In some embodiments, referring to fig. 5, the method further comprises:
step S150, judging whether the current state of the floor washing machine is in a working state;
the floor cleaning machine is not only required to close the outlet cover plate and the inlet cover plate of the sewage tank when the floor cleaning machine is dumped, but also required to close the outlet cover plate and the inlet cover plate of the sewage tank when the floor cleaning machine is not in operation, so that the situation that the floor cleaning machine is knocked down or other accidents cause the sewage cavity to be dumped, sewage overflows or enters the fan to damage the fan is avoided.
If the sewage tank is in the working state, executing step S110, and acquiring the current attitude parameter of the sewage tank of the floor washing machine detected by the attitude sensor.
If the current state of the floor washing machine is not in a working state, executing a step S130, controlling the driving assembly to drive the outlet cover plate to move so as to enable the outlet cover plate to close the outlet, and driving the inlet cover plate to move so as to enable the inlet cover plate to close the inlet.
In some embodiments, referring to fig. 6, step S150 includes:
step S1501, acquiring the current of a roller brush motor of the floor washing machine;
step S1502, judging whether the current of the rolling brush motor is larger than or equal to a preset threshold value;
step S1503, if yes, determining that the floor washing machine is in a working state;
step S1504, if not, determining that the floor washing machine is not in a working state.
Step S130, if the sewage tank is in an inclined state, controlling the driving assembly to drive the outlet cover plate to move so that the outlet cover plate closes the outlet, and driving the inlet cover plate to move so that the inlet cover plate closes the inlet;
step S140, if the sewage tank is in a vertical state, controlling the driving assembly to drive the outlet cover plate to move so that the outlet cover plate opens the outlet, and driving the inlet cover plate to move so that the inlet cover plate opens the inlet.
The embodiment of the invention has the beneficial effects that: different from the situation of the prior art, the control process of the method for controlling the floor washing machine in the embodiment of the invention is that the current attitude parameter of the floor washing machine is obtained through the attitude sensor, the attitude of the floor washing machine is judged according to the current attitude parameter, when the attitude is judged to be in an inclined state, the driving assembly is controlled to move, so that the sewage tank of the floor washing machine is in a closed state, and when the attitude is judged to be in a vertical state, the driving assembly is controlled to move, so that the sewage tank of the floor washing machine is in a working state. Through the mode, the embodiment of the invention can control the sewage tank to be in the closed state when the floor washing machine inclines, so that the risk that sewage overflows or enters the inside of the fan is reduced, the possibility of damage to the fan is reduced, and the user experience is improved.
Referring to fig. 7, fig. 7 shows a functional block diagram of an apparatus 30 for controlling a scrubber according to an embodiment of the present invention, wherein the apparatus 30 comprises: a first judging module 301, an obtaining module 302, a second judging module 303, a first control module 304 and a second control module 305. The first judging module 301 is configured to judge whether the current state of the floor washing machine is in a working state; the obtaining module 302 is configured to obtain a current attitude parameter of a sewage tank of the floor washing machine, which is detected by the attitude sensor; the second judging module 303 is configured to judge whether the sewage tank is in an inclined state or a vertical state according to the attitude parameter; the first control module 304 is used for controlling the driving assembly to drive the outlet cover plate to move so that the outlet cover plate closes the outlet and drive the inlet cover plate to move so that the inlet cover plate closes the inlet if the sewage tank is in an inclined state; the second control module 305 is used for controlling the driving assembly to drive the outlet cover plate to move so as to enable the outlet cover plate to open the outlet and drive the inlet cover plate to move so as to enable the inlet cover plate to open the inlet if the sewage tank is in the vertical state.
The first determining module 301 includes an obtaining unit 3011, a first determining unit 3012, a first determining unit 3013, and a second determining unit 3014. The acquisition unit 3011 is configured to acquire a current of a roll brush motor of the floor washing machine; the first judging unit 3012 is configured to judge whether the current of the roll brush motor is greater than or equal to a preset threshold; the first determining unit 3013 is configured to determine that the scrubber is in a working state if the first determining unit is yes; the second determination unit 3014 is configured to determine that the scrubber is not in a working state if not.
The second determining module 303 includes a calculating unit 3031, a second determining unit 3032, a third determining unit 3033, and a fourth determining unit 3034. The calculation unit 3031 is configured to calculate an included angle between the sewage tank and an XY plane according to the attitude parameter; the second judging unit 3032 is configured to compare the included angle with a preset angle, and judge whether the included angle is smaller than the preset angle according to a comparison result; the third determination unit 3033 is used for determining that the sewage tank is in an inclined state if the sewage tank is smaller than the first determination unit; the fourth determination unit 3034 is configured to determine that the wastewater tank is in a vertical state if the determination result is not less than the predetermined value.
The calculating unit 3031 is specifically configured to calculate, according to the attitude parameter, an offset value of the first calibration point of the sewage tank in the X-axis direction, an offset value of the first calibration point in the Y-axis direction, and an offset value of the first calibration point in the z-axis direction, relative to the second calibration point; calculating the projection length of the sewage tank projected on an XY plane according to the offset value in the X-axis direction and the offset value in the Y-axis direction; calculating the height of the current posture of the sewage tank according to the deviation value in the Z-axis direction; and calculating to obtain an included angle between the sewage tank and the XY plane according to the projection length and the height.
The embodiment of the invention has the beneficial effects that: different from the situation of the prior art, the control process of the method for controlling the floor washing machine according to the embodiment of the present invention is that whether the floor washing machine is in a working state is judged by the first judging module 301, then the current attitude parameter of the floor washing machine is obtained by the obtaining module 302, the attitude of the floor washing machine is judged by the second judging module 303 according to the current attitude parameter, when the floor washing machine is judged to be in an inclined state, the driving assembly is controlled by the first control module 304 to move, so that the sewage tank of the floor washing machine is in a closed state, and when the floor washing machine is judged to be in a vertical state, the driving assembly is controlled by the second control module 305 to move, so that the sewage tank of the floor washing machine is in a working state. Through the mode, the embodiment of the invention can control the sewage tank to be in the closed state when the floor washing machine inclines, so that the risk that sewage overflows or enters the inside of the fan is reduced, the possibility of damage to the fan is reduced, and the user experience is improved.
Referring to fig. 8, fig. 8 is a schematic diagram of an embodiment of a control device 70 according to an embodiment of the present invention, where a controller of the control device 70 includes: at least one processor 701; and a memory 702 communicatively coupled to the at least one processor 701, one of the processors 701 being illustrated in fig. 8. The memory 702 stores instructions executable by the at least one processor 701 to enable the at least one processor 701 to perform a method of controlling a scrubber as described above with reference to fig. 2-6 and to perform an apparatus of controlling a scrubber as described above with reference to fig. 7. The processor 701 and the memory 702 may be connected by a bus or other means, and fig. 8 illustrates an example of a connection by a bus.
Memory 702, which may be a non-volatile computer storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to one method of controlling a scrubber in the embodiments of the present application, for example, the modules illustrated in FIG. 7. The processor 701 implements the above-described method of controlling a scrubber by executing non-volatile software programs, instructions, and modules stored in the memory 702 to perform various functional applications of the server and data processing.
The memory 702 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the stored data area may store data created from use of an apparatus for controlling a scrubber, etc. Further, the memory 702 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 embodiments, the memory 702 optionally includes memory located remotely from the processor 701, which may be connected via a network to a device that controls the scrubber. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 702 and, when executed by the one or more processors 701, perform a method of controlling a scrubber in any of the method embodiments described above, e.g., performing the method steps of fig. 2-6 described above, and performing an apparatus of controlling a scrubber as described above in fig. 7.
The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the methods provided in the embodiments of the present application.
Embodiments of the present application also provide a non-transitory computer storage medium having stored thereon computer-executable instructions for execution by one or more processors, such as to perform the method steps of fig. 2-6 described above, and to perform an apparatus for controlling a scrubber of the type described above with respect to fig. 7.
Embodiments of the present application also provide a computer program product comprising a computer program stored on a non-volatile computer storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform a method of controlling a scrubber, as in any of the above-described method embodiments, e.g., to perform the method steps of fig. 2-6 described above, and to perform an apparatus of controlling a scrubber as described above with reference to fig. 7.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method for controlling a floor washing machine, wherein the floor washing machine is provided with a sewage tank, the sewage tank comprises a tank body, an inlet cover plate, an outlet cover plate, a driving assembly and an attitude sensor, the tank body is provided with a containing cavity, an inlet and an outlet, the inlet and the outlet are communicated with the containing cavity, the driving assembly is respectively connected with the outlet cover plate and the inlet cover plate, the driving assembly is used for driving the outlet cover plate to move so that the outlet cover plate closes the outlet or opens the outlet, and the inlet cover plate is driven to move so that the inlet cover plate closes the inlet or opens the inlet, the attitude sensor is arranged in the sewage tank, and the method comprises the following steps:
acquiring current attitude parameters of a sewage tank of the floor washing machine detected by the attitude sensor;
judging whether the sewage tank is in an inclined state or a vertical state according to the attitude parameters;
if the sewage tank is in an inclined state, controlling the driving assembly to drive the outlet cover plate to move so that the outlet cover plate closes the outlet, and driving the inlet cover plate to move so that the inlet cover plate closes the inlet;
and if the sewage tank is in a vertical state, controlling the driving assembly to drive the outlet cover plate to move so that the outlet cover plate opens the outlet, and driving the inlet cover plate to move so that the inlet cover plate opens the inlet.
2. The method of claim 1,
the attitude parameters include a three-dimensional coordinate of a first calibration point of the sewage tank and a three-dimensional coordinate of a second calibration point of the sewage tank.
3. The method of claim 2, wherein the step of determining whether the sump tank is in an inclined state or in a vertical state according to the posture parameter further comprises:
calculating an included angle between the sewage tank and an XY plane according to the attitude parameters;
judging whether the included angle is smaller than a preset angle or not;
if the inclination angle is smaller than the preset value, determining that the sewage tank is in an inclined state;
and if not, determining that the sewage tank is in a vertical state.
4. The method of claim 3, wherein the step of calculating the included angle between the wastewater tank and the XY plane based on the attitude parameter further comprises:
calculating an offset value of the first calibration point of the sewage tank relative to the second calibration point in the X-axis direction, an offset value of the first calibration point of the sewage tank in the Y-axis direction and an offset value of the first calibration point of the sewage tank in the z-axis direction according to the attitude parameters;
calculating the projection length of the sewage tank projected on an XY plane according to the offset value in the X-axis direction and the offset value in the Y-axis direction;
calculating the height of the current posture of the sewage tank according to the deviation value in the Z-axis direction;
and calculating to obtain an included angle between the sewage tank and the XY plane according to the projection length and the height.
5. The method of claim 1, further comprising:
judging whether the current state of the floor washing machine is in a working state or not;
and if the current attitude parameter is in the working state, the step of acquiring the current attitude parameter of the sewage tank of the floor washing machine detected by the attitude sensor is executed.
6. The method of claim 5, further comprising:
and if the current state of the floor washing machine is not in a working state, executing control to drive the driving assembly to drive the outlet cover plate to move so that the outlet cover plate closes the outlet, and driving the inlet cover plate to move so that the inlet cover plate closes the inlet.
7. The method of claim 5, wherein the step of determining whether the current state of the scrubber is operational further comprises:
acquiring the current of a roller brush motor of the floor washing machine;
judging whether the current of the rolling brush motor is larger than or equal to a preset threshold value or not;
if so, determining that the floor washing machine is in a working state;
and if not, determining that the floor washing machine is not in a working state.
8. An apparatus for controlling a scrubber, the apparatus comprising:
the acquisition module is used for acquiring the current attitude parameter of the sewage tank of the floor washing machine detected by the attitude sensor;
the second judgment module is used for judging whether the sewage tank is in an inclined state or a vertical state according to the attitude parameters;
the first control module is used for controlling the driving assembly to drive the outlet cover plate to move so that the outlet cover plate closes the outlet and drive the inlet cover plate to move so that the inlet cover plate closes the inlet if the sewage tank is in an inclined state;
and the second control module is used for controlling the driving assembly to drive the outlet cover plate to move so as to enable the outlet cover plate to open the outlet and drive the inlet cover plate to move so as to enable the inlet cover plate to open the inlet if the sewage tank is in a vertical state.
9. A control device, comprising:
the floor washing machine is provided with a sewage tank, and the sewage tank comprises a tank body, an inlet cover plate, an outlet cover plate, a driving assembly and an attitude sensor;
a controller, comprising: at least one processor, and a memory communicatively coupled to the at least one processor;
wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.
10. A computer storage medium having computer-executable instructions stored thereon for causing a server to perform the method of any one of claims 1-7.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111261553.9A CN113974508A (en) | 2021-10-28 | 2021-10-28 | Method and device for controlling floor washing machine, control equipment and computer storage medium |
| PCT/CN2022/080704 WO2023071020A1 (en) | 2021-10-28 | 2022-03-14 | Method and apparatus for controlling scrubber, control device, and computer storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111261553.9A CN113974508A (en) | 2021-10-28 | 2021-10-28 | Method and device for controlling floor washing machine, control equipment and computer storage medium |
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| Publication Number | Publication Date |
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| CN113974508A true CN113974508A (en) | 2022-01-28 |
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| CN202111261553.9A Pending CN113974508A (en) | 2021-10-28 | 2021-10-28 | Method and device for controlling floor washing machine, control equipment and computer storage medium |
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| Country | Link |
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| CN (1) | CN113974508A (en) |
| WO (1) | WO2023071020A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023071020A1 (en) * | 2021-10-28 | 2023-05-04 | 深圳华芯信息技术股份有限公司 | Method and apparatus for controlling scrubber, control device, and computer storage medium |
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| CN113974508A (en) * | 2021-10-28 | 2022-01-28 | 深圳华芯信息技术股份有限公司 | Method and device for controlling floor washing machine, control equipment and computer storage medium |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2023071020A1 (en) | 2023-05-04 |
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