CN114468857A

CN114468857A - Control method and device of cleaning equipment, cleaning equipment and readable storage medium

Info

Publication number: CN114468857A
Application number: CN202210145455.7A
Authority: CN
Inventors: 彭锐; 韩冲
Original assignee: Midea Robozone Technology Co Ltd
Current assignee: Midea Robozone Technology Co Ltd
Priority date: 2022-02-17
Filing date: 2022-02-17
Publication date: 2022-05-13

Abstract

The invention provides a control method and device of a cleaning device, the cleaning device and a readable storage medium. Wherein, the control method of the cleaning equipment comprises the following steps: acquiring room characteristic information of a room and positions of objects in the room; determining cleaning parameters according to the room characteristic information; the cleaning device is controlled to avoid the position of the object and to operate according to the cleaning parameters. Through the mode, the cleaning equipment can be self-adaptively set to a reasonable cleaning mode based on the specific conditions of the room, and more intelligent and customized cleaning is realized.

Description

Control method and device of cleaning equipment, cleaning equipment and readable storage medium

Technical Field

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

Background

At present, cleaning equipment can only clean through a fixed cleaning model set by a user in the process of cleaning a room. The method cannot be adapted to different rooms, so that the cleaning strategy of the cleaning equipment is single and not intelligent.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art or the related art.

To this end, an aspect of the present invention is to propose a control method of a cleaning apparatus.

Another aspect of the present invention is to provide a control apparatus of a cleaning device.

Yet another aspect of the present invention is to provide a cleaning apparatus.

Yet another aspect of the present invention is to provide a readable storage medium.

In view of this, according to an aspect of the present invention, there is provided a control method of a cleaning apparatus, the method including: acquiring room characteristic information of a room and positions of objects in the room; determining cleaning parameters according to the room characteristic information; the cleaning device is controlled to avoid the position of the object and to operate according to the cleaning parameters.

In the technical scheme, the cleaning equipment can be a sweeping robot, a mopping robot, a sweeping and mopping all-in-one machine and the like, and can move in a plurality of rooms, so that the aim of cleaning in different rooms is fulfilled.

Specifically, the cleaning device is provided with a camera, an infrared sensor and other devices, room characteristic information in a room and specific positions of fixed objects in the room can be collected, and the position characteristic information of the objects can indicate the room type, floor laying in the room and other conditions.

Further, corresponding cleaning parameters are determined according to the room characteristic information in the room, and the route of the cleaning equipment is determined according to the specific position of the fixed object, so that the cleaning equipment can move away from the specific position of the fixed object, and cleaning work is carried out according to the control information.

Through the mode, the cleaning equipment can be self-adaptively set to a reasonable cleaning mode based on the specific conditions of the room, more intelligent and customized cleaning is realized, and the cleaning efficiency and accuracy of the room are improved.

According to the control method of the cleaning device, the following additional technical features can be provided:

in the above technical solution, the room characteristic information includes a room type, and the determining the cleaning parameter according to the room characteristic information includes: determining a first cleaning parameter corresponding to the room type; wherein the first cleaning parameter comprises at least one of: cleaning priority, cleaning degree.

In the technical scheme, the room characteristic information may include a type of the room, and then the first cleaning parameter of the cleaning device may be determined according to the type of the room.

Wherein the cleaning parameters of the cleaning device comprise first cleaning parameters, the room may comprise a bedroom, a living room, a kitchen or a bathroom, and the first cleaning parameters of the cleaning device in different types of rooms may be different, such as cleaning priority, cleaning degree and the like.

By the mode, the cleaning mode of the cleaning equipment can be adaptively controlled according to the type of the room, so that the efficiency and the accuracy of room cleaning are improved.

In any of the above solutions, the cleaning priority in the case where the room type is a bedroom or a living room is greater than the cleaning priority in the case where the room type is a toilet or a kitchen.

In the technical scheme, under the condition that the room is a bedroom or a living room, the cleaning priority is larger than or equal to a first threshold, and based on the condition that the room is a toilet or a kitchen, the cleaning priority is smaller than the first threshold.

By the mode, more intelligent and customized cleaning is realized.

In any of the above solutions, the degree of cleaning in the case of a room type being a toilet or a kitchen is greater than the degree of cleaning in the case of a room type being a bedroom or a living room.

In this technical solution, the degree of soiling of the toilet or kitchen is greater than the degree of soiling of the bedroom or living room, so the degree of cleaning of the toilet or kitchen is greater. That is, in the case where the room type is a toilet or a kitchen, the degree of cleanliness is greater than or equal to the second threshold value, and in the case where the room type is a bedroom or a living room, the degree of cleanliness is less than the second threshold value.

By the mode, more intelligent and customized cleaning is realized.

In any of the above technical solutions, the room characteristic information includes a floor paving material, and the determining of the cleaning parameter according to the room characteristic information includes: determining a second cleaning parameter corresponding to the ground paving material; wherein the second cleaning parameters include at least one of: water yield, cleaning times and fan suction.

In this embodiment, the room characteristic information may include a material of a floor, for example, the material includes wood (e.g., floor), porcelain, stone (e.g., floor tile), concrete, and the like.

The cleaning parameters of the cleaning device include a second cleaning parameter, which may be at least one of water yield, cleaning times, and fan suction.

Specifically, based on the material laid on the floor of the room, the water yield, the cleaning times, the suction force of the fan and the like of the cleaning equipment are correspondingly determined.

Through the mode, the cleaning equipment can realize more personalized and intelligent cleaning for the room based on the material paved on the ground in the room.

In any of the above technical solutions, the water yield when the ground paving material is wooden, the water yield when the ground paving material is porcelain or stone, and the water yield when the ground paving material is concrete are sequentially increased.

In the technical scheme, under the condition that the ground paving material is wood, the water yield of the cleaning equipment is less than or equal to a third threshold value; under the condition that the ground paving material is porcelain or stone, the water yield of the cleaning equipment is greater than a third threshold value and less than or equal to a fourth threshold value; and under the condition that the ground paving material is concrete, the water yield of the cleaning equipment is greater than a fourth threshold value, wherein the fourth threshold value is greater than the third threshold value.

Specifically, if the material laid on the ground in the room is wood, that is, the floor is laid in the room, the water yield of the cleaning equipment during cleaning can be relatively reduced, so that the damage of water stains to the floor is reduced, and the floor is protected.

If the material laid on the ground in the room is identified to be porcelain or stone, namely the floor tiles are laid in the room, the water yield of the cleaning equipment can be controlled to be moderate when the cleaning equipment is used for cleaning, so that the cleaning degree of the floor tiles is improved, and the cleaning effect is ensured.

If the material of ground laying in the room is identified to be concrete, namely cement is laid in the room, the water yield of the cleaning equipment during cleaning can be relatively increased, so that the cleaning degree of the cement ground is improved, and the cleaning effect is ensured.

In any of the above technical schemes, the number of times of cleaning when the ground laying material is wooden, the number of times of cleaning when the ground laying material is porcelain or stone, and the number of times of cleaning when the ground laying material is concrete are sequentially reduced.

In the technical scheme, under the condition that the ground paving material is wood, the cleaning times of the cleaning equipment are greater than or equal to a fifth threshold value; under the condition that the ground paving material is porcelain or stone, the cleaning times of the cleaning equipment are less than a fifth threshold value and are more than or equal to a sixth threshold value; and under the condition that the ground paving material is concrete, the cleaning times of the cleaning equipment are less than a sixth threshold value, wherein the sixth threshold value is less than a fifth threshold value.

Specifically, if the material of the ground laying in the room is identified to be wood, that is, the floor is laid in the room, the water yield of the cleaning equipment during cleaning can be relatively reduced, so that the damage of water stains to the floor is reduced, the floor is protected, and meanwhile, the cleaning frequency of the cleaning equipment is increased, so that the cleaning effect is ensured.

If the material laid on the ground in the room is identified to be porcelain or stone, namely the floor tiles are laid in the room, the water yield and the cleaning times of the cleaning equipment can be controlled to be moderate, so that the cleaning degree of the floor tiles is improved, and the cleaning effect is ensured.

If the material of ground laying in the discernment room is the concrete, that is to say, what lay in the room is cement, the water yield when can increase cleaning device relatively cleans to improve the clean degree on cement ground, guarantee clean effect, reduce clean number of times relatively simultaneously, with the waste of the electric energy of reduction cleaning device.

In any one of the above technical solutions, controlling the cleaning device to avoid the position of the object includes: determining relative position information of an object to the floor of a room; and controlling the cleaning equipment to avoid the position of the object according to the relative position information.

In this solution, relative position information between the object and the ground in the room is determined, which can indicate whether there is a gap between the object and the ground, and in case of a gap, the size of the gap. And then whether the cleaning equipment avoids the object to move is controlled according to whether the gap exists or the size of the gap when the gap exists.

By means of the mode, the mode that the cleaning equipment avoids objects is controlled, and the cleaning effect of a room is improved.

In any one of the above technical solutions, acquiring room characteristic information of a room and a position of an object in the room includes: acquiring a first image of a room, and identifying the room according to the first image; and determining the room characteristic information corresponding to the room and the position of the object according to the preset corresponding relation.

According to the technical scheme, the first image of the room is collected, the specific room where the cleaning equipment enters is determined based on the first image, and further the room characteristic information and the position of the object corresponding to the room are determined according to the preset corresponding relation among the room, the room characteristic information and the position of the object.

That is, a preset correspondence relationship between a room and room characteristic information and a position of an object is stored in advance, and after a specific room is specified from the first image, the room characteristic information and the position of the object corresponding to the room can be obtained.

By the mode, the pre-stored room characteristic information and the position of the object can be obtained according to the preset corresponding relation after the entering room is determined, the room characteristic information and the position of the object do not need to be identified through images, and the accuracy and timeliness of obtaining the room characteristic information and the position of the object are improved.

In any of the above technical solutions, before acquiring room characteristic information of a room and a position of an object in the room, the method further includes: controlling the cleaning device to move within the room and acquiring a second image of the room; and determining the room characteristic information and the position of the object according to the second image, and establishing a preset corresponding relation.

According to the technical scheme, the cleaning equipment is controlled to move in a room, a second image of the room is obtained in the moving process, and positioning and mapping are achieved. Further, the room characteristic information of the room and the position of the object are identified in the second image, and the room name, the room characteristic information and the position of the object are correspondingly stored, so that the preset corresponding relation is established.

When cleaning equipment cleans next time, according to presetting corresponding relation, confirm the position of room characteristic information and object to realize categorised clean scheme of making, improve cleaning equipment's intellectuality.

According to another aspect of the present invention, there is provided a control device of a cleaning apparatus, the device including: the acquisition module is used for acquiring room characteristic information of a room and the position of an object in the room; the determining module is used for determining cleaning parameters according to the room characteristic information; and the control module is used for controlling the cleaning equipment to avoid the position of the object according to a preset mode and working according to the cleaning parameters.

According to still another aspect of the present invention, there is provided a cleaning apparatus including: a memory for storing programs or instructions; a processor, which when executing a program or instructions implements the steps of the method of controlling a cleaning appliance according to any of the above-mentioned claims.

The cleaning device, the program or the instructions provided by the invention realize the steps of the control method of the cleaning device according to any one of the above technical solutions when being executed by the processor, so that the cleaning device comprises all the beneficial effects of the control method of the cleaning device according to any one of the above technical solutions.

The above cleaning device according to the invention may also have the following additional technical features:

in the technical scheme, the cleaning equipment is a mopping machine or a sweeping and mopping integrated machine.

According to a further aspect of the invention, a cleaning device is proposed, comprising a control device of a cleaning device according to the above-mentioned solution.

The cleaning device provided by the invention comprises the control device of the cleaning device according to the above technical scheme, so that the cleaning device has all the beneficial effects of the control device of the cleaning device according to any one of the above technical schemes.

According to a further aspect of the present invention, a readable storage medium is proposed, on which a program or instructions are stored, which when executed by a processor implement the steps of the control method of a cleaning device according to any one of the above-mentioned solutions.

The readable storage medium, the program or the instructions provided by the invention realize the steps of the control method of the cleaning device according to any one of the above technical solutions when being executed by the processor, so that the readable storage medium comprises all the beneficial effects of the control method of the cleaning device according to any one of the above technical solutions.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 shows one of the flow diagrams of a control method of a cleaning apparatus of an embodiment of the present invention;

FIG. 2 is a second flowchart of a control method of a cleaning apparatus according to an embodiment of the present invention;

FIG. 3 is a third schematic flow chart showing a control method of the cleaning apparatus according to the embodiment of the present invention;

FIG. 4 is a fourth flowchart illustrating a control method of the cleaning apparatus according to the embodiment of the present invention;

FIG. 5 is a fifth flowchart illustrating a control method of the cleaning apparatus according to the embodiment of the present invention;

FIG. 6 shows a sixth flowchart of a control method of the cleaning apparatus of the embodiment of the invention;

FIG. 7 shows one of the schematic diagrams of the room layout of an embodiment of the present invention;

FIG. 8 shows a second schematic view of a room layout of an embodiment of the invention;

FIG. 9 shows a schematic block diagram of a control device of the cleaning apparatus of the embodiment of the present invention;

FIG. 10 shows a schematic block diagram of a cleaning apparatus of an embodiment of the invention;

FIG. 11 shows a schematic block diagram of a cleaning apparatus of an embodiment of the present invention.

Wherein, the correspondence between the reference numbers and the part names in fig. 7 and 8 is:

702 bedroom, 704 living room, 706 kitchen, 708 bathroom, 710 balcony, 802 carpet, 804 dining table, 806 sofa.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the 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, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; 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.

In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

The following describes a control method of a cleaning device, a control device of a cleaning device, and a readable storage medium provided in the embodiments of the present application in detail through specific embodiments and application scenarios thereof with reference to the accompanying drawings.

Example one

An embodiment of the present invention provides a method for controlling a cleaning apparatus, and fig. 1 shows one of flow diagrams of the method for controlling the cleaning apparatus according to the embodiment of the present invention. Wherein, the method comprises the following steps:

step 102, determining room characteristic information of a room to be cleaned of a cleaning device and positions of objects in the room to be cleaned;

104, determining cleaning parameters based on room characteristic information of a room to be cleaned;

and 106, controlling the cleaning equipment to work according to the cleaning parameters, and avoiding the position of the object in the room to be cleaned in the working process.

Specifically, the cleaning device is provided with a camera, an infrared sensor and other devices, room characteristic information in a room and specific positions of fixed objects in the room can be collected, and the position characteristic information of the objects can indicate the room type, floor laying in the room and other conditions. The object can be furniture, electric appliances and the like, such as a table and a chair, a sofa, a carpet, an air conditioner and the like.

It should be noted that the room characteristic information includes at least one of a room type and a floor material.

Example two

In the embodiment of the present invention, in the case that the room characteristic information includes the type of the room, fig. 2 shows a second flowchart of the control method of the cleaning device according to the embodiment of the present invention. Wherein, the method comprises the following steps:

step 202, determining the room type of a room to be cleaned of the cleaning device and the position of an object in the room to be cleaned;

step 204, determining a first cleaning parameter based on the room type of the room to be cleaned;

and step 206, controlling the cleaning equipment to work according to the first cleaning parameter, and avoiding the position of the object in the room to be cleaned in the process of working.

Wherein the first cleaning parameter includes at least one of a cleaning priority and a cleaning degree.

In the technical scheme, the room characteristic information may include a type of the room, and the first cleaning parameter of the cleaning device may be determined according to the type of the room.

In this embodiment, the cleaning priority is greater than or equal to the first threshold in the case where the room is a bedroom or a living room, and the cleaning priority is less than the first threshold based on whether the room is a bathroom or a kitchen, that is, the cleaning priority of the bedroom or the living room is greater than the cleaning priority of the bathroom or the kitchen.

Illustratively, as shown in FIG. 7, a room may include a bedroom 702, a living room 704, a kitchen 706, and a bathroom 708, which may be preferentially cleaned when the room is determined to be the bedroom 702 or the living room 704; upon determining that the room is a bathroom 708 or a kitchen 706, the bathroom 708 or kitchen 706 may be cleaned after the bedroom 702 or the living room 704 is cleaned.

By the mode, more intelligent and customized cleaning is realized.

In this embodiment, since the degree of soiling of the toilet or kitchen is greater than that of the bedroom or living room, the degree of cleaning of the toilet or kitchen is greater than that of the bedroom or living room. That is, in the case where the room type is a toilet or a kitchen, the degree of cleanliness is greater than or equal to the second threshold value, and in the case where the room type is a bedroom or a living room, the degree of cleanliness is less than the second threshold value.

Specifically, the degree of cleaning may be expressed as the number of times of cleaning, the wiping force against the floor, whether to spray a detergent, a disinfectant, and the like. For example, upon determining that the room is a kitchen or a bathroom, the cleaning device may spray a detergent, a disinfectant, or the like to increase the degree of cleaning.

By the mode, more intelligent and customized cleaning is realized.

EXAMPLE III

In the embodiment of the present invention, in a case where the room characteristic information includes a floor paving material, fig. 3 shows a third flow chart of the control method of the cleaning device according to the embodiment of the present invention. Wherein, the method comprises the following steps:

step 302, determining the floor paving material of a room to be cleaned of the cleaning equipment and the position of an object in the room to be cleaned;

step 304, determining a second cleaning parameter based on the floor paving material of the room to be cleaned;

and step 306, controlling the cleaning device to work according to the second cleaning parameter, and avoiding the position of the object in the room to be cleaned in the process of working.

Wherein the second cleaning parameter comprises at least one of water yield, cleaning times and fan suction.

Through the mode, the cleaning equipment can realize more personalized and intelligent cleaning for the room based on the material laid on the ground in the room.

In this embodiment, the water yield of the cleaning device when the floor paving material is wooden is less than the water yield of the cleaning device when the floor paving material is porcelain or stone, and the water yield of the cleaning device when the floor paving material is porcelain or stone is less than the water yield of the cleaning device when the floor paving material is concrete.

Specifically, as shown in fig. 7, the room may include a bedroom 702, a living room 704, a kitchen 706, a bathroom 708, and a balcony 710, wherein the material laid on the ground in the bedroom 702 and the living room 704 is wood, the material laid on the ground in the kitchen 706 and the bathroom 708 is porcelain or stone, and the material laid on the ground in the balcony 710 is concrete.

If the material laid on the ground in the room is identified to be wood, namely the floor is laid in the room, the water yield of the cleaning equipment during cleaning can be relatively reduced, so that the damage of water stains to the floor is reduced, and the floor is protected.

In this embodiment, the number of times of cleaning by the cleaning device when the floor laying material is wooden is greater than the number of times of cleaning by the cleaning device when the floor laying material is porcelain or stone, and the number of times of cleaning by the cleaning device when the floor laying material is porcelain or stone is greater than the number of times of cleaning by the cleaning device when the floor laying material is concrete.

Example four

Fig. 4 is a fourth flowchart illustrating a control method of a cleaning apparatus according to an embodiment of the present invention. Wherein, the method comprises the following steps:

step 402, determining room characteristic information of a room to be cleaned of a cleaning device and a position of an object in the room to be cleaned;

step 404, determining cleaning parameters based on room characteristic information of a room to be cleaned;

step 406, determining relative position information between the object and the ground of the room;

and 408, controlling the cleaning equipment to work according to the cleaning parameters, and avoiding the position of the object in the room to be cleaned according to the relative position information during the work.

Illustratively, as shown in fig. 8, a carpet 802 is laid on a local area of the floor of the room, and there is no gap between the carpet 802 and the floor, the cleaning device is controlled to avoid the carpet for cleaning. The objects such as tables and chairs in the room are selectively avoided and cleaned, as shown in fig. 8, a dining table 804 is placed in the room, and a large gap is formed between the table top of the dining table 804 and the ground, so that the cleaning device is controlled to avoid the table legs of the dining table 804 and penetrate through the table top of the dining table 804, that is, not completely avoid the dining table 804. A sofa 806 is also placed in the room, and a small gap is formed between the sofa 806 and the ground, so that the cleaning device is controlled to avoid the sofa 806, and the cleaning device is prevented from entering the small gap and being trapped.

EXAMPLE five

Fig. 5 shows a fifth flowchart of a control method of a cleaning device according to an embodiment of the present invention. Wherein, the method comprises the following steps:

step 502, collecting a first image of a room to be cleaned, and identifying the room to be cleaned according to the first image;

step 504, determining the room characteristic information of the room to be cleaned and the position of the object in the room to be cleaned according to the preset corresponding relation among the room to be cleaned, the room characteristic information and the position of the object;

step 506, determining cleaning parameters based on the room characteristic information of the room to be cleaned;

and step 508, controlling the cleaning equipment to work according to the cleaning parameters, and avoiding the position of the object in the room to be cleaned in the process of working.

EXAMPLE six

In the embodiment of the present invention, before the step of determining the room characteristic information of the room to be cleaned and the position of the object in the room to be cleaned, the method further includes: controlling the cleaning device to move in the room, and acquiring a second image of the room during the movement; and identifying the second image, acquiring room characteristic information and the position of the object of the room, and establishing a preset corresponding relation among the room, the room characteristic information and the position of the object.

EXAMPLE seven

In the embodiment of the present invention, a cleaning device is taken as an example of a floor mopping robot, and fig. 6 shows a sixth flowchart of a control method of the cleaning device in the embodiment of the present invention. Wherein, the method comprises the following steps:

step 602, the floor mopping robot carries out first positioning and map building on a room through equipment such as a camera, a radar and the like;

step 604, in the process of positioning and drawing, marking environment attributes such as ground materials, room types, furniture positions and the like of a room through equipment such as a camera, ultrasonic waves and the like;

step 606, when the mopping robot cleans next time, according to the marked environmental attributes, a mopping scheme is formulated in a classified mode;

and step 608, controlling the mopping robot to complete cleaning according to the mopping scheme formulated by classification.

For example, the water yield of the floor mopping robot for wooden floors is low, the water yield of the floor mopping robot for ceramic floors is moderate, and the water yield of the floor mopping robot for cement floors is high. The prior mopping for the bedroom and the living room can be performed for normal times, and the final mopping for the kitchen and the toilet is increased. The carpet needs to be avoided, and the table and chair are selectively avoided.

By the mode, on one hand, the cleaning of the mopping robot is more targeted, and the floor mopping machine grade decision planning method is differentiated from the floor sweeping machine; on the other hand for mopping robot's cleaning more has the intellectuality, can be according to environmental attribute classification, and the intelligent degree is higher in the adaptive formulation mopping scheme.

Example eight

An embodiment of the present invention provides a control device for a cleaning apparatus, and fig. 9 shows a schematic block diagram of a control device 900 for a cleaning apparatus according to an embodiment of the present invention. The control means 900 of the cleaning device comprises, among other things, an acquisition module 902, a determination module 904 and a control module 906.

The acquiring module 902 can acquire room characteristic information of a room to be cleaned of the cleaning device and positions of objects in the room to be cleaned; the determination module 904 can determine cleaning parameters based on room characteristic information of the room to be cleaned; the control module 906 can control the cleaning device to operate according to the cleaning parameters and avoid the position of objects in the room to be cleaned during operation.

In this solution, the room characteristic information may include a type of the room, so that the determining module 904 can correspondingly determine the first cleaning parameter of the cleaning device according to the type of the room. Wherein the cleaning parameters of the cleaning device comprise first cleaning parameters, the room may comprise a bedroom, a living room, a kitchen or a bathroom, and the first cleaning parameters of the cleaning device in different types of rooms may be different, such as cleaning priority, cleaning degree and the like. By the mode, the cleaning mode of the cleaning equipment can be adaptively controlled according to the type of the room, so that the efficiency and the accuracy of room cleaning are improved.

In this embodiment, the room characteristic information may include a material of a floor, for example, the material includes wood (e.g., floor), porcelain, stone (e.g., floor tile), concrete, and the like. The cleaning parameters of the cleaning device include a second cleaning parameter, which may be at least one of water yield, number of cleaning times, and fan suction. Specifically, the determining module 904 can correspondingly determine the water yield, the cleaning times, the fan suction force, and the like of the cleaning device based on the floor paving material of the room. Through the mode, the cleaning equipment can realize more personalized and intelligent cleaning for the room based on the material paved on the ground in the room.

In this embodiment, the determining module 904 can also determine the relative position information between the object and the ground in the room, which can indicate whether there is a gap between the object and the ground and the size of the gap in case of a gap. The determination module 904 can then control whether the cleaning device is avoiding the object movement based on the relative position information based on whether there is a gap or the size of the gap if there is a gap. By means of the mode, the mode that the cleaning equipment avoids objects is controlled, and the cleaning effect of a room is improved.

In this technical solution, the control device 900 of the cleaning apparatus further includes an acquisition module, which is capable of acquiring a first image of a room, the determination module 904 defines a specific room into which the cleaning apparatus enters based on the first image, and further determines room characteristic information and a position of an object corresponding to the room according to a preset corresponding relationship between the room and the room characteristic information and the position of the object.

In the technical solution, the control module 906 is further configured to control the cleaning device to move in a room, and the acquisition module is further configured to acquire a second image of the room during the movement of the cleaning device, so as to implement positioning and mapping. Further, the control module 906 is further configured to identify the room characteristic information of the room and the position of the object in the second image, and correspondingly store the room name, the room characteristic information, and the position of the object, so as to establish a preset corresponding relationship.

Example nine

An embodiment of the present invention provides a cleaning apparatus, and fig. 10 shows a schematic block diagram of a cleaning apparatus 1000 according to an embodiment of the present invention. The cleaning device 1000 includes, among other things, a memory 1002 and a processor 1004.

Wherein, the memory 1002 stores programs or instructions, and the processor 1004 implements the steps of the control method of the mobile device according to any one of the above technical solutions when executing the programs or instructions. The memory 1002 and the processor 1004 may be connected by a bus or other means. The Processor 1004 may include one or more Processing units, and the Processor 1004 may be a Central Processing Unit (CPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), or the like.

The cleaning device 1000 provided by the present invention, when the program or the instructions are executed by the processor 1004, implements the steps of the control method of the cleaning device according to any of the above technical solutions, and therefore the cleaning device 1000 includes all the beneficial effects of the control method of the cleaning device according to any of the above technical solutions.

In the above technical solution, the cleaning device 1000 is a floor mopping machine or a sweeping and mopping integrated machine.

Example ten

In an embodiment of the present invention, a cleaning apparatus is provided, and fig. 11 shows a schematic block diagram of a cleaning apparatus 1100 according to an embodiment of the present invention. The cleaning device 1100 includes the control device 900 of the cleaning device according to the above-mentioned embodiment.

The cleaning device 1100 provided by the invention comprises the control device 900 of the cleaning device according to any one of the above technical solutions, so that the cleaning device 1100 comprises all the beneficial effects of the control device 900 of the cleaning device according to any one of the above technical solutions.

EXAMPLE eleven

An embodiment of the present invention provides a readable storage medium, on which a program or instructions are stored, and the program or instructions, when executed by a processor, implement the steps of the control method of the cleaning device according to any one of the above technical solutions.

The readable storage medium includes a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and the like.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method of controlling a cleaning apparatus, the method comprising:

acquiring room characteristic information of a room and a position of an object in the room;

determining cleaning parameters according to the room characteristic information;

and controlling the cleaning equipment to avoid the position of the object and work according to the cleaning parameters.

2. The method of claim 1, wherein the room characteristic information comprises a room type, and wherein determining cleaning parameters from the room characteristic information comprises:

determining a first cleaning parameter corresponding to the room type;

wherein the first cleaning parameters include at least one of: cleaning priority, cleaning degree.

3. The method of claim 2,

the room type is a cleaning priority in the case of a bedroom or a living room, which is greater than the cleaning priority in the case of a toilet or a kitchen.

4. The method of claim 2,

the room type is a degree of cleanliness in the case of a toilet or kitchen, which is greater than the degree of cleanliness in the case of a bedroom or a living room.

5. The method of claim 1, wherein the room characteristic information includes floor covering material, and wherein determining cleaning parameters from the room characteristic information includes:

determining a second cleaning parameter corresponding to the ground paving material;

wherein the second cleaning parameters include at least one of: water yield, cleaning times and fan suction.

6. The method of claim 5,

the water yield of the ground paving material under the wooden condition, the water yield of the ground paving material under the porcelain or stone condition and the water yield of the ground paving material under the concrete condition are increased in sequence.

7. The method of claim 5,

the cleaning times of the ground laying material under the condition of wood, the cleaning times of the ground laying material under the condition of porcelain or stone and the cleaning times of the ground laying material under the condition of concrete are reduced in sequence.

8. The method of any one of claims 1 to 7, wherein the controlling the cleaning device to avoid the object position comprises:

determining relative position information of the object to a floor of the room;

and controlling the cleaning equipment to avoid the position of the object according to the relative position information.

9. The method of any one of claims 1 to 7, wherein the obtaining room characteristic information of a room and a location of an object within the room comprises:

acquiring a first image of the room, and identifying the room according to the first image;

and determining the room characteristic information corresponding to the room and the position of the object according to a preset corresponding relation.

10. The method of claim 9, further comprising, prior to the obtaining room characteristic information for a room and a location of an object within the room:

controlling the cleaning device to move within the room and acquire a second image of the room;

and determining the room characteristic information and the position of the object according to the second image, and establishing the preset corresponding relation.

11. A control device for a cleaning appliance, the device comprising:

the system comprises an acquisition module, a storage module and a processing module, wherein the acquisition module is used for acquiring room characteristic information of a room and the position of an object in the room;

a determining module for determining cleaning parameters according to the room characteristic information;

and the control module is used for controlling the cleaning equipment to avoid the position of the object according to a preset mode and working according to the cleaning parameters.

12. A cleaning apparatus, comprising:

a memory for storing programs or instructions;

a processor implementing the steps of the control method of the cleaning apparatus as claimed in any one of claims 1 to 10 when executing the program or instructions.

13. The cleaning apparatus defined in claim 12,

the cleaning equipment is a mopping machine or a sweeping and mopping integrated machine.

14. A cleaning apparatus, comprising:

a control device for a cleaning appliance as claimed in claim 11.

15. A readable storage medium on which a program or instructions are stored, characterized in that the program or instructions, when executed by a processor, implement the steps of a control method of a cleaning device according to any one of claims 1 to 10.