CN114587204A - Cleaning method and cleaning control device - Google Patents
Cleaning method and cleaning control device Download PDFInfo
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- CN114587204A CN114587204A CN202110758093.4A CN202110758093A CN114587204A CN 114587204 A CN114587204 A CN 114587204A CN 202110758093 A CN202110758093 A CN 202110758093A CN 114587204 A CN114587204 A CN 114587204A
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- carpet
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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
- A47L11/32—Carpet-sweepers
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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
- A47L11/40—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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)
Abstract
The embodiment of the application discloses a cleaning method and a cleaning device, wherein the method comprises the following steps: acquiring carpet information of the cleaning area according to the map information of the cleaning area and/or according to the detected carpet identification signal; determining a spatial relationship between the cleaning device and the carpet according to the carpet information; the speed of the cleaning device is reduced from a first speed to a second speed based on a spatial relationship of the cleaning device to the carpet satisfying a condition. The cleaning method provided by the embodiment of the application can accurately deal with the cleaning of the area with the carpet.
Description
Technical Field
The application relates to the technical field of floor cleaning, in particular to a cleaning method and a cleaning control device.
Background
The statements in this application as background to the related art related to this application are merely provided to illustrate and facilitate an understanding of the contents of the present application and are not to be construed as an admission that the applicant expressly or putatively admitted the prior art of the filing date of the present application at the first filing date.
With the development of cleaning devices, their functions are more and more complete. For example, some cleaning devices have both sweeping and mopping functions. The complexity of the environment in the cleaning area also makes the cleaning apparatus increasingly challenging to clean.
For example, some cleaning areas are carpeted. Cleaning of carpet areas should employ different cleaning strategies to avoid damaging the carpet or the cleaning equipment.
Disclosure of Invention
The embodiment of the application provides a cleaning method and a cleaning control device, which can reduce the problem of damage caused by a carpet in the cleaning process.
In a first aspect, an embodiment of the present application provides a cleaning method, including:
acquiring carpet information of the cleaning area according to the map information of the cleaning area and/or according to the detected carpet identification signal;
determining a spatial relationship between the cleaning device and the carpet according to the carpet information;
the speed of the cleaning device is reduced from a first speed to a second speed based on a spatial relationship of the cleaning device to the carpet satisfying a condition.
In an optional embodiment, when obtaining the carpet information of the cleaning area according to the map information of the cleaning area, after the speed of the cleaning device is reduced from the first speed to the second speed, the method further includes:
adjusting the current cleaning mode to a carpet mode based on detecting the carpet identification signal;
or, based on that the carpet identification signal is not detected and the spatial relationship between the cleaning device and the carpet is not satisfied, the speed of the cleaning device is increased from the second speed to the first speed.
In an alternative embodiment, after the speed of the cleaning device is reduced from the first speed to the second speed, the method further includes:
detecting the output current of a driving motor of the mopping piece;
raising a mopping piece based on detecting that the output current is greater than a first threshold.
In an alternative embodiment, after the floor mopping piece is lifted, the method further comprises the following steps:
and sending an alarm signal when detecting that the time that the output current is greater than the first threshold value is greater than a second threshold value after the floor mopping piece is lifted.
In an alternative embodiment, after the floor mopping piece is lifted, the method further comprises the following steps:
lowering the mopping piece based on the time to raise the mopping piece reaching a third threshold.
In an alternative embodiment, the acquiring carpet information of the cleaning area according to the detected carpet identification signal includes:
acquiring environmental information of a clean area;
and acquiring carpet information of the cleaning area according to the environment information.
In an alternative embodiment, the acquiring environmental information of the cleaning area includes:
image information and/or lidar ranging information for the clean area is obtained.
In an alternative embodiment, the obtaining of the carpet information of the cleaning area further comprises:
generating a map of a cleaning area, the generated map including carpet information.
In an alternative embodiment, determining a spatial relationship of the cleaning device to the carpet based on the carpet information comprises:
determining the distance between the cleaning equipment and the edge of the carpet according to the position information of the carpet in the cleaning area;
the spatial relationship of the cleaning device to the carpet satisfies the conditions including: the distance of the cleaning device from the edge of the carpet is less than a fourth threshold.
In an alternative embodiment, determining a spatial relationship of the cleaning device to the carpet based on the carpet information comprises:
determining whether a cleaning device is located within a first range according to the position information of the carpet in the cleaning area, wherein the carpet is located within the first range;
the spatial relationship of the cleaning device to the carpet satisfies the conditions including: the cleaning device is located within the first range.
In a second aspect, an embodiment of the present application provides a cleaning control device, including:
the information acquisition unit is used for acquiring carpet information of the cleaning area according to the map information of the cleaning area and/or according to the detected carpet identification signal;
a spatial determination unit for determining a spatial relationship of the cleaning device to the carpet based on the carpet information;
a control unit for reducing the speed of the cleaning device from a first speed to a second speed based on a spatial relationship of the cleaning device to the carpet satisfying a condition.
In a third aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the computer program implements the method according to any one of the above embodiments.
In a fourth aspect, embodiments of the present application provide a cleaning device, on which a computer program is stored, and the program, when executed, implements the method of any of the above embodiments.
The embodiment of the application provides a cleaning method. In the method, carpet information of a cleaning area can be acquired during cleaning. A spatial relationship of the cleaning device to the carpet can be determined from the carpet information. When the spatial relationship of the cleaning device to the carpet satisfies a condition, such as the distance of the cleaning device to the carpet being within a certain range, the speed of the cleaning device is reduced from a first speed to a second speed. By reducing the speed, the condition that the cleaning equipment is not timely in response and damaged by rushing the carpet can be avoided, and the cleaning equipment can make a response strategy in sufficient time.
Drawings
In order to more clearly illustrate the embodiments of the present application 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, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 shows a schematic flow diagram of a cleaning method of an embodiment of the present application;
fig. 2 is a schematic structural view showing a cleaning control apparatus 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 technical solutions in the embodiments of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below, and it is obvious that the described embodiments are only a part 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 embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first," "second," and the like in the description and claims of the present application and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The embodiment of the application provides a cleaning method. The cleaning equipment can solve the problem that the carpet is possibly damaged when meeting in the cleaning process by adopting the method of the embodiment of the application. The cleaning device may be a cleaning robot including a sweeping mechanism and a mopping mechanism. The cleaning device related to the embodiment of the application can be in contact with the cleaning surface by using one of the sweeping mechanism and the mopping mechanism in the cleaning process so as to clean the cleaning surface. Mopping mechanisms are commonly used to clean floors. The water sprayed by the mopping mechanism during cleaning may damage the carpet. Due to the difference in floor and carpet, even the sweeping mechanism may damage the carpet or cause damage to the cleaning equipment when the same strategy is used.
For the carpet in the cleaning area, the cleaning equipment adopts different cleaning strategies, so that the damage to the carpet or the cleaning equipment can be avoided. However, due to the untimely carpet identification and the switching of the cleaning strategy, the cleaning equipment may still be rushed into the carpet, causing damage to the carpet or the cleaning equipment.
As shown in fig. 1, the cleaning method of the embodiment of the present application includes:
acquiring carpet information of a cleaning area;
determining a spatial relationship between the cleaning device and the carpet according to the carpet information;
the speed of the cleaning device is reduced from a first speed to a second speed based on a spatial relationship of the cleaning device to the carpet satisfying a condition.
The embodiment of the application provides a cleaning method. In the method, carpet information of a cleaning area can be acquired during cleaning. The spatial relationship of the cleaning device to the carpet can be determined from the carpet information. When the spatial relationship of the cleaning device to the carpet satisfies a condition, such as the distance of the cleaning device to the carpet being within a certain range, the speed of the cleaning device is reduced from a first speed to a second speed. By reducing the speed, the condition that the cleaning equipment is not timely in response and damaged by rushing the carpet can be avoided, and the cleaning equipment can make a response strategy in sufficient time.
In the embodiment of the application, when the cleaning device is preliminarily determined to possibly encounter the carpet according to the carpet information of the cleaning area, the speed of the cleaning device is reduced from the first speed to the second speed. When the cleaning equipment slowly moves at the second speed, the carpet can be further detected in real time, the wrong cleaning mode is avoided, and a corresponding coping strategy can be adopted in time when the cleaning equipment is determined to be in contact with the carpet.
In the embodiment of the application, whether the carpet exists on the traveling path of the cleaning device needs to be determined according to the carpet information of the cleaning area so as to timely cope with the strategy. For example, to decelerate, raise the mopping member, etc. Carpet information for the cleaning area can be obtained in a variety of ways.
In some embodiments, obtaining carpet information for a cleaning area comprises: acquiring carpet information of the cleaning area according to the map information of the cleaning area; and/or acquiring carpet information of the cleaning area according to the detected carpet identification signal. Map information of the cleaning area may be stored in the cleaning apparatus. For example, when a cleaning device is sweeping a cleaning area, a map of the cleaning area may be simultaneously drawn. Information on obstacles, carpets, etc. can be determined from the map information of the cleaning area. Carpet identification sensors and the like on the cleaning equipment can also detect the carpet in real time. When it is recognized that a carpet may exist in the cleaning area, a carpet recognition signal is detected.
In the embodiment of the present application, the carpet information of the cleaning area may be acquired according to one or both of the map information and the carpet identification signal. For example, when a carpet is first found, the carpet information of the cleaning area may be acquired only based on the detected carpet identification signal. For another example, when map information is provided, carpet information of the cleaning area may be acquired based on the map information, or a carpet identification signal may be simultaneously combined.
In some embodiments, when acquiring the carpet information of the cleaning area according to the map information of the cleaning area, after reducing the speed of the cleaning device from the first speed to the second speed, the method further includes: based on detecting the carpet identification signal, the current cleaning mode is adjusted to the carpet mode. When the cleaning equipment is determined to be close to the carpet according to the map information, the speed is reduced, and the cleaning equipment is prevented from being washed on the carpet. Meanwhile, the cleaning equipment detects the carpet identification signal in real time, and when the carpet identification signal is detected, the existence of the carpet can be confirmed, the carpet can be adjusted to be a carpet model, the carpet is prevented from being damaged, and the cleaning equipment is prevented from being damaged. The carpet is further confirmed through the carpet identification signal, so that the situation that the original map information is inconsistent with the reality due to the environment change of the cleaning equipment and wrong response is made can be avoided.
The carpet mode in the embodiments of the present application may be determined on a case-by-case basis. In an exemplary embodiment, the carpet mode includes converting the mopping mechanism to a sweeping mechanism. For example, a mopping roller in the mopping mechanism is lifted, and a main roller brush of the cleaning mechanism is lowered. Alternatively, the carpet mode includes one of an in-carpet edgewise strategy, a carpet out-of-carpet edgewise strategy, or an disregard carpet strategy, among others. Alternatively, the carpet mode includes avoiding a carpet maneuver. Upon detecting a carpet identification signal, the roller is raised and retracted out of contact with the carpet or along a wall to exit the carpet coverage area.
In the embodiment of the application, the carpet identification signal can be detected in real time through the carpet sensor. Or, the related data in the mopping process is collected in real time through an image collecting device, a laser device and the like, and the carpet in the cleaning area is confirmed. In addition, when the roller of the cleaning device contacts the carpet, the driving current is increased, and the change of the driving current can be used as information for determining whether the carpet exists.
In some embodiments, when acquiring the carpet information of the cleaning area according to the map information of the cleaning area, after reducing the speed of the cleaning device from the first speed to the second speed, the method further includes: and increasing the speed of the cleaning equipment from the second speed to the first speed based on that the carpet identification signal is not detected or the spatial relation between the cleaning equipment and the carpet satisfies the condition disappearance. At some time after the cleaning device decelerates, a carpet identification signal should be detectable. If the carpet identification signal is not detected, it can be considered that the map information is wrong due to environmental change and other reasons, and the result that the carpet is close to is wrong is judged in advance according to the map information, and at the moment, the original speed can be recovered. Or, when the spatial relationship between the cleaning device and the carpet disappears, the cleaning device is considered to have come out of the carpet range, and the original speed can be recovered.
In some embodiments, after reducing the speed of the cleaning device from the first speed to the second speed, further comprising: detecting the output current of a driving motor of the mopping piece; based on detecting that the output current is greater than the first threshold, the mopping piece is lifted. When the cleaning equipment works, the output current of the mopping piece driving motor can be detected, and when the output current of the mopping piece driving motor changes, the working surface generally changes. For example, the output current of the mopping member driving motor may increase when a carpet is contacted. When the output current increases to a certain extent (for example, reaches the first threshold), it is considered that the carpet is touched, and it is confirmed that the carpet is a carpet. At this point, the floor mopping piece is raised, avoiding the floor mopping piece from acting on the carpet. By detecting the output current of the driving motor of the mopping piece, the problem that the cleaning equipment cannot make correct response when the carpet recognition sensor of the cleaning equipment is not triggered due to some reasons can be avoided. When the carpet identification signal is not detected, the output current of the driving motor of the mopping piece is detected to be larger than the first threshold value, and corresponding response can be made according to a carpet mode. The specific value range of the first threshold can be determined according to specific situations. For example, the output current value of the mopping member driving motor can be determined according to different working planes of the cleaning device.
In some embodiments, after raising the floor tool, the method further comprises: and sending an alarm signal when detecting that the time that the output current is greater than the first threshold value is greater than a second threshold value after the floor mopping piece is lifted. If it is detected that the output current is still greater than the first threshold value for a certain time after the floor mopping is raised (the time after the raising is greater than the second threshold value), it can be considered that the increase of the output current of the floor mopping driving motor is caused by the drum failure. Such as the mop getting stuck in foreign objects, flexible foreign object entanglement, etc. At the moment, an alarm signal is sent out so as to be processed in time. Likewise, the specific value of the second threshold is not particularly limited.
In some embodiments, after raising the floor tool, the method further comprises: lowering the mopping piece based on the time to raise the mopping piece reaching a third threshold. If the output current of the floor drive motor drops below the first threshold after the floor is raised, it may be considered a carpet induced increase in output current. If the output current of the floor mop drive motor increases again to be greater than the first threshold after the floor mop is lowered, the floor mop may be raised according to the above embodiment, and then the floor mop may be lowered after the floor mop is raised for a certain time until the output current of the floor mop drive motor is less than the first threshold after the floor mop is lowered, at which point the cleaning apparatus may be considered to be driven off the carpet. And repeatedly lifting and lowering the mopping piece until the output current of the mopping piece driving motor is smaller than a first threshold value after the mopping piece is lowered, and determining that the cleaning equipment is driven out of the carpet. Corresponding response can be made in time. Also, the value of the third threshold is not particularly limited. For example, it may be 10 seconds, with the floor mop being lowered once every 10 seconds of raising.
In the embodiment of the application, when the cleaning device travels at the second speed, the carpet identification signal is detected in real time to confirm whether the cleaning device is in contact with the carpet or not. When the carpet identification signal is not detected, no other response is made (for example, the cleaning mode is switched), and when the carpet passes through at the second speed and the spatial relationship between the cleaning equipment and the carpet is satisfied and the condition disappears, the speed of the cleaning equipment is restored to the first speed, so that the cleaning efficiency is prevented from being influenced by prolonging the cleaning time.
In some embodiments, M carpets are identified within a set time (N seconds) and may be considered a false positive, with the cleaning device passing at the second speed without other responses.
In some embodiments, the acquiring the carpet information of the cleaning area according to the detected carpet identification signal includes: environmental information of the cleaning area is acquired. And acquiring carpet information of the cleaning area according to the environmental information. When the map of the cleaning area is not saved by the cleaning equipment or the map is not updated after the carpet is newly laid, the environmental information of the cleaning area needs to be acquired while cleaning, and the carpet information of the cleaning area can be acquired through the environmental signal. The carpet information of the cleaning region includes position information, size information, boundary information, etc. of the carpet.
In some embodiments, obtaining environmental information of the cleaning area comprises: image information and/or lidar ranging information for the clean area is obtained. During cleaning of the cleaning device, carpet information of the cleaning area can be obtained by acquiring image information and/or laser radar ranging information of the cleaning area. For example, image information may be acquired by a panoramic camera, and laser radar ranging information may be acquired by an LDS. The LDS can acquire distance information of an obstacle or the like.
In some embodiments, obtaining the carpet information for the cleaning area further comprises: a map of the cleaning area is generated, the generated map including carpet information. When the cleaning device does not store a map of the cleaning area or the stored map does not have corresponding carpet information, a map of the cleaning area including the carpet information is generated according to the environmental information acquired in the cleaning process so as to be used in the subsequent cleaning process.
In embodiments of the present application, the spatial relationship of the cleaning device to the carpet includes the relative positional relationship of the cleaning device to the carpet. For example, whether the distance of the cleaning device from the carpet satisfies a condition, or whether the relative position of the cleaning device to the carpet is within a certain area.
In some embodiments, determining a spatial relationship of the cleaning device to the carpet based on the carpet information comprises: determining the distance between the cleaning device and the edge of the carpet according to the position information of the carpet in the cleaning area. The spatial relationship of the cleaning device to the carpet satisfies the conditions including: the distance of the cleaning device from the edge of the carpet is less than a fourth threshold. When the distance of the cleaning device from the edge of the carpet is less than a fourth threshold, the speed of the cleaning device is reduced from the first speed to a second speed.
In some embodiments, determining a spatial relationship of the cleaning device to the carpet based on the carpet information comprises: it is determined whether the cleaning device is within a first range, the carpet being within the first range, based on the location information of the carpet in the cleaning area. The spatial relationship of the cleaning device to the carpet satisfies the conditions including: the cleaning device is located within the first range.
In the embodiment of the present application, a first range larger than the coverage of the carpet can be defined in advance, and the carpet is located in the first range. From the boundary information of the first range, it may be determined whether the cleaning device is located within the first range. When the cleaning device is within the first range, the speed of the cleaning device is reduced from the first speed to the second speed, assuming that the spatial relationship of the cleaning device to the carpet satisfies the condition.
Referring to fig. 2, an embodiment of the present application further provides a cleaning control apparatus, and the apparatus of the embodiment of the present application may implement the method of the embodiment, and the embodiment of the method may be used to understand the apparatus of the embodiment of the present application. The following embodiments of the apparatus are also useful for understanding the method of the above embodiments. The cleaning control device of the embodiment of the application comprises an information acquisition unit, a space determination unit and a control unit. Wherein the information acquisition unit is used for acquiring the carpet information of the cleaning area. The space determining unit is used for determining the spatial relationship between the cleaning device and the carpet according to the carpet information. The control unit is used for reducing the speed of the cleaning device from the first speed to the second speed based on the spatial relationship between the cleaning device and the carpet meeting the condition.
The embodiment of the application provides a cleaning control device. In the apparatus, an information acquisition unit can acquire carpet information of a cleaning area during cleaning. The spatial determination unit is capable of determining a spatial relationship of the cleaning device to the carpet based on the carpet information. The control unit reduces the speed of the cleaning device from the first speed to the second speed when the spatial relationship of the cleaning device to the carpet satisfies a condition, such as the distance of the cleaning device to the carpet being within a certain range. By reducing the speed, the condition that the cleaning equipment is not timely in response and damaged by rushing the carpet can be avoided, and the cleaning equipment can make a response strategy in sufficient time.
In the embodiment of the application, when the space determining unit preliminarily determines that the cleaning device is likely to encounter the carpet according to the carpet information of the cleaning area, the control unit firstly reduces the speed of the cleaning device from the first speed to the second speed. When the cleaning equipment slowly moves at the second speed, the carpet can be further detected in real time, misjudgment is avoided, an improper cleaning mode is adopted, and the control unit can timely adopt a corresponding coping strategy when the cleaning equipment is determined to be in contact with the carpet.
In the embodiment of the application, the space determining unit needs to determine whether a carpet exists on the traveling path of the cleaning device according to the carpet information of the cleaning area, so that the control unit can timely cope with the strategy. For example, to decelerate, raise the mopping member, etc. Carpet information for the cleaning area can be obtained in a variety of ways.
In some embodiments, the information acquiring unit acquires carpet information of the cleaning area, including: the information acquisition unit acquires carpet information of the cleaning area according to the map information of the cleaning area; and/or acquiring carpet information of the cleaning area according to the detected carpet identification signal. Map information of the cleaning area may be stored in the cleaning apparatus. For example, when a cleaning device is sweeping a cleaning area, a map of the cleaning area may be simultaneously drawn. The information acquisition unit may determine information of obstacles, carpets, etc. from the map information of the cleaning area. Carpet identification sensors and the like on the cleaning equipment can also detect the carpet in real time. When it is recognized that a carpet may exist in the cleaning area, a carpet recognition signal is detected.
In the embodiment of the application, the information acquiring unit may acquire the carpet information of the cleaning area according to one or both of the map information and the carpet identification signal. For example, when a carpet is first found, the information acquiring unit may acquire carpet information of the cleaning area only based on the detected carpet identification signal. For another example, when having map information, the information acquisition unit may acquire carpet information of the cleaning area based on the map information, or simultaneously in combination with the carpet identification signal.
In some embodiments, the information acquiring unit, when acquiring the carpet information of the cleaning area based on the map information of the cleaning area, further includes, after the control unit reduces the speed of the cleaning device from the first speed to the second speed: the control unit adjusts the current cleaning mode to the carpet mode based on the detected carpet identification signal. When the space determining unit determines that the cleaning equipment is close to the carpet according to the map information, the control unit reduces the speed to prevent the cleaning equipment from being washed on the carpet. Meanwhile, the cleaning equipment detects the carpet identification signal in real time, and when the carpet identification signal is detected, the existence of the carpet can be confirmed, the carpet can be adjusted to be a carpet model, the carpet is prevented from being damaged, and the cleaning equipment is prevented from being damaged. The carpet is further confirmed through the carpet identification signal, so that the situation that the original map information is inconsistent with the actual map information and wrong response is made due to the fact that the environment of the cleaning equipment is changed can be avoided.
The carpet mode in the embodiments of the present application may be determined on a case-by-case basis. In an exemplary embodiment, the carpet mode includes converting the mopping mechanism to a sweeping mechanism. For example, the control unit raises a mopping roller in the mopping mechanism and lowers a main roller brush of the sweeping mechanism (when the cleaning apparatus has). Alternatively, the carpet mode includes one of an in-carpet edgewise strategy, a carpet out-of-carpet edgewise strategy, or an disregard carpet strategy, among others. Alternatively, the carpet mode includes avoiding a carpet maneuver. Upon detecting a carpet identification signal, the roller is raised and retracted out of contact with the carpet or along a wall to exit the carpet coverage area.
In the embodiment of the application, the cleaning equipment can detect the carpet identification signal in real time through the carpet sensor. Or, the related data in the mopping process is collected in real time through an image collecting device, a laser device and the like, and the carpet in the cleaning area is confirmed. In addition, when the roller of the cleaning device contacts the carpet, the driving current is increased, and the change of the driving current can be used as information for determining whether the carpet exists.
In some embodiments, the information acquiring unit, when acquiring the carpet information of the cleaning area according to the map information of the cleaning area, further includes, after the control unit reduces the speed of the cleaning device from the first speed to the second speed: based on the carpet identification signal is not detected or the spatial relationship between the cleaning device and the carpet is satisfied and the condition disappears, the control unit increases the speed of the cleaning device from the second speed to the first speed. At some time after the cleaning device decelerates, a carpet identification signal should be detectable. If the carpet identification signal is not detected, it can be considered that the map information is wrong due to environmental change and other reasons, and the result that the carpet is close to is wrong is judged in advance according to the map information, and at the moment, the original speed can be recovered. Or, when the spatial relationship between the cleaning device and the carpet disappears, the cleaning device is considered to have come out of the carpet range, and the original speed can be recovered.
In some embodiments, the cleaning control device further includes a detecting unit, and after the control unit reduces the speed of the cleaning device from the first speed to the second speed, the cleaning control device further includes: the detection unit detects the output current of the driving motor of the mopping piece; based on detecting that the output current is greater than the first threshold value, the control unit raises the mopping piece. When the cleaning equipment works, the output current of the mopping piece driving motor can be detected, and when the output current of the mopping piece driving motor changes, the working surface generally changes. For example, the output current of the floor drive motor may increase when a carpet is contacted. When the output current increases to a certain extent (for example, reaches the first threshold), it is considered that the carpet is touched, and it is confirmed that the carpet is a carpet. At this point, the floor mopping piece is raised, avoiding the floor mopping piece from acting on the carpet. By detecting the output current of the driving motor of the mopping piece, the problem that the cleaning equipment cannot make correct response when the carpet recognition sensor of the cleaning equipment is not triggered due to some reasons can be avoided. When the carpet identification signal is not detected, the output current of the driving motor of the mopping piece is detected to be larger than the first threshold value, and corresponding response can be made according to a carpet mode. The specific value range of the first threshold can be determined according to specific situations. For example, the output current value of the mopping piece driving motor can be determined according to different working planes of the cleaning device.
In some embodiments, the cleaning control device further comprises an alarm unit. After the control unit lifts the floor mopping piece, the method further comprises the following steps: after the floor mopping piece is lifted, the detection unit detects that the time that the output current is larger than the first threshold value is larger than the second threshold value, and the alarm unit sends out an alarm signal. If it is detected that the output current is still greater than the first threshold value for a certain time after the floor mopping is raised (the time after the raising is greater than the second threshold value), it can be considered that the increase of the output current of the floor mopping driving motor is caused by the drum failure. Such as the mop getting stuck in foreign objects, flexible foreign object entanglement, etc. At the moment, an alarm signal is sent out so as to be processed in time. Likewise, the specific value of the second threshold is not particularly limited.
In some embodiments, after the control unit raises the floor mopping piece, the method further comprises: based on the time to raise the floor mopping reaching a third threshold, the control unit lowers the floor mopping. If the output current of the floor drive motor drops below the first threshold after the floor is raised, it may be considered a carpet induced increase in output current. If the output current of the floor mop drive motor increases again after the floor mop is lowered to be greater than the first threshold value, the floor mop may be raised according to the above embodiment, and then the floor mop may be lowered after the floor mop is raised for a certain time until the output current of the floor mop drive motor is less than the first threshold value after the floor mop is lowered, and then the cleaning apparatus may be considered to be driven off the carpet. And repeatedly lifting and lowering the mopping piece until the output current of the mopping piece driving motor is smaller than a first threshold value after the mopping piece is lowered, and determining that the cleaning equipment is driven out of the carpet. Corresponding response can be made in time. Also, the value of the third threshold is not particularly limited. For example, it may be 10 seconds, with the floor mop being lowered once every 10 seconds of raising.
In the embodiment of the application, when the cleaning device travels at the second speed, the carpet identification signal is detected in real time to confirm whether the cleaning device is in contact with the carpet or not. When the carpet identification signal is not detected, no other response is made (for example, the cleaning mode is switched), and when the vehicle passes at the second speed and the spatial relationship between the cleaning equipment and the carpet is satisfied and the condition disappears, the control unit restores the speed of the cleaning equipment to the first speed, so that the cleaning efficiency is prevented from being influenced by prolonging the cleaning time.
In some embodiments, the carpet identification sensor identifies M times of carpet within a set time (N seconds), which may be considered a false positive, the cleaning device passes at the second speed without other responses.
In some embodiments, the acquiring the carpet information of the cleaning area according to the detected carpet identification signal includes: environmental information of the cleaning area is acquired. And acquiring carpet information of the cleaning area according to the environmental information. When the map of the cleaning area is not saved by the cleaning equipment or the map is not updated after the carpet is newly laid, the environmental information of the cleaning area needs to be acquired while cleaning, and the carpet information of the cleaning area can be acquired through the environmental signal. The carpet information of the cleaning region includes position information, size information, boundary information, etc. of the carpet.
In some embodiments, the information acquiring unit acquiring environmental information of the cleaning area includes: image information and/or lidar ranging information for the clean area is obtained. During cleaning of the cleaning device, carpet information of the cleaning area can be obtained by acquiring image information and/or laser radar ranging information of the cleaning area. For example, the image information may be acquired by a panoramic camera, and the laser radar ranging information may be acquired by an LDS. The LDS can acquire distance information of an obstacle or the like.
In some embodiments, the cleaning control apparatus further includes a map generation unit. The information acquisition unit further comprises, after acquiring the carpet information of the cleaning area: the map generation unit generates a map of the cleaning area, the generated map including carpet information. When the cleaning device does not store a map of the cleaning area or the stored map does not have corresponding carpet information, the map generating unit generates a map of the cleaning area including the carpet information according to the environmental information acquired during the cleaning process, so as to be used in the subsequent cleaning process.
In embodiments of the present application, the spatial relationship of the cleaning device to the carpet includes the relative positional relationship of the cleaning device to the carpet. For example, whether the distance of the cleaning device from the carpet satisfies a condition, or whether the relative position of the cleaning device to the carpet is within a certain area.
In some embodiments, the spatial determination unit determines the spatial relationship of the cleaning device to the carpet based on the carpet information, including: the space determining unit determines a distance of the cleaning device from an edge of the carpet based on the position information of the carpet in the cleaning area. The spatial relationship of the cleaning device to the carpet satisfies the conditions including: the distance of the cleaning device from the edge of the carpet is less than a fourth threshold. When the distance of the cleaning device from the carpet edge is smaller than a fourth threshold value, the control unit reduces the speed of the cleaning device from the first speed to the second speed.
In some embodiments, the spatial determination unit determines the spatial relationship of the cleaning device to the carpet based on the carpet information, including: the space determination unit determines whether the cleaning device is located within a first range, the carpet being located within the first range, based on the position information of the carpet in the cleaning area. The spatial relationship of the cleaning device to the carpet satisfies the condition including: the cleaning device is located within the first range.
In the embodiment of the present application, a first range larger than the coverage of the carpet can be defined in advance, and the carpet is located in the first range. The space determination unit may determine whether the cleaning device is located within the first range based on the boundary information of the first range. When the cleaning device is within the first range, the control unit reduces the speed of the cleaning device from the first speed to the second speed, assuming that the spatial relationship of the cleaning device to the carpet satisfies the condition.
Embodiments of the present application also provide a cleaning device, on which a computer program is stored, and when the program is executed, 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 600 may include: at least one processor 601, at least one network interface 604, a user interface 603, a memory 605, at least one communication bus 602.
Wherein a communication bus 602 is used to enable the connection communication between these components.
The user interface 603 may include a Display screen (Display) and a Camera (Camera), and some of the user interfaces 603 may also include a standard wired interface and a wireless interface.
Some of the network interfaces 604 may include standard wired interfaces, wireless interfaces (e.g., WI-FI interfaces), among others.
The Memory 605 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). In some cases, the memory 605 includes non-transitory computer-readable medium. The memory 605 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 605 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. Some of the memory 605 may also be at least one storage device located remotely from the processor 601. As shown in fig. 3, the memory 605, 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 600 shown in fig. 3, the user interface 603 is mainly used as an interface for providing input for a user, and acquiring data input by the user; and the processor 601 may be adapted to invoke an application stored in the memory 605 and to perform the steps of any of the above-described method embodiments in particular.
The present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the above-described method. 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 coupling or direct coupling or communication connection between each other may be through some interfaces, indirect coupling or communication connection between devices or units, and may be in an electrical 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.
The above description is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure should not be limited thereby. That is, all equivalent changes and modifications made in accordance with the teachings of the present disclosure are intended to be included within the scope of the present disclosure. Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
Claims (13)
1. A method of cleaning, comprising:
acquiring carpet information of the cleaning area according to the map information of the cleaning area and/or according to the detected carpet identification signal;
determining a spatial relationship between the cleaning device and the carpet according to the carpet information;
the speed of the cleaning device is reduced from a first speed to a second speed based on a spatial relationship of the cleaning device to the carpet satisfying a condition.
2. The method of claim 1, wherein the acquiring of the carpet information of the cleaning area according to the map information of the cleaning area further comprises, after the decreasing of the speed of the cleaning device from the first speed to the second speed:
adjusting the current cleaning mode to a carpet mode based on detecting the carpet identification signal;
or, based on that the carpet identification signal is not detected or the spatial relationship between the cleaning device and the carpet is satisfied and the condition disappears, the speed of the cleaning device is increased from the second speed to the first speed.
3. The method of claim 1, wherein after reducing the speed of the cleaning device from the first speed to the second speed, further comprising:
detecting the output current of a driving motor of the mopping piece;
raising a mopping piece based on detecting that the output current is greater than a first threshold.
4. The method of claim 3, wherein after raising the floor tool, further comprising:
and sending an alarm signal when detecting that the time that the output current is greater than the first threshold value is greater than a second threshold value after the floor mopping piece is lifted.
5. The method of claim 3, wherein after raising the floor tool, further comprising:
lowering the mopping piece based on the time to raise the mopping piece reaching a third threshold.
6. The method of claim 1, wherein obtaining carpet information for the cleaning area based on the detected carpet identification signal comprises:
acquiring environmental information of a clean area;
and acquiring carpet information of a cleaning area according to the environmental information.
7. The method of claim 6, wherein obtaining environmental information of the cleaning area comprises:
image information and/or lidar ranging information for the clean area is obtained.
8. The method of claim 6, wherein obtaining carpet information for the cleaning area further comprises:
generating a map of a cleaning area, the generated map including carpet information.
9. The method of claim 1, wherein determining a spatial relationship of a cleaning device to a carpet from the carpet information comprises:
determining the distance between the cleaning equipment and the edge of the carpet according to the position information of the carpet in the cleaning area;
the spatial relationship of the cleaning device to the carpet satisfies the condition including: the distance of the cleaning device from the edge of the carpet is less than a fourth threshold.
10. The method of claim 1, wherein determining a spatial relationship of a cleaning device to a carpet from the carpet information comprises:
determining whether a cleaning device is located within a first range according to the position information of the carpet in the cleaning area, wherein the carpet is located within the first range;
the spatial relationship of the cleaning device to the carpet satisfies the conditions including: the cleaning device is located within the first range.
11. A cleaning control device comprising:
the information acquisition unit is used for acquiring carpet information of the cleaning area according to the map information of the cleaning area and/or according to the detected carpet identification signal;
a spatial determination unit for determining a spatial relationship of the cleaning device to the carpet based on the carpet information;
a control unit for reducing the speed of the cleaning device from a first speed to a second speed based on a spatial relationship of the cleaning device to the carpet satisfying a condition.
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 10.
13. A cleaning device having a computer program stored thereon, characterized in that the program, when executed, implements the method of any of the preceding claims 1-10.
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