CN115067816B - Control method and device of cleaning equipment and cleaning equipment - Google Patents
Control method and device of cleaning equipment and cleaning equipment Download PDFInfo
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- CN115067816B CN115067816B CN202210909600.4A CN202210909600A CN115067816B CN 115067816 B CN115067816 B CN 115067816B CN 202210909600 A CN202210909600 A CN 202210909600A CN 115067816 B CN115067816 B CN 115067816B
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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
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Abstract
The disclosure is applicable to the technical field of cleaning equipment, and provides a control method and device of the cleaning equipment and the cleaning equipment, wherein the control method of the cleaning equipment comprises the following steps: obtaining a track of continuous movement of the ground brush on the ground, wherein the track comprises a plurality of steering nodes, and each steering node is a turning point of the reverse movement ground brush; taking the starting point of the track as a first steering node, calculating a first cleaning area of the ground brush moving from the first steering node to a second steering node and a second cleaning area of the ground brush moving from a third steering node to a fourth steering node, and taking the fourth steering node as a new first steering node; calculating the superposition area of the first cleaning area and the second cleaning area; calculating the proportion of the overlapping area to the first cleaning area; comparing the proportion with a preset proportion threshold value, and automatically adjusting the working state of the cleaning equipment based on the comparison result. The cleaning device saves the trouble of manually adjusting the working state of the cleaning device in the cleaning process, and ensures that the cleaning device is more intelligent.
Description
Technical Field
The disclosure belongs to the technical field of cleaning equipment, and particularly relates to a control method and device of cleaning equipment and the cleaning equipment.
Background
In a scenario where a user uses a cleaning device such as a vacuum cleaner or a floor scrubber to clean a floor, the user often encounters a situation where the cleaning device passes a certain position and the position is not cleaned, and at this time, the user moves the cleaning device back to the position to perform repeated cleaning, or tries to adjust the working gear of the cleaning device to perform cleaning, so that the cleaning of the position is desired.
Obviously, if a user tries to adjust the working gear of the cleaning device in the aforementioned cleaning scenario to seek to clean the position, multiple gear attempts may be required, and after cleaning of the position is completed, the gear needs to be returned to the previous state, which is very cumbersome.
Disclosure of Invention
In view of the above, the embodiments of the present disclosure provide a control method and apparatus for a cleaning device, and the cleaning device, so as to solve the problem in the prior art that a user needs to manually and repeatedly adjust the state of the cleaning device to attempt to clean the floor.
A first aspect of an embodiment of the present disclosure provides a control method of a cleaning apparatus, including:
obtaining a track of continuous movement of the ground brush on the ground, wherein the track comprises a plurality of steering nodes, and each steering node is a turning point of the reverse movement ground brush;
calculating a first cleaning area of the ground brush moving from the first steering node to the second steering node and a second cleaning area of the ground brush moving from the third steering node to the fourth steering node by taking the starting point of the track as the first steering node, and taking the fourth steering node as a new first steering node;
calculating the superposition area of the first cleaning area and the second cleaning area;
calculating the proportion of the overlapping area to the first cleaning area;
comparing the proportion with a preset proportion threshold value, and automatically adjusting the working state of the cleaning equipment based on the comparison result.
A second aspect of the embodiments of the present disclosure provides a control device of a cleaning apparatus, including:
the track acquisition module is configured to acquire a track of continuous movement of the ground brush on the ground, wherein the track comprises a plurality of steering nodes, and each steering node is a turning point of the ground brush which moves reversely;
an area calculation module configured to calculate a first cleaning area of the brush moving from the first steering node to the second steering node and a second cleaning area of the brush moving from the third steering node to the fourth steering node with a start point of the trajectory as a first steering node, and take the fourth steering node as a new first steering node;
a coincidence calculating module configured to calculate a coincidence area of the first cleaning area and the second cleaning area;
a ratio calculation module configured to calculate a ratio of the overlapping area to the first cleaning area;
and the state control module is configured to compare the proportion with a preset proportion threshold value and automatically adjust the working state of the cleaning equipment based on the comparison result.
A third aspect of embodiments of the present disclosure provides a cleaning apparatus comprising at least:
the ground brush is provided with an angular velocity sensor and an azimuth sensor;
the encoder is arranged on the roller of the ground brush;
and a control device electrically connected with the angular velocity sensor, the azimuth sensor and the encoder respectively, the control device comprising: a memory, a processor and a computer program stored in the memory and executable on the processor, which when executed by the processor, realizes the steps of the control method of the cleaning device described above.
Compared with the prior art, the embodiment of the disclosure has the beneficial effects that: the working state of the cleaning equipment is adjusted by calculating the superposition degree of the cleaning areas of the floor brush after passing through different steering nodes in the continuous moving process, so that the working state of the cleaning equipment can be changed in a self-adaptive manner along with the moving action change of the floor brush on the ground, the trouble of manually adjusting the working state of the cleaning equipment in the cleaning process is avoided, the user operation is simplified, and the cleaning equipment is more intelligent to use.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings that are required for the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.
Fig. 1 is a schematic flow chart of a control method of a cleaning apparatus according to an embodiment of the disclosure;
FIG. 2 is a schematic diagram of a trajectory of a next ground brush movement in a coordinate system constructed by using a ground brush as a cylinder according to an embodiment of the present disclosure;
FIG. 3 is a flow chart of another method of controlling a cleaning apparatus provided in an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of a control device for a cleaning apparatus provided in an embodiment of the present disclosure;
FIG. 5 is a schematic view of a cleaning apparatus provided in an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a control device according to an embodiment of the present disclosure.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the disclosed embodiments. However, it will be apparent to one skilled in the art that the present disclosure may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present disclosure with unnecessary detail.
Referring to fig. 1, an embodiment of the present disclosure provides a control method of a cleaning apparatus, including:
s101, obtaining a track of continuous movement of a ground brush on the ground, wherein the track comprises a plurality of steering nodes, and each steering node is a turning point of the reverse movement ground brush;
s102, taking a start point of a track as a first steering node, calculating a first cleaning area of a ground brush moving from the first steering node to a second steering node and a second cleaning area of a ground brush moving from a third steering node to a fourth steering node, and taking the fourth steering node as a new first steering node;
s103, calculating the superposition area of the first cleaning area and the second cleaning area;
s104, calculating the proportion of the overlapped area to the first cleaning area;
s105, comparing the proportion with a preset proportion threshold value, and automatically adjusting the working state of the cleaning equipment based on the comparison result.
Specifically, the cleaning device herein may be a power mop, a cleaner, a scrubber, or the like, and the floor brush is one of cleaning members of the cleaning device, and generally, the shape of the floor brush may be configured as a disk or a cylinder. If the floor brush is a disc, the center point of the disc can be regarded as the position of the floor brush to acquire the track of the floor brush continuously moving on the ground; if the ground brush is a cylinder, the center point of the cylinder can be regarded as the position of the ground brush to acquire the track of the continuous movement of the ground brush on the ground. For example, as shown in fig. 2, the brush is a cylinder, the center point of the axis of the cylinder is regarded as the position of the brush, and the brush is dragged to move along the track of a→b→c→d, and A, B, C, D is the steering node of the brush, where A1 is the start point of the track.
The turning node represents a turning position point for changing the direction of the floor brush in a back and forth movement manner when a user drags the floor brush to clean. For example, when a user drags the floor with the floor brush, the user pushes the floor brush forward and then pushes the floor brush backward, and then the position point of the floor brush when the floor brush is changed from forward movement to backward movement is a steering node of the floor brush in the continuous movement process of the floor; then, the user pushes the ground brush forward, and the position point when the ground brush is changed from backward movement to forward movement is the other steering node in the ground pasting movement process of the ground brush.
In connection with fig. 2, the line segments of two adjacent turning nodes may represent that the user uses the floor brush to perform a cleaning action along the track direction. For example, the line segments AB, BC, and CD correspond to one cleaning action, respectively, along the trajectory a→b→c→d in fig. 2. Preferably, in the embodiment of the present disclosure, a cleaning area through which the floor brush passes along the line segment AB is denoted as a first cleaning area, denoted as S1, and a cleaning area through which the floor brush passes along the line segment CD is denoted as a second cleaning area, denoted as S2.
Obviously, the cleaning area of the line segment BC is also passed during the movement process of the floor brush along the track from A to B to C to D, corresponding to the cleaning area corresponding to one cleaning action between the second cleaning area and the first cleaning area. In practical applications, the first cleaning area and the second cleaning area may be calculated at intervals of one or more cleaning actions, or the first cleaning area and the second cleaning area may be calculated without intervals of the cleaning actions, for example, a cleaning area where the floor brush passes along the line segment AB in fig. 2 is taken as the first cleaning area, and a cleaning area where the floor brush passes along the line segment BC is taken as the second cleaning area, which is not limited in the embodiments of the present disclosure.
In the following, the overlapping area of the first cleaning area and the second cleaning area can reflect the overlapping ratio of the cleaning areas of the floor brush after the floor surface continuously passes through a plurality of cleaning actions. Specifically, if the overlapping area is larger, the probability that the floor brush repeatedly moves back and forth in the same area is larger, which means that the cleaning effect of the floor brush is not obvious in the area is larger; conversely, if the overlapping area is smaller, the probability that the brush repeatedly moves back and forth in the same area is smaller, which means that the cleaning effect of the brush in the area is less likely to be remarkable. Therefore, according to the embodiment of the disclosure, the working state of the cleaning equipment is adjusted by calculating the superposition degree of the cleaning areas of the ground brush after passing through different steering nodes in the continuous moving process, so that the working state of the cleaning equipment can be changed in a self-adaptive manner along with the moving action change of the ground brush on the ground, the trouble of manually adjusting the working state of the cleaning equipment in the cleaning process is avoided, the user operation is simplified, and the cleaning equipment is more intelligent.
In some embodiments, according to the control method of the cleaning apparatus provided in fig. 1, obtaining a track of continuous movement of the floor brush on the floor includes: a coordinate system is established by taking the starting point of a track of the movement of the ground brush as an origin; acquiring the direction, the angular speed and the mileage of the ground brush moving on the ground; determining a steering node of the moving track based on the azimuth; calculating coordinates of the steering node based on the angular velocity and the mileage; and generating a track of the linear movement of the ground brush along the steering node based on the coordinates of the steering node.
Specifically, taking the cleaning device as an example of a dust collector, taking the shape of a ground brush as a cylinder, taking the central point of the axis of the cylinder as the position of the ground brush, taking the position of each touch of the ground brush as an origin, establishing a two-dimensional coordinate system taking the axis direction of the cylinder as an X axis, wherein the Y axis direction is perpendicular to the axis direction, and the planes of the X axis and the Y axis are parallel to the ground, wherein when the ground brush continuously moves on the ground, the origin is equivalent to the starting point of the moving track of the ground brush.
In practical application, the magnetic induction sensor, the angular velocity sensor and the encoder can be arranged on the ground brush to correspondingly acquire the direction, the angular velocity and the mileage of the movement of the ground brush.
The method for determining the steering node of the ground brush in the continuous moving process of the ground brush according to the direction of the ground brush can be specifically realized by calculating the direction component of the ground brush in the Y-axis direction based on the established two-dimensional coordinate system and determining the steering node according to the change of the direction component. For example, as shown in fig. 2, during the movement of the brush along the line segment AB, calculating that the azimuth component of the brush in the Y-axis direction is positive, and when the brush moves to the point B to move along the line segment BC, the azimuth component of the brush in the Y-axis direction becomes negative, thereby determining the point B as a steering node; similarly, when the brush moves to the point C and moves along the line segment CD, the azimuth component of the brush in the Y-axis direction becomes positive again, and at the moment, the point C is determined to be a steering node.
With continued reference to fig. 2, the direction angle of the movement of the ground brush relative to the two-dimensional coordinate system can be calculated by the angular velocity of the ground brush, and the mileage is the displacement of the actual movement of the ground brush. Then, if the user pushes the brush to move along the track from a to B to C to D, let a be the origin of coordinates (0, 0), let the length of the brush be t, let the length vectors of the line segments AB, BC and CD be r1, r2 and r3, respectively, let the angle between the line segment AB and the positive direction of the X-axis be α, let the angle between the line segment BC and the positive direction of the X-axis be β, and let the angle between the line segment CD and the positive direction of the X-axis be γ, then, by combining the angular speed and mileage of the brush movement, it can be calculated:
the coordinates of A are (0, 0);
the coordinates of B are (r 1. Times. Cos alpha., r 1. Times. Sin alpha.);
the coordinates of C are (r1×cosα+r2×cosβ, r1×sinα+r2×sinβ);
d has the coordinates (r1×cosα+r2×cosβ+r3×cosγ, r1×sinα+r2×sinβ+r3×sinγ).
After the coordinates of the steering nodes A, B, C and D are calculated, the vectors of two adjacent steering nodes can be calculated, and a vector array of the brush movement track can be generated:
it should be noted that, the movement track of the brush generated here is a straight line track moving along the steering node, and the actual movement track of the brush between two adjacent steering nodes may not be an integral straight line, but a broken line. For example, the angular velocity may change during the movement of the brush from steering node a to steering node B, although the orientations are all in the same direction, and thus the actual trajectory of the brush from steering node a to steering node B may be a broken line, not a straight line. However, whether the actual movement trajectory of the brush is a straight line or a broken line, the coordinates of the steering node B point can be calculated according to the mileage and angular velocity of the movement. In the embodiment of the disclosure, by calculating the mileage vectors of two adjacent steering nodes as the track of the ground brush movement, the calculation amount of the subsequent cleaning area can be simplified, and a large error is not caused to the final calculation of the overlapping area.
According to the embodiment of the disclosure, the origin of the track of the ground brush movement is used as the origin, the coordinate system is established, the steering nodes in the ground brush movement process can be accurately identified by combining the azimuth, the angular speed and the mileage of the ground brush movement, the coordinates of each steering node are calculated, and the track of the ground brush movement can be rapidly generated by utilizing the coordinates of each steering node.
In some embodiments, calculating a first swept area of the ground brush moving from the first steering node to the second steering node includes: acquiring coordinates of a first steering node and a second steering node; based on the shape of the brush, the planar area of the brush moving straight from the first turning node to the second turning node is calculated and used as the first cleaning area.
Specifically, in the case where the shape of the brush is a cylinder, please refer to fig. 2, the cleaning area moving straight from the first turning node a to the second turning node B is a parallelogram, wherein assuming that the length of the brush is t, the coordinates of the first turning node a are (0, 0), the coordinates of the second turning node B are (r 1×cos α, r1×sin α), the area of the parallelogram is taken as the first cleaning area, and S1 is marked, then the first cleaning area can be calculated:
S1＝r1*sinα*t。
next, a second swept area of the brush moving from the third steering node to the fourth steering node is calculated, comprising:
acquiring coordinates of a third steering node and a fourth steering node;
based on the shape of the brush, the planar area of the brush moving straight from the third turning node to the fourth turning node is calculated and used as the second cleaning area.
Also, in the case where the shape of the ground brush is a cylinder, please refer to fig. 2, the cleaning area moving straight from the third steering node C to the fourth steering node D is another parallelogram, where the coordinates of the third steering node C are (r1×cosα+r2×cosβ, r1×sinα+r2×sinβ), the coordinates of the fourth steering node D are (r1×cosα+r2×cosβ+r3×cosγ, r1×sinα+r2×sβ+r3×sinγ), and the other parallelogram is taken as the second cleaning area, and S2 is marked, then the second cleaning area can be calculated:
S2＝r3*sinγ*t。
in some embodiments, calculating the overlap area of the first swept area and the second swept area includes: calculating all vertex coordinates of the shapes of the first cleaning area and the second cleaning area; based on the vertex coordinates, a coincident area of the first cleaning area and the second cleaning area is determined.
In practical applications, the implementation of calculating the overlapping area of two known shapes is not unique, and here, a specific embodiment of calculating the overlapping area S0 of the cleaning area S1 and the second cleaning area S2 is given in connection with fig. 2.
Referring to fig. 2, the shape of the floor brush is a cylinder, the shapes of the first cleaning area S1 and the second cleaning area S2 are both parallelograms, wherein four vertexes of the parallelogram where the first cleaning area S1 is located are a, b, c, d, and four vertexes of the parallelogram where the second cleaning area S2 is located are e, f, g, h. Then, it can be calculated that:
a has a coordinate (-t/2, 0);
b has the coordinates of (t/2, 0);
c has the coordinates of (r1×cosα+t/2, r1×sinα);
d has the coordinates of (r 1. Times. Cos alpha. -t/2, r 1. Times. Sin alpha.);
e has the coordinates of (r1×cosα+r2×cosβ -t/2, r1×sinα+r2×sinβ);
the coordinates of f are (r1×cosα+r2×cosβ+t/2, r1×sinα+r2×sinβ);
the coordinates of g are (r1+r2+r3+rβ+rγ+t/2, r1+r2+r3+rβ_sjγ;
the coordinates of h are (r1×cosα+r2×cosβ+r3×cosγ -t/2, r1×sinα+r2×sinβ+r3×sinγ).
On this basis, the intersection points of the four sides ab, bc, cd and da of the quadrangle where the first cleaning area S1 is located and the four sides ef, fg, gh, he of the quadrangle where the second cleaning area S2 is located can be calculated in sequence, so that the intersection points of the quadrangle where the first cleaning area S1 and the second cleaning area S2 are located can be determined.
For example, assuming that x1=r1×cos α+r2×cos β -t/2, y1=r1×sin α+r2×sin β, x2=r1×cos α+r2×cos β+r3×cos γ -t/2, y2=r1×sin α+r2×sin β+r3×sin γ, the coordinates of the two vertices e, h are reduced to (x 1, y 1) and (x 2, y 2), respectively, the he linear equation can be obtained as:
y＝(y2-y1)*x/(x2-x1)+(y1-y2)*x1/(x2-x1)+y1；
assuming that k1= (y 2-y 1)/(x 2-x 1), b1= (y 1-y 2) ×1/(x 2-x 1) +y1, the he straight line equation can be simplified as: y=k1 x+b1.
Similarly, assuming that x3=r1×cos α+t/2, y3=r1×sin α, x4=r1×cos α -t/2, y4=r1×sin α, the coordinates of the two vertices c and d are respectively reduced to (x 3, y 3) and (x 4, y 4), the cd linear equation can be obtained as:
y＝(y4-y3)*x/(x4-x3)+(y3-y4)*x3/(x4-x3)+y3；
assuming that k2= (y 4-y 3)/(x 4-x 3), b2= (y 3-y 4) ×3/(x 4-x 3) +y3, the cd linear equation can be simplified as: y=k2 x+b2.
Next, the two equations are combined into a system of equations:
by calculating the solution of this equation set (1), the coordinates of the intersection point k of the two straight lines he and cd can be obtained. Obviously, the coordinates of the intersection point j of the straight lines bc and ef can also be calculated by adopting the same method, and are not described herein.
Further, after the coordinates of the intersections k and j are obtained, the coordinates of the four vertices e, j, c, k of the quadrangle where the overlapping area S0 is located are obtained. Then, given that the implementation of the area calculation of the vertex coordinates of any quadrilateral is not unique, a specific implementation is given below.
Assume that the coordinates of the four vertices e, j, c, k are:
e(x1，y1)；
j(x6，y6)；
c(x3，y3)；
k(x5，y5)；
wherein, four vertices e, j, c, k can be sequentially connected into any quadrilateral ejck, and then the quadrilateral ejck (area) = Δabc+Δacd can be calculated:
Δabc (area) =1/2 (x1y6+x6y3+x3y1-x1y3+x6y1+x3y6);
Δacd (area) =1/2 (x1y3+x3y5+x5y1-x1y5+x3y1+x5y3).
From this, it can be seen that by the specific embodiment provided in the examples above, the overlapping area of arbitrary shapes can be calculated.
In some embodiments, for the control method of the cleaning apparatus provided in fig. 1, the operation state of the cleaning apparatus includes a power gear, a rotation speed gear of a motor in the cleaning apparatus, and a spray amount gear of the cleaning apparatus, and automatically adjusting the operation state of the cleaning apparatus based on a result of the comparison includes: under the condition that the ratio is greater than or equal to a first ratio threshold, the power gear, the rotating speed gear or/and the liquid spraying amount gear of the cleaning equipment are increased by one gear; under the condition that the proportion is smaller than or equal to a second proportion threshold value, reducing the power gear, the rotating speed gear or/and the liquid spraying amount gear of the cleaning equipment by one gear; under the condition that the proportion is smaller than the first proportion threshold value and larger than the second proportion threshold value, the power gear, the rotating speed gear or/and the liquid spraying amount gear of the cleaning equipment are/is kept unchanged; wherein the first proportional threshold is greater than the second proportional threshold.
Specifically, the power gear, the rotating speed gear and the liquid spraying amount gear can have a plurality of gears, when one gear needs to be increased according to the comparison result, if the gear in which the current working state of the cleaning equipment is located is the highest gear, the current highest gear is kept; in contrast, when the first gear needs to be lowered according to the comparison result, if the gear in which the current working state of the cleaning device is located is already the lowest gear, the current lowest gear is maintained.
Furthermore, the cleaning device differs in the operating state to be adjusted. For example, if the cleaning device is a dust collector, the dust collector is provided with a floor brush, and the motor power gear, the motor rotating speed gear and the like for controlling the suction force in the dust collector can be automatically adjusted based on the comparison result; if the cleaning equipment is an electric mop or a dust collector with a mopping function, the cleaning equipment is provided with a liquid spraying device, and a valve opening and closing gear, a hydraulic valve pressure gear and the like for controlling the liquid spraying decorative liquid spraying amount in the cleaning equipment can be automatically adjusted based on the comparison result; if the cleaning equipment is a floor washer, a floor brush and a liquid spraying device are arranged on some floor washers at the same time, and the motor power gear and the motor rotating speed gear for controlling the suction force in the floor washer can be automatically adjusted based on the comparison result, or/and the valve opening and closing gear and the hydraulic valve pressure gear for controlling the liquid spraying decoration liquid spraying amount in the floor washer can be automatically adjusted.
Specifically, the first proportional threshold and the second proportional threshold may be thresholds that are set in advance according to empirical data or experiments, or may be new thresholds after the thresholds that have been set are adjusted according to user data, which is not limited by the embodiments of the present disclosure.
In some embodiments, the first proportional threshold is generally set between 50% -80%, e.g., the first proportional threshold may be set to 50%, 55%, 60%, 65%, 70%, 75%, 80%, etc.; while the second ratio threshold is typically set below 20% -45%, for example, the second ratio threshold may be set at 45%, 40%, 35%, 30%, 25%, 20%, etc. Preferably, in one embodiment, the first proportional threshold is set to 60% and the second proportional threshold is set to 30%.
In some embodiments, referring to fig. 3, another control method of a cleaning apparatus is provided in an embodiment of the disclosure, including:
s310, detecting the contact state of the floor brush and the ground in real time when the cleaning equipment works, wherein the contact state comprises a ground separation state and a ground contact state;
s321, stopping executing the control method of the cleaning device in FIG. 1 under the condition that the floor brush is in a ground-leaving state, and returning to S310;
s322, judging whether the ground brush is grounded after being lifted off under the condition that the ground brush is in a grounded state;
s3221, if yes, re-determining the track starting point of the movement of the floor brush, and starting to execute the control of the cleaning equipment, returning to S310;
s3222, if not, continues to execute the control method of the cleaning apparatus in fig. 1, and returns to S310.
Specifically, the brush of the cleaning device needs to be kept to be continuously moved close to the ground, the control method of the cleaning device in fig. 1 can work normally, and once the brush is detected to leave the ground, the control method of the cleaning device is stopped; when the brush touches the ground again, the origin is redetermined with the touched position, and the control method of the cleaning apparatus of fig. 1 is re-performed.
According to the technical scheme provided by the embodiment of the disclosure, the running state of the control method of the cleaning equipment is adjusted in real time by detecting the contact state of the floor brush and the ground in real time, so that the situation of incorrect adjustment or wrong adjustment of the control method of the cleaning equipment is avoided.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not constitute any limitation on the implementation process of the embodiments of the disclosure.
The following are device embodiments of the present disclosure that may be used to perform method embodiments of the present disclosure. For details not disclosed in the embodiments of the apparatus of the present disclosure, please refer to the embodiments of the method of the present disclosure.
Fig. 4 is a schematic view of a control device of a cleaning apparatus according to an embodiment of the present disclosure. As shown in fig. 4, the control device of the cleaning apparatus includes:
a track acquisition module 401 configured to acquire a track of continuous movement of the ground brush on the ground, the track including a plurality of steering nodes, each steering node being a turning point of the ground brush moving in a reverse direction;
an area calculation module 402 configured to calculate a first swept area of the ground brush moving from the first steering node to the second steering node and a second swept area of the ground brush moving from the third steering node to the fourth steering node with a start point of the trajectory as a first steering node, and take the fourth steering node as a new first steering node;
a coincidence calculating module 403 configured to calculate a coincidence area of the first cleaning area and the second cleaning area;
a ratio calculation module 404 configured to calculate a ratio of the overlapping area to the first cleaning area;
the state control module 405 is configured to compare the ratio with a preset ratio threshold and automatically adjust the operating state of the cleaning device based on the result of the comparison.
According to the technical scheme provided by the embodiment of the disclosure, the working state of the cleaning equipment is regulated by calculating the superposition degree of the cleaning areas of the floor brush after passing through different steering nodes in the continuous moving process, so that the working state of the cleaning equipment can be adaptively changed along with the moving action change of the floor brush on the ground, the trouble of manually regulating the working state of the cleaning equipment in the cleaning process is eliminated, the user operation is simplified, and the use of the cleaning equipment is more intelligent.
In some embodiments, the control device of the cleaning apparatus further comprises:
a touchdown detection module 406 configured to detect in real time a contact state of the floor brush with the floor surface when the cleaning device is in operation, wherein the contact state includes a touchdown state and a touchdown state;
a first control module 407 configured to stop executing the control method of the cleaning apparatus in the case that the floor brush is in a ground-off state, and return to detecting the contact state of the floor brush with the ground in real time when the cleaning apparatus is in operation;
the second control module 408 is configured to determine, when the ground brush is in the ground contact state, whether the ground brush is ground contact after being lifted off: if yes, the starting point of the track of the movement of the ground brush is determined again, a control method of the cleaning equipment is started to be executed, and the contact state of the ground brush and the ground when the cleaning equipment works is detected in real time; if not, continuing to execute the control method of the cleaning equipment, and returning to real-time detection of the contact state of the floor brush and the ground when the cleaning equipment works.
In some embodiments, the track acquisition module 401 in fig. 4 establishes a coordinate system with the origin of the track of the brush movement as the origin; acquiring the direction, the angular speed and the mileage of the ground brush moving on the ground; determining a steering node of the moving track based on the azimuth; calculating coordinates of the steering node based on the angle and mileage; and generating a track of the linear movement of the ground brush along the steering node based on the coordinates of the steering node.
In some embodiments, the area calculation module 402 in fig. 4 obtains coordinates of the first steering node and the second steering node; based on the shape of the brush, the planar area of the brush translating from the first steering node to the second steering node is calculated and taken as the first swept area.
In some embodiments, the area calculation module 402 in fig. 4 obtains coordinates of the third steering node and the fourth steering node; based on the shape of the brush, the planar area of the brush translating from the third steering node to the fourth steering node is calculated and taken as the second swept area.
In some embodiments, coincidence calculation module 403 in fig. 4 calculates all vertex coordinates of the shape in which each of the first swept area and the second swept area is located; based on the vertex coordinates, a coincident area of the first cleaning area and the second cleaning area is determined.
In some embodiments, the operating state includes a power gear, a rotational speed gear of a motor in the cleaning device, or/and a spray amount gear of a spray valve in the cleaning device, and the state control module 405 in fig. 4 is configured to raise the power gear, the rotational speed gear, or/and the spray amount gear of the motor in the cleaning device by one gear if the ratio is greater than or equal to the first ratio threshold; under the condition that the proportion is smaller than or equal to a second proportion threshold value, reducing the power gear, the rotating speed gear or/and the liquid spraying amount gear of the cleaning equipment by one gear; under the condition that the proportion is smaller than the first proportion threshold value and larger than the second proportion threshold value, the power gear, the rotating speed gear or/and the liquid spraying amount gear of the cleaning equipment are/is kept unchanged; wherein the first proportional threshold is greater than the second proportional threshold.
In some embodiments, the first ratio threshold is 50% -80% and the second ratio threshold is 20% -45%.
Referring to fig. 5, an embodiment of the present disclosure provides a cleaning apparatus 5, the cleaning apparatus 5 including at least: a floor brush 51, an encoder 52 and a control device 53. The brush 51 is provided with an angular velocity sensor and an azimuth sensor (not shown in fig. 5, in practice, the angular velocity sensor and the azimuth sensor may be disposed on a control device), the encoder 52 is disposed on a roller side of the brush 51, and the control device 53 is electrically connected to the angular velocity sensor, the azimuth sensor and the encoder 52, respectively.
In practical applications, the cleaning device 5 may be a vacuum cleaner, an electric mop, a floor washing machine, and the like, which is not limited by the embodiments of the present disclosure.
As shown in fig. 6, the control device 53 may include: a processor 601, a memory 602 and a computer program 603 stored in the memory and executable on the processor. The processor 601, when executing the computer program 603, implements the steps in the control method embodiment of each cleaning apparatus described above, for example, steps S101 to S105 shown in fig. 1. Alternatively, the processor 601, when executing the computer program 603, performs the functions of the modules/units of the apparatus embodiments described above, for example, the functions of the modules 401 to 405 shown in fig. 4.
The processor 601 may be a central processing unit (Central Processing Unit, CPU) or other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like.
The memory 602 may be an internal storage unit of the control device 53, for example, a hard disk or a memory of the control device 53. The memory 602 may be an external storage device of the control apparatus 53, for example, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like provided on the control apparatus 53. The memory 602 may also comprise both an internal memory unit of the control device 53 and an external memory means. The memory 602 is used to store computer programs and other programs and data required for controlling the device.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present disclosure may implement all or part of the flow of the method of the above-described embodiments, or may be implemented by a computer program to instruct related hardware, and the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of the method embodiments described above. The computer program may comprise computer program code, which may be in source code form, object code form, executable file or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.
The above embodiments are merely for illustrating the technical solution of the present disclosure, and are not limiting thereof; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the disclosure, and are intended to be included in the scope of the present disclosure.
Claims (10)
1. A control method of a cleaning apparatus, comprising:
acquiring a track of continuous movement of the ground brush on the ground, wherein the track comprises a plurality of steering nodes, and each steering node is a turning point of the reverse movement ground brush;
calculating a first cleaning area of the ground brush moving from a first steering node to a second steering node and a second cleaning area of the ground brush moving from a third steering node to a fourth steering node by taking a starting point of the track as a first steering node, and taking the fourth steering node as a new first steering node;
calculating the superposition area of the first cleaning area and the second cleaning area;
calculating the proportion of the overlapping area to the first cleaning area;
comparing the proportion with a preset proportion threshold value, and automatically adjusting the working state of the cleaning equipment based on the comparison result.
2. The control method of a cleaning apparatus according to claim 1, characterized by further comprising:
detecting the contact state of the floor brush and the ground when the cleaning equipment works in real time, wherein the contact state comprises a ground separation state and a ground contact state;
stopping executing the control method of the cleaning device in the case that the floor brush is in a ground-off state;
under the condition that the ground brush is in a ground contact state, judging whether the ground brush is ground contacted after being separated from the ground: if yes, re-determining the track starting point of the movement of the ground brush, and executing the control method of the cleaning equipment; if not, continuing to execute the control method of the cleaning equipment.
3. The control method of a cleaning apparatus according to claim 1, wherein acquiring a track of continuous movement of the floor brush on the floor surface comprises:
a coordinate system is established by taking the starting point of a track of the movement of the ground brush as an origin;
acquiring the direction, the angular speed and the mileage of the ground brush moving on the ground;
determining a steering node of the track of the ground brush movement based on the azimuth;
calculating coordinates of the steering node based on the angular velocity and mileage;
and generating a track of the linear movement of the ground brush along the steering node based on the coordinates of the steering node.
4. A control method of a cleaning apparatus according to claim 3, wherein calculating a first swept area of the brush moving from a first steering node to a second steering node comprises:
acquiring coordinates of a first steering node and a second steering node;
based on the shape of the brush, the planar area of the brush translating from the first steering node to the second steering node is calculated and taken as a first swept area.
5. The control method of the cleaning apparatus according to claim 4, wherein calculating a second sweeping area of the brush moving from the third steering node to the fourth steering node includes:
acquiring coordinates of a third steering node and a fourth steering node;
based on the shape of the brush, a planar area of the brush translating from the third steering node to the fourth steering node is calculated and used as a second swept area.
6. The control method of the cleaning apparatus according to claim 5, wherein calculating a coincidence area of the first cleaning area and the second cleaning area includes:
calculating all vertex coordinates of the shapes of the first cleaning area and the second cleaning area;
and determining the superposition area of the first cleaning area and the second cleaning area based on the vertex coordinates.
7. The control method of a cleaning apparatus according to any one of claims 1 to 6, wherein the operation state includes a power gear, a rotation speed gear of a motor in the cleaning apparatus, or/and a spray amount gear of a spray valve in the cleaning apparatus;
automatically adjusting an operating state of the cleaning device based on a result of the comparison, comprising:
under the condition that the ratio is larger than or equal to a first ratio threshold, the power gear, the rotating speed gear or/and the spraying liquid amount gear of the cleaning equipment are increased by one gear;
when the ratio is smaller than or equal to a second ratio threshold value, reducing the power gear, the rotating speed gear or/and the liquid spraying amount gear of the cleaning equipment by one gear;
under the condition that the ratio is smaller than a first ratio threshold value and larger than a second ratio threshold value, keeping the power gear, the rotating speed gear or/and the liquid spraying amount gear of the cleaning equipment unchanged;
wherein the first proportional threshold is greater than the second proportional threshold.
8. The control method of a cleaning apparatus according to claim 7, wherein the first proportional threshold is 50% -80% and the second proportional threshold is 20% -45%.
9. A control device of a cleaning apparatus, comprising:
the track acquisition module is configured to acquire a track of continuous movement of the ground brush on the ground, wherein the track comprises a plurality of steering nodes, and each steering node is a turning point of the ground brush which moves reversely;
an area calculation module configured to calculate a first cleaning area of the brush moving from a first steering node to a second steering node and a second cleaning area of the brush moving from a third steering node to a fourth steering node with a start point of the trajectory as a first steering node, and take the fourth steering node as a new first steering node;
a coincidence calculating module configured to calculate a coincidence area of the first cleaning area and the second cleaning area;
a ratio calculation module configured to calculate a ratio of the overlapping area to the first cleaning area;
and the state control module is configured to compare the proportion with a preset proportion threshold value and automatically adjust the working state of the cleaning equipment based on the comparison result.
10. A cleaning apparatus comprising at least:
the ground brush is provided with an angular velocity sensor and an azimuth sensor;
the encoder is arranged on the roller of the ground brush;
a control device electrically connected to the angular velocity sensor, the azimuth sensor, and the encoder, respectively, the control device comprising: memory, a processor and a computer program stored in the memory and executable on the processor, which when executed by the processor, performs the steps of the method according to any of claims 1 to 8.
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