CN116763206A

CN116763206A - Control method and device for cleaning device and storage medium

Info

Publication number: CN116763206A
Application number: CN202210242575.9A
Authority: CN
Inventors: 郭振科; 杨雯
Original assignee: Dreame Innovation Technology Suzhou Co Ltd
Current assignee: Dreame Innovation Technology Suzhou Co Ltd
Priority date: 2022-03-11
Filing date: 2022-03-11
Publication date: 2023-09-19

Abstract

The application belongs to the technical field of cleaning equipment, and particularly relates to a control method and equipment of cleaning equipment and a storage medium, wherein the method comprises the following steps: in response to the mode adjustment instruction, controlling the target cleaning assembly to operate in a first operating mode; determining a second operating mode of the cleaning assembly based on a pattern matching relationship between the target cleaning assembly and the other cleaning assemblies; the cleaning assembly is controlled to operate in a second mode of operation. The problem that the cleaning equipment has lower flexibility due to fixed working mode can be solved; the cleaning equipment is controlled to work according to the working modes determined by the mode matching relation, so that the cleaning components can be cleaned by using the optimal mode matching relation, the flexibility of the cleaning equipment in working can be improved, meanwhile, the second working mode of the other part of cleaning components is automatically determined according to the first working mode of the part of cleaning components, thus, a user does not need to adjust the working modes of all the cleaning components, and the adjusting efficiency of the working modes is improved.

Description

Control method and device for cleaning device and storage medium

Technical Field

The application belongs to the technical field of cleaning equipment, and particularly relates to a control method and equipment of cleaning equipment and a storage medium.

Background

At present, cleaning devices are often provided with various cleaning assemblies which cooperate with each other to perform a cleaning operation or to perform a self-cleaning operation. Such as: the floor washing machine comprises a water spraying mechanism, a water absorbing mechanism and a cleaning mechanism, wherein the water spraying mechanism, the water absorbing mechanism and the cleaning mechanism are mutually matched to work.

Conventional cleaning devices typically control each cleaning assembly to operate in a fixed mode of operation.

However, the fixed mode of operation of the cleaning assembly can lead to problems with lower flexibility of the cleaning apparatus.

Disclosure of Invention

The application provides a control method, equipment and storage medium of cleaning equipment, which can solve the problem that the cleaning equipment has lower flexibility due to the fixed working mode of a cleaning component in the cleaning equipment. The application provides the following technical scheme.

In a first aspect, a control method of a cleaning device is provided, the cleaning device includes n cleaning components, the n cleaning components include a water spraying mechanism, a water absorbing mechanism and a cleaning mechanism, the n cleaning components work in cooperation with each other, and n is an integer greater than 1; the method comprises the following steps:

responding to a mode adjusting instruction of a target cleaning component in the n cleaning components, and controlling the target cleaning component to work according to a first working mode indicated by the mode adjusting instruction; the number of target cleaning assemblies is less than n;

Determining a second operating mode of the other cleaning component based on a pattern matching relationship between the target cleaning component and the other cleaning component, the pattern matching relationship indicating that the second operating mode matches the first operating mode;

and controlling the other cleaning components to work according to the second working mode.

Optionally, before determining the second operation mode of the other cleaning component based on the pattern matching relationship between the target cleaning component and the other cleaning component, the method further includes:

and under the condition that at least two pattern matching relations are obtained, determining the pattern matching relation used at the present time from the at least two pattern matching relations.

Optionally, the determining the pattern matching relationship used at this time from the at least two pattern matching relationships includes:

and adopting the pattern matching relation with the highest use frequency from the at least two pattern matching relations as the pattern matching relation used at this time.

Acquiring a pattern matching relation sent by other equipment after the last work to obtain the pattern matching relation used in the current work;

or alternatively, the process may be performed,

acquiring a history use record of the cleaning equipment, wherein the history use record comprises a history working mode and a history equipment state used during each working; acquiring the current equipment state of the cleaning equipment; and determining a pattern matching relation used in the current work based on the current equipment state and the history use record.

Optionally, the method further comprises:

determining the surface type of the surface to be cleaned when the cleaning equipment works this time;

a mode adjustment instruction for the target cleaning assembly is determined based on the surface type.

Optionally, the cleaning assembly comprises a water spraying mechanism, a water absorbing mechanism and a cleaning mechanism; the target cleaning assembly includes the cleaning mechanism; the mode adjustment instructions for determining the target cleaning assembly based on the surface type comprise:

and determining the working power of the cleaning mechanism based on the surface types, wherein the working power and the friction force corresponding to the surface types are in positive correlation, and the friction forces corresponding to different surface types are different.

Optionally, the method further comprises:

determining environment information of a working environment of the cleaning equipment when the cleaning equipment works;

a mode adjustment instruction for the target cleaning component and the target cleaning component is determined based on the environmental information.

Optionally, the cleaning assembly comprises a main cleaning mechanism and an auxiliary cleaning mechanism, wherein the main cleaning mechanism comprises a water spraying mechanism, a water absorbing mechanism and a cleaning mechanism; the auxiliary cleaning mechanism comprises a steam generating mechanism, a sterilizing mechanism and/or an odor adjusting mechanism;

the target cleaning assembly includes at least one of the primary cleaning mechanisms; alternatively, the target cleaning assembly includes at least one of the primary cleaning mechanisms and at least one of the secondary cleaning mechanisms.

Optionally, after controlling the other cleaning assembly to operate in the second operation mode, the method includes:

under the condition that a relation switching key instruction is acquired, determining a third working mode of the other cleaning components by using a pre-stored candidate matching relation; the candidate matching relationship indicates that the third working mode is matched with the first working mode;

and controlling the other cleaning components to work according to the third working mode.

In a second aspect, there is provided a cleaning apparatus comprising:

n cleaning components which are matched with each other to work, wherein n is an integer greater than 1;

the method comprises the steps of,

a processor and a memory; the processor is respectively connected with the cleaning component and the memory in a communication way; the memory stores therein a program loaded and executed by the processor to realize the control method of the cleaning apparatus according to the first aspect.

In a third aspect, a computer-readable storage medium is provided, characterized in that the storage medium has stored therein a program which, when executed by a processor, is adapted to carry out the method of controlling a cleaning device according to the first aspect.

The application has the beneficial effects that: by firstly carrying out mode adjustment on the target cleaning components in the n cleaning components, determining the working modes of other cleaning components in the n cleaning components according to the mode matching relation after adjustment, and controlling the other cleaning components to work according to the working modes determined by the mode matching relation, the cleaning components can carry out cleaning work in a targeted mode by using the optimal mode matching relation, and the flexibility of the cleaning equipment in working can be improved unlike the conventional cleaning equipment which generally controls each cleaning component to work according to the fixed working mode. At the same time, a second operating mode of the other part of the cleaning assembly is automatically determined according to the first operating mode of the part of the cleaning assembly. Thus, the user does not need to adjust the working modes of all the cleaning components, and the adjusting efficiency of the working modes of the cleaning components is improved.

In addition, since the cleaning device may encounter surfaces to be cleaned with different dirt levels or different friction forces when performing cleaning operation, in this embodiment, by determining the mode adjustment instruction of the target cleaning component based on the surface type cleaned during operation of the cleaning device, the target cleaning component can be controlled to operate in different first operation modes for different surfaces to be cleaned, so that the operation mode suitable for the surfaces to be cleaned is used, and the intelligent degree of the device can be improved.

In addition, since the cleaning device may perform cleaning operations in different environments, in this embodiment, by determining the target cleaning component and the mode adjustment instruction of the target cleaning component based on the environmental parameters, the target component to be cleaned may be automatically selected and the working power of the target component to be cleaned may be determined according to the acquired environmental parameters, so that the device may be operated in a working mode suitable for the type of environment, and the degree of intellectualization of the device may be improved.

In addition, since the cleaning device has different device states during each cleaning, in this embodiment, the best pattern matching relationship can be ensured to be used by the cleaning device in different device states by determining the pattern matching relationship used in the current work based on the current device state and the history use record, so that the intelligent degree of the cleaning device can be further improved.

In addition, since the cleaning device may have a plurality of pattern matching relationships when selecting the pattern matching relationship, in this embodiment, the cleaning efficiency during the cleaning operation may be ensured by selecting the pattern matching relationship with the highest frequency of use, and the user may change the pattern matching relationship according to the cleaning effect when performing the cleaning operation until the cleaning effect may reach the expected effect, in other words, the pattern matching relationship with the highest frequency of use is the pattern matching relationship selected the most by the user, so that the pattern matching relationship has a better cleaning effect.

In addition, because the problem that the expected cleaning effect cannot be achieved when the second working mode matched with the mode matching relation is used for working may occur, in this embodiment, the mode matching relation can be switched through the relation switching key to control other cleaning components to work according to the third working mode, so that the cleaning effect can be guaranteed to achieve the expected state, and the intelligent degree of the cleaning equipment is further improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a cleaning apparatus according to one embodiment of the present application;

FIG. 2 is a flow chart of a method of controlling a cleaning apparatus provided in one embodiment of the present application;

FIG. 3 is a block diagram of a control device provided in one embodiment of the present application;

fig. 4 is a block diagram of a cleaning apparatus provided in one embodiment of the application.

Detailed Description

The following description of the embodiments of the present application will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the application are shown. The application will be described in detail hereinafter with reference to the drawings in conjunction with embodiments. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.

In the application, unless otherwise indicated, terms of orientation such as "upper, lower, top, bottom" are used generally with respect to the orientation shown in the drawings or with respect to the component itself in the vertical, vertical or gravitational direction; also, for ease of understanding and description, "inner and outer" refers to inner and outer relative to the profile of each component itself, but the above-mentioned orientation terms are not intended to limit the present application.

Fig. 1 is a schematic structural diagram of a cleaning apparatus according to an embodiment of the present application, where the cleaning apparatus may be a cleaning apparatus for cleaning a surface to be cleaned, such as a floor scrubber, a sweeper, etc., and the embodiment does not limit the type of the cleaning apparatus. The surface to be cleaned may be a floor, a table top, a wall, a solar cell surface, etc., and the type of the surface to be cleaned is not limited in this embodiment.

As can be seen from fig. 1, the cleaning apparatus comprises at least a main cleaning mechanism and a processor 140, and the mode adjustment of the target cleaning assembly comprises mode adjustment of at least one cleaning assembly of the main cleaning mechanism.

The main cleaning mechanism is a mechanism which plays a main cleaning function in the process of cleaning or self-cleaning of the cleaning equipment; or a mechanism having a cleaning function that must be used in performing a cleaning operation or a self-cleaning operation. The main cleaning mechanism comprises n cleaning components, wherein n is an integer greater than 1.

Taking the cleaning equipment as a floor cleaning machine for example, when the floor cleaning machine executes cleaning work or self-cleaning work, the floor cleaning effect cannot be achieved unless the cleaning mechanism is started, so the cleaning mechanism belongs to a main cleaning mechanism of the floor cleaning machine. Wherein the cleaning mechanism 110 contacts the surface to be cleaned when the cleaning apparatus performs a cleaning operation to clean the surface to be cleaned.

Optionally, the cleaning mechanism 110 includes a drive member and a cleaning member coupled to the drive member. The driving piece is used for driving the cleaning piece to move so as to enable the cleaning piece to be in contact with the surface to be cleaned, and the surface to be cleaned is cleaned. The cleaning piece can be a brush, a rolling brush or rag, etc.; the number of cleaning members may be one or at least two, and the present embodiment is not limited to the implementation and the number of cleaning members.

If the water spraying mechanism 120 on the floor washing machine is not started, only the water absorbing mechanism 130 and the cleaning mechanism 110 are started; since the surface to be cleaned is free from water stains, the water absorbing mechanism 130 has only a function of absorbing dust. Therefore, the water spray mechanism 120 also belongs to the main cleaning mechanism of the floor scrubber. The water spray mechanism 120 has one end directed toward the cleaning mechanism 110 to deliver cleaning liquid in a clean water tank of the cleaning apparatus to the cleaning mechanism.

Illustratively, the water spray mechanism 120 includes a water pump and a water conduit connected to the water pump. The water pump is located in the water delivery pipeline, one end of the water delivery pipeline is connected with the clean water tank, and the other end of the water delivery pipeline faces the cleaning mechanism 110 (specifically, the water delivery pipeline can be a cleaning piece in the cleaning mechanism 110).

In addition, if the water sucking mechanism 130 on the floor washing machine is not started, but only the water spraying mechanism 120 and the cleaning mechanism 110 are started, excessive water stains on the surface to be cleaned may be caused. Therefore, the water absorbing mechanism 130 also belongs to the main cleaning mechanism of the floor washing machine. The water suction mechanism 130 is used for sucking and transporting sewage generated during operation to the sewage tank.

Illustratively, the water absorbing mechanism 130 includes a water absorbing motor (or main motor) and a water absorbing pipe connected to the water absorbing motor. Wherein the water suction motor is located in a water suction pipe, one end of the water suction pipe is connected with the sewage tank, and the other end of the water suction pipe faces the cleaning mechanism 110 (specifically, the cleaning member in the cleaning mechanism 110).

In summary, where the cleaning apparatus is a floor washer, the primary cleaning mechanism includes, but is not limited to, the following: a cleaning mechanism 110, a water spraying mechanism 120, and a water absorbing mechanism 130.

It should be noted that, when the cleaning apparatus is another type of apparatus, the type of the main cleaning mechanism may be determined according to the mechanism having the cleaning function that must be activated when the cleaning apparatus performs the cleaning operation, which is not exemplified herein.

Optionally, the cleaning device further comprises an auxiliary cleaning mechanism. The auxiliary cleaning mechanism refers to a mechanism which is not necessarily started during the cleaning operation or the self-cleaning operation of the cleaning device. Such as: the auxiliary cleaning mechanism includes, but is not limited to, at least one of the following: a steam generating mechanism 150, a sterilizing mechanism 160, and an odor adjusting mechanism 170.

Taking the cleaning apparatus as an example of a floor washer, the steam generating mechanism 150 is not necessarily a mechanism that is activated during the cleaning operation or the self-cleaning operation performed by the floor washer. Thus, the steam generating mechanism 150 is an auxiliary cleaning mechanism. Wherein the steam generating mechanism 150 sprays steam to the surface to be cleaned to sterilize and disinfect the surface to be cleaned when the cleaning apparatus performs a cleaning operation.

Illustratively, the steam generating mechanism 150 includes a steam box and a steam delivery conduit that delivers steam. Wherein one end of the steam delivery pipe is connected with the steam box, and the other end faces the cleaning mechanism 110.

In addition, the sterilization mechanism 160 is not necessarily a mechanism that is activated during the cleaning operation or the self-cleaning operation of the floor washing machine, and thus, the sterilization mechanism 160 is an auxiliary cleaning mechanism. Wherein the sterilizing mechanism 160 sprays a sterilizing liquid to the surface to be cleaned to sterilize the surface to be cleaned when the cleaning apparatus performs a cleaning operation.

Illustratively, the sterilizing mechanism 160 includes a sterilizing liquid storage tank and a sterilizing liquid delivery conduit which delivers a sterilizing liquid. Wherein one end of the sterilizing liquid delivery pipe is connected to the sterilizing liquid storage tank and the other end is directed toward the cleaning mechanism 110.

In addition, the odor control mechanism 170 is not necessarily activated during the cleaning operation or the self-cleaning operation of the floor washing machine, and thus, the odor control mechanism 170 is an auxiliary cleaning mechanism. Wherein the odor adjusting mechanism 170 sprays an odor adjusting liquid to the surface to be cleaned to remove an odor of the surface to be cleaned when the cleaning apparatus performs a cleaning operation.

Illustratively, the odor adjustment mechanism 170 includes an odor adjustment liquid storage tank and an odor adjustment liquid delivery conduit that delivers the odor adjustment liquid. Wherein one end of the odor control liquid delivery conduit is connected to the odor control liquid storage case and the other end is directed toward the cleaning mechanism 110.

In this embodiment, the processor 140 is coupled to both the primary cleaning mechanism and the secondary cleaning mechanism. The processor 140 may be implemented as a single chip or a microcomputer, and the implementation of the processor 140 is not limited in this embodiment.

In this embodiment, the processor 140 is configured to: responding to a mode adjusting instruction of a target cleaning component in the n cleaning components, and controlling the target cleaning component to work according to a first working mode indicated by the mode adjusting instruction; determining a second working mode of the other cleaning components based on a pattern matching relationship between the target cleaning component and the other cleaning components, the pattern matching relationship indicating that the second working mode is matched with the first working mode; the other cleaning assemblies are controlled to operate in a second mode of operation.

Wherein the number of target cleaning assemblies is less than n. That is, the processor 140 automatically determines a second mode of operation of the other partial-cleaning assembly based on the first mode of operation of the partial-cleaning assembly. Thus, the user does not need to adjust the working modes of all the cleaning components, and the adjusting efficiency of the working modes of the cleaning components is improved.

Optionally, the target cleaning assembly comprises at least one of a primary cleaning mechanism; alternatively, the target cleaning assembly includes at least one of a primary cleaning mechanism and at least one of a secondary cleaning mechanism.

Alternatively, the cleaning apparatus may automatically generate a mode adjustment instruction for the target cleaning assembly based on the type of surface on which the operation is performed. At this point, the cleaning device needs to first determine the surface type.

The manner in which the cleaning device determines the type of surface includes: the type of surface to be cleaned is determined based on the sensed data collected by the sensing assembly 180. Alternatively, the type of surface to be cleaned is determined based on operating parameters of the drive member in the cleaning mechanism.

Wherein the sensing assembly 180 is coupled to the processor 140 to transmit the collected sensed data to the processor 140 for the processor 140 to determine the type of surface to be cleaned based on the sensed data.

Alternatively, the sensing component 180 may be a first sensor, and the first sensor may be a camera, an infrared sensing camera, or a laser radar sensing camera, etc. with a color system (Red Green Blue) detection function, and the type of the first sensor is not limited in this embodiment.

Accordingly, the first sensor may acquire a surface image of the surface to be cleaned and send to the processor 140, and the processor 140 receives the surface image and identifies to determine the surface type.

And/or the sensing component 180 may be a second sensing component, and the second sensing component may be an infrared emitter and an infrared receiver, a radar emitter and a radar receiver, etc., which is not limited in type in the present embodiment.

Accordingly, the cleaning device may determine the surface type based on the signal characteristics transmitted and received by the second sensing assembly.

Alternatively, the cleaning device may automatically generate a mode adjustment instruction for the target cleaning assembly based on the type of environment in which the operation is performed. At this time, the cleaning apparatus needs to determine the environment type first.

The manner in which the cleaning device determines the type of surface includes: the type of environment is determined based on the environmental parameters acquired by the parameter acquisition component 190.

Wherein the environmental parameters include humidity, temperature, smoke concentration, bacterial count, odor parameters, time parameters, and/or location parameters of the current operating environment.

Wherein the parameter acquisition component 190 is coupled to the processor 140 to send the acquired environmental parameters to the processor 140 for the processor 140 to determine the type of surface to be cleaned based on the environmental parameters

Optionally, the parameter acquisition component 190 includes, but is not limited to, the following: humidity sensor, temperature sensor, smoke sensor, bacteria sensor, odor sensor, etc.

In actual implementation, the cleaning device may also include other components, such as: the power supply assembly, the mechanism driving assembly, etc., are not listed here for the components comprised by the cleaning device.

The fixed mode of operation of the cleaning assembly in the cleaning device results in a problem of low flexibility of the cleaning device. In this embodiment, the mode adjustment is performed on the target cleaning components in the n cleaning components, the working modes of the other cleaning components in the n cleaning components are determined according to the mode matching relationship after the mode adjustment, and the other cleaning components are controlled to work according to the working modes determined by the mode matching relationship, so that the cleaning components can perform cleaning operation in a targeted manner by using the optimal mode matching relationship, unlike the conventional cleaning equipment which generally controls each cleaning component to work according to the fixed working mode, the flexibility of the cleaning equipment in working can be improved. At the same time, a second operating mode of the other part of the cleaning assembly is automatically determined according to the first operating mode of the part of the cleaning assembly. Thus, the user does not need to adjust the working modes of all the cleaning components, and the adjusting efficiency of the working modes of the cleaning components is improved.

The control method of the cleaning apparatus provided by the present application will be described in detail.

The control method of the cleaning device provided in this embodiment is shown in fig. 2. This embodiment will be described by taking the method for use in the cleaning apparatus shown in fig. 1 as an example, and the cleaning method includes at least the following steps:

In response to the mode adjustment command for the target cleaning component of the n cleaning components, the target cleaning component is controlled to operate in a first operation mode indicated by the mode adjustment command, step 201.

Wherein the number of target cleaning assemblies is less than n. The number of the target cleaning components may be one or at least two, and the number of the target cleaning components is not limited in this embodiment.

Schematically, the mode adjustment instructions are used to adjust the operating power of the target cleaning assembly. In practical implementation, the mode adjustment command may be used to adjust the operating voltage and/or operating current of the target cleaning component, where the adjustment principle is the same as the operating power adjustment principle, and the embodiment does not limit the effect of the mode adjustment command, and in this embodiment, the mode adjustment command is used to adjust the operating power of the target cleaning component as an example.

In one example, where the target cleaning assembly includes a cleaning mechanism, the mode adjustment instructions are used to adjust the operating power of a drive in the cleaning mechanism. Wherein, the working power of the driving piece and the rotating speed of the driving piece are in positive correlation.

Correspondingly, the rotating speed of the cleaning piece connected with the driving piece and the working power of the driving piece are in positive correlation, and at the moment, when the mode of the target cleaning component is adjusted, if the working power of the target cleaning component is increased, the rotating speed of the cleaning mechanism can be increased.

In yet another example, where the target cleaning assembly includes a water spray mechanism, the mode adjustment command is used to adjust the operating power of a water pump in the water spray mechanism. Wherein, the working power of the water pump and the working flow of the water pump are in positive correlation.

Accordingly, the working flow of the water pump and the water spraying amount of the water spraying mechanism are in positive correlation, and at the moment, when the mode of the target cleaning assembly is adjusted, if the working power of the target cleaning assembly is increased, the water spraying amount of the water spraying mechanism can be increased.

In yet another example, where the target cleaning assembly includes a suction mechanism, the mode adjustment command is used to adjust the operating power of a suction motor in the suction mechanism. Wherein, the working power of the water absorption motor and the rotating speed of the water absorption motor are in positive correlation.

Correspondingly, the rotating speed of the water absorption motor connected with the water absorption mechanism is in positive correlation with the water absorption amount of the water absorption mechanism, and at the moment, when the target cleaning assembly is subjected to mode adjustment, if the working power of the target cleaning assembly is increased, the water absorption amount of the water absorption mechanism can be increased.

The manner in which the cleaning assembly obtains the mode adjustment instructions includes, but is not limited to, the following:

First, a mode adjusting button corresponding to the target cleaning component is installed on the cleaning device. Accordingly, the cleaning component generates a mode adjustment instruction upon receiving a trigger operation on the mode adjustment key. Optionally, different target cleaning components correspond to different mode adjustment keys, or different target cleaning components correspond to the same mode adjustment key.

The mode adjusting key may be a physical key installed on the cleaning device, or may be a virtual key displayed by touching the display screen, which is not limited in implementation manner.

Second, the cleaning device receives a mode adjustment instruction of the target cleaning component sent by other devices. The other devices are in communication connection with the cleaning device, and the other devices may be a remote controller, a mobile phone, a tablet computer, a wearable device, etc., and the embodiment does not limit the device types of the other devices.

In practical implementation, the mode adjustment command may be obtained by the cleaning component in other manners, and the embodiment is not limited to the mode adjustment command obtaining manner.

Thirdly, determining the surface type of the surface to be cleaned when the cleaning equipment works this time; a mode adjustment command for the target cleaning assembly is determined based on the surface type of the surface to be cleaned.

In one example, determining a surface type of a surface to be cleaned at a present time of operation of the cleaning apparatus includes: the type of surface to be cleaned is determined based on the operating parameters of the drive member in the cleaning mechanism.

Because the cleaning device is different in resistance to the cleaning mechanism in the cleaning process, the different materials of the surfaces to be cleaned can influence the working parameters of the driving piece. Thus, the surface type of the different surfaces to be cleaned can be determined by taking the operating parameters of the drive member.

The cleaning device has a correspondence between the operating parameter range and the surface type stored therein. Accordingly, determining the surface type based on the operating parameters includes: acquiring a corresponding relation between a working parameter range and a surface type; acquiring working parameters of a driving piece; and searching the surface type corresponding to the working parameter in the corresponding relation between the working parameter range and the surface type.

Such as: taking working parameters as working currents as examples, the surface types corresponding to the working currents of 1.3A-1.5A are hard smooth surfaces, and the surface types corresponding to the working currents of 1.5A-1.7A are short-hair carpet surfaces. At this time, if the operating current of the driving member collected by the cleaning apparatus is 1.4A, the type of the surface is determined to be a hard smooth surface.

In yet another example, determining a surface type of a surface to be cleaned at a present time of operation of the cleaning apparatus includes: the type of surface to be cleaned is determined based on the sensed data collected by the sensing assembly.

Wherein the sensed data comprises image data of the surface to be cleaned, which may be generated based on the point cloud data or acquired by the image acquisition assembly. At this time, determining the type of the surface to be cleaned based on the sensing data collected by the sensing assembly includes: and recognizing the image data by using a surface recognition algorithm to obtain the type of the surface to be cleaned.

The surface recognition algorithm is obtained by training a preset neural network model by using training data.

Optionally, the training data includes a sample surface image and a sample label corresponding to the sample surface image. The sample tag is used to indicate the surface type of the surface in the sample surface image.

Accordingly, the training process of the surface recognition model includes: inputting the sample surface image into a preset neural network model to obtain a training result; inputting a loss function to the sample label corresponding to the training result and the sample surface image to obtain a loss result; training the neural network model based on the loss result to reduce the difference value between the training result and the corresponding sample label until the neural network model converges, and obtaining the surface recognition model.

The neural network model may be a convolutional neural network (Convolutional Neural Networks, CNN), a recurrent neural network (Recursive Neural Network, RNN), a feed forward neural network (Feedforward Neural Network, FNN), and the implementation of the neural network model is not limited in this embodiment.

In another example, when the sensing assembly is a transmitter and a receiver, determining the type of surface to be cleaned based on the sensed data collected by the sensing assembly accordingly includes: transmitting a signal to a surface to be cleaned by a transmitter on the cleaning device; collecting a reflected signal of the signal by a receiver on the cleaning device; the surface type is determined based on signal characteristics of the reflected signal.

Because the signal characteristics of the reflected signals corresponding to different floor materials are different, the cleaning device can determine the surface type according to the different signal characteristics.

The cleaning device has stored therein a correspondence between signal characteristics and surface types. Accordingly, determining the surface type based on the signal characteristics of the reflected signal comprises: acquiring a corresponding relation between signal characteristics and surface types; acquiring signal characteristics of the reflected signals; and searching the corresponding surface type of the signal type in the corresponding relation between the signal characteristic and the surface type.

Optionally, the signal features include signal wavelengths or signal frequencies, and the embodiment is not limited to the type of signal features.

In this embodiment, after determining the type of surface to be cleaned, the mode adjustment instructions of the target cleaning assembly may be determined based on the type of surface. Specifically, determining a mode adjustment instruction for a target cleaning assembly based on a surface type includes: the operating power of the target cleaning assembly is determined based on the surface type.

In one example, the cleaning assembly includes a water spray mechanism, a water suction mechanism, and a cleaning mechanism; the target cleaning assembly includes a cleaning mechanism, at which time a mode adjustment instruction for the target cleaning assembly is determined based on a surface type of a surface to be cleaned, including: the operating power of the cleaning mechanism is determined based on the surface type. The working power and the friction force corresponding to the surface types are in positive correlation, and the friction forces corresponding to different surface types are different.

In another example, the cleaning assembly includes a water spray mechanism, a water suction mechanism, and a cleaning mechanism; the target cleaning assembly includes a water spray mechanism. At this time, a mode adjustment instruction of the target cleaning assembly is determined based on the surface type of the surface to be cleaned, including: the operating power of the water spray mechanism is determined based on the surface type. The working power and the dirt degree corresponding to the surface types are in positive correlation, and the dirt degrees corresponding to different surface types are different.

Because the cleaning device may encounter surfaces to be cleaned with different dirt degrees or different friction forces when performing cleaning work, in this embodiment, by determining the mode adjustment instruction of the target cleaning component based on the surface type to be cleaned when the cleaning device is in operation, the target cleaning component can be controlled to operate in different first operation modes for different surfaces to be cleaned, so that the operation mode suitable for the surfaces to be cleaned is used, and the intelligent degree of the device can be improved.

Fourthly, determining environmental information of the working environment of the cleaning equipment when the cleaning equipment works at this time; the target cleaning component and the mode adjustment instructions for the target cleaning component are determined based on the environmental information.

Determining environmental information of a working environment of the cleaning device when the cleaning device works, including: the environment type is determined based on the environmental parameters collected by the parameter collection component.

The cleaning equipment stores cleaning components corresponding to different environmental parameters and working powers of the cleaning components. After the cleaning equipment acquires the environmental parameters, the currently used target cleaning assembly and the working power of the target cleaning assembly are determined based on the environmental parameters.

In one example, the environmental parameter includes a bacterial concentration. At this time, determining the target cleaning component and the mode adjustment instruction of the target cleaning component based on the environmental parameter includes: and when the bacteria concentration exceeds the concentration threshold, determining that the target cleaning component is a sterilization mechanism, acquiring the working power of the sterilization mechanism corresponding to the bacteria concentration, and generating a mode adjustment instruction based on the working power.

In another example, the environmental parameter includes odor concentration. At this time, determining the target cleaning component and the mode adjustment instruction of the target cleaning component based on the environmental parameter includes: and under the condition that the odor concentration exceeds the concentration threshold value, determining the target cleaning component as an odor adjusting mechanism, acquiring the working power of the odor adjusting mechanism corresponding to the odor concentration, and generating a mode adjusting instruction based on the working power.

Because the cleaning device may perform cleaning operations in different environments, in this embodiment, by determining the target cleaning component and the mode adjustment instruction of the target cleaning component based on the environmental parameters, the target component to be cleaned may be automatically selected and the working power of the target component to be cleaned may be determined according to the acquired environmental parameters, so that the device may be operated in a working mode suitable for the type of environment, and the degree of intellectualization of the device may be improved.

Step 202, determining a second operation mode of the other cleaning component based on a pattern matching relationship between the target cleaning component and the other cleaning component, the pattern matching relationship indicating that the second operation mode matches the first operation mode.

The pattern matching relationship is pre-stored in the cleaning device, and the cleaning device obtains the pattern matching relationship in a manner including but not limited to the following modes:

First, the pattern matching relation sent by other devices after the last work is obtained, and the pattern matching relation used in the current work is obtained.

And after the working is finished, other cleaning equipment sends the pattern matching relation between the target cleaning component and other cleaning components in the working to the server. Correspondingly, the cleaning equipment can acquire the pattern matching relation stored in the server to obtain the pattern matching relation used in the current work.

Secondly, acquiring a history use record of the cleaning equipment, wherein the history use record comprises a history working mode and a history equipment state used during each working; acquiring the current equipment state of the cleaning equipment; and determining a pattern matching relation used at the present time based on the current equipment state and the history use record.

Alternatively, the current device state may be a current electric quantity of the cleaning device, an amount of water in a clean water tank of the cleaning device, and/or a degree of dirt of a cleaning mechanism of the cleaning device, and the present embodiment is not limited to the type of the current device state.

The mode of determining the pattern matching relation used by the current work based on the current equipment state and the history use record includes, but is not limited to, at least one of the following:

First, the current equipment state is input into a pre-trained pattern matching model to obtain a pattern matching relation. The pattern matching model is obtained by training the neural network model by using different equipment states and pattern matching relations corresponding to the equipment states.

Among them, neural network models include, but are not limited to: deep neural network (Deep Neural Network, DNN), recurrent neural network (Recurrent Neural Network, RNN), convolutional neural network (Convolutional Neural Network, CNN), etc., the present embodiment does not limit the type of neural network model.

Secondly, acquiring the working power and the current equipment state of a first working mode of the target cleaning assembly; comparing the current device state with each historical device state in the historical usage record; determining a historical equipment state which is the same as the current equipment state, and taking a historical working mode corresponding to the historical equipment state as a working mode corresponding to the current equipment state; and determining the same pattern matching relation with the first working mode of the target cleaning component in the working modes corresponding to the current equipment state.

Such as: taking the target cleaning assembly as a water spraying mechanism as an example, after the water spraying mechanism is controlled to work according to a first working mode indicated by a mode adjusting instruction, the working power of the water spraying mechanism is 5W. At this time, the history use record of the cleaning device includes different pattern matching relations corresponding to the working power of the water spraying mechanism of 5W, and at the same time, the history use record also includes different pattern matching relations corresponding to the working power of the water spraying mechanism of 5W in different device states. Taking the equipment state as the water quantity of the clean water tank as an example, at the moment, the history use record comprises a pattern matching relation corresponding to the working power of the water spraying mechanism of 5W when the water quantity of the clean water tank is 2L, and the pattern matching relation is the pattern matching relation used in the working.

Because the cleaning equipment has different equipment states during each cleaning, in the embodiment, the best mode matching relation can be ensured to be used by the cleaning equipment under different equipment states by determining the mode matching relation used in the working based on the current equipment state and the history use record, and the intelligent degree of the cleaning equipment can be further improved.

Optionally, in the working mode corresponding to the current equipment state, if at least two pattern matching relations identical to the first working mode of the target cleaning component are determined, the pattern matching relation with the highest use frequency can be used as the pattern matching relation used at the present time.

Optionally, before determining the second operation mode of the other cleaning assembly, further comprising: and under the condition that at least two pattern matching relations are obtained, determining the pattern matching relation used at the present time from the at least two pattern matching relations.

When the control target cleaning assembly works according to the first working mode, the pattern matching relation between at least two target cleaning assemblies and other cleaning assemblies can be possibly matched, and at the moment, the cleaning equipment can adopt the pattern matching relation with the highest use frequency from the at least two pattern matching relations as the pattern matching relation used at the present time.

Such as: when the target cleaning component is a cleaning mechanism and other cleaning components are a water absorbing mechanism and a water spraying mechanism, the cleaning equipment pre-stores the following three pattern matching relations, namely:

pattern matching relationship 1: the working power of the cleaning mechanism is A, the working power of the water absorbing mechanism is B, and the working power of the water spraying mechanism is C; the use frequency is 10 times;

pattern matching relationship 2: the working power of the cleaning mechanism is A, the working power of the water absorbing mechanism is B1, and the working power of the water spraying mechanism is C1; the use frequency is 5 times;

pattern matching relationship 3: the working power of the cleaning mechanism is A1, the working power of the water absorbing mechanism is B2, and the working power of the water spraying mechanism is C2; the use frequency is 5 times;

at this time, if the cleaning mechanism is controlled to operate at the operating power a, two pattern matching relationships, namely, pattern matching relationship 1 and pattern matching relationship 2, are matched, and at this time, the cleaning device adopts the pattern matching relationship with higher frequency of use (i.e., pattern matching relationship 1) as the pattern matching relationship used at this time.

Since the cleaning device may have a plurality of pattern matching relationships when selecting the pattern matching relationship, in this embodiment, the cleaning efficiency during the cleaning operation may be ensured by selecting the pattern matching relationship with the highest frequency of use, and the user may change the pattern matching relationship according to the cleaning effect when performing the cleaning operation until the cleaning effect may reach the expected effect, in other words, the pattern matching relationship with the highest frequency of use is the pattern matching relationship selected the most by the user, so that the pattern matching relationship has a better cleaning effect.

Step 203, controlling the other cleaning assembly to operate in a second mode of operation.

Optionally, after controlling the other cleaning assembly to operate in the second mode of operation, further comprising: under the condition that a relation switching key instruction is acquired, determining a third working mode of other cleaning components by using a pre-stored candidate matching relation; the candidate matching relationship indicates that the third working mode is matched with the first working mode; the other cleaning assemblies are controlled to operate in a third mode of operation.

The manner of acquiring the relation switching key instruction includes, but is not limited to, the following:

first, a relation switch key is installed on the cleaning device. Accordingly, when a trigger operation acting on the relationship switching key is received, a relationship switching instruction is generated.

The relationship switch key may be a physical key installed on the cleaning device, or may be a virtual key displayed by touching the display screen, which is not limited in implementation manner.

Second, the cleaning device receives a relationship switching instruction sent by other devices.

In practical implementation, the manner in which the cleaning component receives the relationship switch key command may be other manners, and the embodiment does not limit the manner in which the relationship switch key command is obtained.

Alternatively, the candidate matching relationship may be a pattern matching relationship in which the frequencies of use are ranked in the second order after the frequencies of use are ranked from high to low; or, the cleaning device may generate at least two pattern matching relationships when generating the pattern matching relationship, where the confidence degrees of the at least two pattern matching relationships are different, and the candidate matching relationship may be a pattern matching relationship in which the confidence degrees are ranked in the second position after the confidence degrees are ranked from high to low.

Because the problem that the expected cleaning effect cannot be achieved when the second working mode matched with the pattern matching relation is used for working can occur, in the embodiment, the relation switching key can switch the pattern matching relation to control other cleaning components to work according to the third working mode, so that the cleaning effect can be ensured to reach the expected state, and the intelligent degree of the cleaning equipment is further improved.

In summary, the control method of the cleaning device according to the present embodiment controls the target cleaning component to operate according to the first operation mode indicated by the mode adjustment instruction by responding to the mode adjustment instruction for the target cleaning component in the n cleaning components; determining a second working mode of the other cleaning components based on a pattern matching relationship between the target cleaning component and the other cleaning components, the pattern matching relationship indicating that the second working mode is matched with the first working mode; controlling the other cleaning assemblies to operate according to the second working mode; the problem of lower flexibility of the cleaning device can be solved; by firstly carrying out mode adjustment on the target cleaning components in the n cleaning components, determining the working modes of other cleaning components in the n cleaning components according to the mode matching relation after adjustment, and controlling the other cleaning components to work according to the working modes determined by the mode matching relation, the cleaning components can be subjected to cleaning in an optimal mode matching relation, and the flexibility of the cleaning equipment in working can be improved unlike the conventional cleaning equipment which is usually controlled to work according to the fixed working modes. At the same time, a second operating mode of the other part of the cleaning assembly is automatically determined according to the first operating mode of the part of the cleaning assembly. Thus, the user does not need to adjust the working modes of all the cleaning components, and the adjusting efficiency of the working modes of the cleaning components is improved.

Fig. 3 is a block diagram of a cleaning apparatus control device according to an embodiment of the present application, which is described by taking the application of the device to the cleaning apparatus shown in fig. 1 as an example. The device at least comprises the following modules: a first control module 310, a mode determination module 320, and a second control module 330.

A first control module 310, configured to control, in response to a mode adjustment command for a target cleaning component of the n cleaning components, the target cleaning component to operate according to a first operation mode indicated by the mode adjustment command; the number of target cleaning assemblies is less than n.

The mode determining module 320 is configured to determine a second operation mode of the other cleaning component based on a mode matching relationship between the target cleaning component and the other cleaning component, where the mode matching relationship indicates that the second operation mode matches the first operation mode.

A second control module 330 for controlling the other cleaning assemblies to operate in accordance with a second mode of operation.

For relevant details reference is made to the above embodiments.

It should be noted that: in the cleaning device control apparatus provided in the above embodiment, only the above-mentioned division of each functional module is used for illustration, and in practical application, the above-mentioned functional allocation may be performed by different functional modules according to needs, that is, the internal structure of the cleaning device cleaning apparatus is divided into different functional modules, so as to perform all or part of the above-mentioned functions. In addition, the cleaning device control device and the cleaning device control method provided in the foregoing embodiments belong to the same concept, and specific implementation processes thereof are detailed in the method embodiments, which are not repeated herein.

The present embodiment provides a cleaning apparatus, as shown in fig. 4, which may be the cleaning apparatus of fig. 1. The cleaning device comprises at least a processor 401 and a memory 402.

Processor 401 may include one or more processing cores such as: 4 core processors, 8 core processors, etc. The processor 401 may be implemented in at least one hardware form of DSP (Digital Signal Processing ), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). The processor 401 may also include a main processor, which is a processor for processing data in an awake state, also called a CPU (Central Processing Unit ), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 401 may integrate a GPU (Graphics Processing Unit, image processor) for rendering and drawing of content required to be displayed by the display screen. In some embodiments, the processor 401 may also include an AI (Artificial Intelligence ) processor for processing computing operations related to machine learning.

Memory 402 may include one or more computer-readable storage media, which may be non-transitory. Memory 402 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 402 is used to store at least one instruction for execution by processor 401 to implement the method of controlling a cleaning device provided by a method embodiment of the present application.

In some embodiments, the cleaning device may further optionally include: a peripheral interface and at least one peripheral. The processor 401, memory 402, and peripheral interfaces may be connected by buses or signal lines. The individual peripheral devices may be connected to the peripheral device interface via buses, signal lines or circuit boards. Illustratively, peripheral devices include, but are not limited to: radio frequency circuitry, touch display screens, audio circuitry, and power supplies, among others.

Of course, the cleaning apparatus may also include fewer or more components, as the present embodiment is not limited in this regard.

Optionally, the present application further provides a computer readable storage medium having a program stored therein, the program being loaded and executed by a processor to implement the control method of the cleaning device of the above method embodiment.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims

1. The control method of the cleaning equipment is characterized in that the cleaning equipment comprises n cleaning components, wherein the n cleaning components comprise a water spraying mechanism, a water absorbing mechanism and a cleaning mechanism, the n cleaning components work in a mutually matched mode, and n is an integer greater than 1; the method comprises the following steps:

2. The method of claim 1, wherein prior to determining the second mode of operation of the other cleaning assembly based on the pattern matching relationship between the target cleaning assembly and the other cleaning assembly, further comprising:

3. The method of claim 2, wherein determining the pattern matching relationship used at the present time from the at least two pattern matching relationships comprises:

4. The method of claim 1, wherein prior to determining the second mode of operation of the other cleaning assembly based on the pattern matching relationship between the target cleaning assembly and the other cleaning assembly, further comprising:

or alternatively, the process may be performed,

5. The method according to claim 1, wherein the method further comprises:

6. The method of claim 5, wherein the cleaning assembly comprises a water spray mechanism, a water suction mechanism, and a cleaning mechanism; the target cleaning assembly includes the cleaning mechanism; the mode adjustment instructions for determining the target cleaning assembly based on the surface type comprise:

7. The method according to claim 1, wherein the method further comprises:

8. The method of any one of claims 1 to 7, wherein the cleaning assembly comprises a primary cleaning mechanism and a secondary cleaning mechanism, the primary cleaning mechanism comprising a water spray mechanism, a water suction mechanism, and a cleaning mechanism; the auxiliary cleaning mechanism comprises a steam generating mechanism, a sterilizing mechanism and/or an odor adjusting mechanism;

9. The method of claim 1, wherein controlling the other cleaning assembly to operate in the second mode of operation comprises:

10. A cleaning apparatus, the cleaning apparatus comprising:

the method comprises the steps of,

a processor and a memory; the processor is respectively connected with the cleaning component and the memory in a communication way; the memory has stored therein a program that is loaded and executed by the processor to realize the control method of the cleaning apparatus as claimed in any one of claims 1 to 9.

11. A computer-readable storage medium, characterized in that the storage medium has stored therein a program which, when executed by a processor, is adapted to carry out a control method of a cleaning device according to any one of claims 1 to 9.