CN116807329A - Method and device for controlling cleaning of area, storage medium and electronic device - Google Patents
Method and device for controlling cleaning of area, storage medium and electronic device Download PDFInfo
- Publication number
- CN116807329A CN116807329A CN202210283367.3A CN202210283367A CN116807329A CN 116807329 A CN116807329 A CN 116807329A CN 202210283367 A CN202210283367 A CN 202210283367A CN 116807329 A CN116807329 A CN 116807329A
- Authority
- CN
- China
- Prior art keywords
- cleaning
- area
- liquid
- cleaned
- spray
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 628
- 238000000034 method Methods 0.000 title claims abstract description 85
- 239000007788 liquid Substances 0.000 claims abstract description 310
- 239000007921 spray Substances 0.000 claims abstract description 118
- 238000005507 spraying Methods 0.000 claims abstract description 98
- 230000008569 process Effects 0.000 claims abstract description 37
- 230000002159 abnormal effect Effects 0.000 claims description 14
- 238000004590 computer program Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 8
- 230000002045 lasting effect Effects 0.000 claims description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 44
- 238000004891 communication Methods 0.000 description 9
- 230000005856 abnormality Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000005406 washing Methods 0.000 description 5
- 238000010408 sweeping Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 241001417527 Pempheridae Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 239000012459 cleaning agent Substances 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- 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
- A47L11/24—Floor-sweeping machines, motor-driven
-
- 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
-
- 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
Landscapes
- Cleaning By Liquid Or Steam (AREA)
Abstract
The application provides a method and a device for controlling cleaning of an area, a storage medium and an electronic device, wherein the method comprises the following steps: in the process of cleaning the area by the cleaning equipment, controlling a liquid storage part of the cleaning equipment to spray cleaning liquid to the cleaning part of the cleaning equipment; determining a cleaned area of the cleaning apparatus, wherein the cleaned area is an area cleaned by the cleaning apparatus after spraying liquid from the liquid storage member to the cleaning member; when the area of the cleaned area is larger than or equal to the target area threshold value, the liquid storage piece is controlled to spray cleaning liquid to the cleaning piece again.
Description
[ field of technology ]
The application relates to the field of intelligent home, in particular to a method and a device for controlling cleaning of an area, a storage medium and an electronic device.
[ background Art ]
Currently, cleaning devices (e.g., floor washers) may be configured with a liquid storage member (e.g., a water tank) and a cleaning member (e.g., a roller brush, a wipe, etc.). When the cleaning device is used for cleaning the area, the liquid storage member can be controlled to spray liquid to the cleaning member at fixed time intervals so as to clean the area through the cleaning member.
For example, the water outlet of the water tank of the floor scrubber may be controlled according to a fixed time interval, so that the room area may be cleaned by the roller brush of the floor scrubber.
However, with the above-described cleaning control method for an area, when abnormality occurs in the cleaning device (for example, the cleaning device is trapped), if the time in the abnormal state is too long, the cleaning liquid is sprayed more, and the cleaning area may be contaminated by the liquid overflowing. As can be seen from this, the related art method of controlling cleaning of an area has a problem that the reliability of cleaning of an area is poor due to the fact that the area is easily polluted by overflowing of liquid.
[ application ]
The application aims to provide a method and a device for controlling cleaning of an area, a storage medium and an electronic device, which at least solve the problem that the reliability of cleaning of the area is poor due to the condition that liquid overflows to pollute the cleaning area in the cleaning control mode of the area in the related art.
The application aims at realizing the following technical scheme:
according to an aspect of an embodiment of the present application, there is provided a cleaning control method for an area, including: in the process of cleaning the area by the cleaning equipment, controlling a liquid storage part of the cleaning equipment to spray cleaning liquid to the cleaning part of the cleaning equipment; determining a cleaned area of the cleaning apparatus, wherein the cleaned area is an area cleaned by the cleaning apparatus after spraying liquid from the liquid storage member to the cleaning member; and controlling the liquid storage part to spray cleaning liquid to the cleaning part again under the condition that the area of the cleaned area is larger than or equal to the target area threshold value.
In one exemplary embodiment, the determining the cleaned area of the cleaning apparatus includes: acquiring equipment pose information detected by a pose detection part of the cleaning equipment, wherein the equipment pose information is used for indicating the equipment pose of the cleaning equipment after liquid is sprayed from the liquid storage part to the cleaning part; and determining an area covered by the equipment pose of the cleaning equipment, which is indicated by the equipment pose information, as the cleaned area.
In one exemplary embodiment, the controlling the liquid storage member to spray cleaning liquid again to the cleaning member includes: determining a cleaning area of the cleaning device, wherein the cleaning area is the remaining cleaning area of the cleaning device; and controlling the liquid storage piece to spray cleaning liquid to the cleaning piece again according to the area of the area to be cleaned.
In an exemplary embodiment, the controlling the liquid storage member to spray the cleaning liquid again to the cleaning member according to the area of the area to be cleaned includes: when the area of the area to be cleaned is larger than or equal to the target area threshold value, the liquid storage piece is controlled to spray cleaning liquid with a preset liquid amount to the cleaning piece according to a preset spraying speed; or, when the area of the area to be cleaned is greater than or equal to the target area threshold, controlling the liquid storage part to continuously spray cleaning liquid to the cleaning part according to the preset spraying speed.
In an exemplary embodiment, the controlling the liquid storage member to spray the cleaning liquid again to the cleaning member according to the area of the area to be cleaned includes: under the condition that the area of the to-be-cleaned area is smaller than the target area threshold, determining a target spraying amount corresponding to the area of the to-be-cleaned area according to the corresponding relation between the area and the spraying amount; controlling the liquid storage piece to spray the cleaning liquid with the target spraying amount to the cleaning piece according to a preset spraying speed; or under the condition that the area of the to-be-cleaned area is smaller than the target area threshold, determining target liquid spraying time corresponding to the area of the to-be-cleaned area according to the corresponding relation between the area and the liquid spraying time; and controlling the liquid storage piece to spray cleaning liquid to the cleaning piece for the target liquid spraying time according to a preset spraying speed.
In one exemplary embodiment, after said controlling said reservoir to re-spray cleaning liquid to said cleaning element, said method further comprises: in the case where the number of times of spraying the cleaning liquid to the cleaning member reaches the target number of times, the cleaning apparatus is controlled to return to the base matched with the cleaning apparatus to perform a self-cleaning operation on the cleaning apparatus.
In one exemplary embodiment, after the determining the area of the cleaned area of the cleaning apparatus, the method further comprises: determining a cleaned area of the cleaned area that is less than or equal to a target area threshold for a duration of time; sending out first warning information through the cleaning equipment under the condition that the lasting time is greater than or equal to a target time threshold value, wherein the first warning information is used for indicating that the cleaning equipment is abnormal; or if the duration is greater than or equal to the target time threshold, sending out second alarm information through terminal equipment associated with the cleaning equipment, wherein the second alarm information is used for indicating that the cleaning equipment is abnormal.
According to another aspect of the embodiment of the present application, there is also provided a cleaning control apparatus for an area, including: a first control unit for controlling a liquid storage member of the cleaning device to spray cleaning liquid to a cleaning member of the cleaning device in the process of cleaning an area by the cleaning device; a first determining unit configured to determine a cleaned area of the cleaning apparatus, wherein the cleaned area is an area cleaned by the cleaning apparatus after spraying liquid from the liquid storage member to the cleaning member; and a second control unit for controlling the liquid storage member to spray the cleaning liquid again to the cleaning member in the case that the area of the cleaned area is greater than or equal to the target area threshold.
In an exemplary embodiment, the first determining unit includes: the acquisition module is used for acquiring equipment pose information detected by the pose detection component of the cleaning equipment, wherein the equipment pose information is used for indicating the equipment pose of the cleaning equipment after liquid is sprayed from the liquid storage piece to the cleaning piece; and the first determining module is used for determining the area covered by the equipment pose of the cleaning equipment indicated by the equipment pose information as the cleaned area.
In an exemplary embodiment, the second control unit includes: a second determining module, configured to determine a to-be-cleaned area of the cleaning device, where the to-be-cleaned area is a remaining cleaning area of the cleaning device; and the control module is used for controlling the liquid storage piece to spray the cleaning liquid to the cleaning piece again according to the area of the area to be cleaned.
In one exemplary embodiment, the control module includes: the first control submodule is used for controlling the liquid storage piece to spray cleaning liquid with preset liquid quantity to the cleaning piece according to preset spraying speed under the condition that the area of the area to be cleaned is larger than or equal to the target area threshold value; or the second control submodule is used for controlling the liquid storage piece to continuously spray the cleaning liquid to the cleaning piece according to the preset spraying speed under the condition that the area of the area to be cleaned is larger than or equal to the target area threshold value.
In one exemplary embodiment, the control module includes: the first determining submodule is used for determining a target spraying amount corresponding to the area of the area to be cleaned according to the corresponding relation between the area and the spraying amount under the condition that the area of the area to be cleaned is smaller than the target area threshold; the third control sub-module is used for controlling the liquid storage piece to spray the cleaning liquid of the target liquid spraying amount to the cleaning piece according to a preset spraying speed; or the second determining submodule is used for determining the target liquid spraying time corresponding to the area of the area to be cleaned according to the corresponding relation between the area and the liquid spraying time under the condition that the area of the area to be cleaned is smaller than the target area threshold; and the fourth control submodule is used for controlling the liquid storage piece to continuously spray the cleaning liquid to the cleaning piece according to the preset spraying speed and the target spraying time.
In an exemplary embodiment, the apparatus further comprises: and a third control unit for controlling the cleaning apparatus to return to a base matched with the cleaning apparatus to perform a self-cleaning operation on the cleaning apparatus in a case where the number of spraying the cleaning liquid to the cleaning member reaches a target number after the liquid storage member is controlled to spray the cleaning liquid again to the cleaning member.
In an exemplary embodiment, the apparatus further comprises: a second determination unit configured to determine, after the determination of the area of the cleaned area of the cleaning apparatus, a duration in which the area of the cleaned area is less than or equal to the target area threshold; a first alarm unit, configured to send out first alarm information through the cleaning device when the duration is greater than or equal to a target time threshold, where the first alarm information is used to indicate that the cleaning device is abnormal; or, a second alarm unit, configured to send out second alarm information through a terminal device associated with the cleaning device, where the second alarm information is used to indicate that the cleaning device is abnormal, where the duration is greater than or equal to a target time threshold.
According to still another aspect of the embodiments of the present application, there is also provided a computer-readable storage medium having a computer program stored therein, wherein the computer program is configured to execute the above-described cleaning control method of an area when run.
According to still another aspect of the embodiments of the present application, there is further provided an electronic device including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the above-mentioned method for controlling cleaning of an area through the computer program.
In the embodiment of the application, the liquid storage piece of the cleaning equipment is controlled to spray the cleaning liquid to the cleaning piece of the cleaning equipment according to the area of the cleaned area of the cleaning equipment, and the liquid storage piece of the cleaning equipment is controlled to spray the cleaning liquid to the cleaning piece of the cleaning equipment in the process of cleaning the area of the cleaning equipment; determining a cleaned area of the cleaning device, wherein the cleaned area is the cleaned area of the cleaning device after spraying liquid from the liquid storage member to the cleaning member; under the condition that the area of the cleaned area is larger than or equal to the target area threshold value, the liquid storage part is controlled to spray the cleaning liquid to the cleaning part again, and the liquid storage part of the cleaning device is controlled to spray the cleaning liquid to the cleaning part of the cleaning device only when the area of the cleaned area of the cleaning device reaches the area threshold value, so that the situation that the cleaning area is polluted by liquid overflows caused by repeated water outlet when the cleaning device is trapped in a certain area is avoided, the aim of reducing the probability of liquid overflows and pollutes is fulfilled, the technical effect of improving the reliability of the cleaning of the area is achieved, and the problem that the reliability of the cleaning of the area is poor due to the fact that the cleaning area is polluted by the liquid overflows is solved in the cleaning control mode of the area in the related technology.
[ description of the drawings ]
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the application or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic diagram of a hardware environment of an alternative zone cleaning control method according to an embodiment of the present application;
FIG. 2 is a flow chart of an alternative zone cleaning control method according to an embodiment of the present application;
FIG. 3 is a flow chart of an alternative method of controlling cleaning of an area in accordance with an embodiment of the present application;
FIG. 4 is a block diagram of an alternative area cleaning control device in accordance with an embodiment of the present application;
fig. 5 is a block diagram of an alternative electronic device according to an embodiment of the application.
[ detailed description ] of the application
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.
According to one aspect of an embodiment of the present application, a method of controlling cleaning of an area is provided. Alternatively, in the present embodiment, the above-described cleaning control method of the area may be applied to a hardware environment constituted by the cleaning device 102, the base station 104, and the cloud platform 106 as shown in fig. 1. As shown in fig. 1, the cleaning device 102 may be connected to the base station 104 and/or the cloud platform 106 (e.g., a voice cloud platform) over a network to enable interaction between the cleaning device 102 and the base station 104 and/or the cloud platform 106.
The network may include, but is not limited to, at least one of: wired network, wireless network. The wired network may include, but is not limited to, at least one of: a wide area network, a metropolitan area network, a local area network, and the wireless network may include, but is not limited to, at least one of: WIFI (Wireless Fidelity ), bluetooth, infrared. The network used by the cleaning device 102 to communicate with the base station 104 and/or the cloud platform 106 may be the same as or different from the network used by the base station 104 to communicate with the cloud platform 106. The cleaning device 102 may include, but is not limited to: a sweeper, a floor washer, etc.
The cleaning control method of the area according to the embodiment of the present application may be performed by the cleaning device 102, the base station 104, or the cloud platform 106 alone, or may be performed by at least two of the cleaning device 102, the base station 104, and the cloud platform 106 together. The cleaning control method of the area where the cleaning apparatus 102 or the base station 104 performs the embodiment of the present application may also be performed by a client installed thereon.
Taking the cleaning control method of the area in the present embodiment performed by the cleaning apparatus 102 as an example, fig. 2 is a schematic flow chart of an alternative area cleaning control method according to an embodiment of the present application, and as shown in fig. 2, the flow chart of the method may include the following steps:
step S202, during the process of cleaning the area by the cleaning device, controlling the liquid storage part of the cleaning device to spray the cleaning liquid to the cleaning part of the cleaning device.
The cleaning control method of the area in the present embodiment can be applied to a scene where area cleaning is performed by a cleaning apparatus and a base station matched with the cleaning apparatus. The cleaning device may be a sweeping robot, a washing robot or other devices with cleaning function.
In this embodiment, in the process of cleaning the area to be cleaned by the cleaning apparatus, the liquid storage member of the cleaning apparatus may be controlled to spray the cleaning liquid to the cleaning member of the cleaning apparatus. The operation of controlling the liquid storage member of the cleaning apparatus to spray the cleaning liquid to the cleaning member of the cleaning apparatus may be performed when a liquid spraying condition is reached, for example, when the cleaning apparatus starts to perform area cleaning, or when other liquid spraying conditions are satisfied, the above-described liquid spraying step is performed.
The manner of controlling the liquid storage member to spray the cleaning liquid to the cleaning member may be to spray the cleaning member with a fixed amount of the cleaning liquid or a fixed time, for example, the liquid storage member may be controlled to spray the cleaning member with a fixed amount of the cleaning liquid, or the liquid storage member may be controlled to spray the cleaning member with a fixed time at a fixed spraying speed, which is not limited in this embodiment.
The liquid storage member of the cleaning device may be a water tank provided in the cleaning device, or may be another container provided with a cleaning liquid storage device, and the cleaning member of the cleaning device may be a brush head or a cleaning member such as a mop provided in the cleaning device. The cleaning liquid may be water stored in the liquid storage member, water mixed with the cleaning agent stored in the liquid storage member, or other types of cleaning liquid, which is not limited in this embodiment.
In step S204, a cleaned area of the cleaning apparatus is determined, wherein the cleaned area is an area cleaned by the cleaning apparatus after spraying the liquid from the liquid storage member to the cleaning member.
In this embodiment, after the liquid storage member sprays the liquid onto the cleaning member, the cleaning device may record the area that has been cleaned, so as to determine the cleaned area of the cleaning device, where the cleaned area of the cleaning device is after the liquid storage member sprays the liquid onto the cleaning member, for example, the cleaned area of the cleaning device may be started at the start time of the liquid storage member spraying the liquid onto the cleaning member, and for example, the cleaned area of the cleaning device may be started at the end time of the liquid storage member spraying the liquid onto the cleaning member. The above-described process of determining the cleaned area of the cleaning apparatus may be: and determining a cleaned area of the cleaning device according to the pose information of the cleaning device detected by a pose sensor on the cleaning device.
Alternatively, an area map of the area where the cleaning device is located may be stored in the cleaning device, where the cleaning map may be a map of a room where the cleaning device is located, or may be a cleaning map set by a user, which is not limited in this embodiment. When the cleaning device performs area cleaning on a certain part of the cleaning map, the cleaned area in the cleaning map can be displayed in different colors, so that the cleaned area of the cleaning device and the area to be cleaned can be better distinguished.
For example, the cleaned area before the last water spray, the cleaned area after the last water spray, and the area to be cleaned may be set to green and red in a global map stored in the floor washer.
In step S206, in the case where the area of the cleaned area is greater than or equal to the target area threshold, the liquid storage member is controlled to spray the cleaning liquid again to the cleaning member.
In this embodiment, for the cleaned area, the cleaning apparatus may determine the area of the cleaned area, which may be determined by calculating the area shape of the cleaned area marked as the cleaned area in the area map, based on which the area of the cleaned area may be determined.
Alternatively, in the case where the positioning module is mounted on the cleaning apparatus, the process of determining the cleaned area of the cleaning apparatus may be to determine the product between the travel distance of the cleaning apparatus positioned by the positioning module of the cleaning apparatus in the cleaned area and the cleaning area of the cleaning apparatus as the area of the cleaned area; in the case where the timing module is mounted on the cleaning apparatus, the process of determining the cleaning area of the cleaning apparatus may be to determine the product of the operation time of the cleaning apparatus in the cleaned area, the operation speed in the cleaned area, and the cleaning area of the cleaning apparatus, which are displayed by the timing module of the cleaning apparatus, as the area of the cleaned area.
The cleaning area of the cleaning device may be the maximum area that can be cleaned by the cleaning member of the cleaning device, or may be the area of the bottom surface of the cleaning device. For example, when the cleaning area of the sweeping robot cannot be determined, the area of the bottom surface of the sweeping robot may be directly determined as the cleaning area of the sweeping robot.
After determining the area of the cleaned area, the cleaning apparatus may control the liquid storage member to spray the cleaning liquid to the cleaning member according to the area of the cleaned area. Alternatively, the liquid reservoir may be controlled to spray the cleaning liquid again to the cleaning member in the case where the area of the cleaned area is greater than or equal to the target area threshold. The process of controlling the liquid storage member to spray the cleaning liquid to the cleaning member again is similar to that of controlling the liquid storage member of the cleaning device to spray the cleaning liquid to the cleaning member of the cleaning device, and will not be described in detail in this embodiment.
For example, the target area threshold is N cm 2 If the area of the cleaned area reaches N cm 2 The water tank of the floor washing machine is controlled to spray water to the mop, if the area of the cleaned area is smaller than N cm 2 The water tank of the floor washing machine is not controlled to spray water to the mop.
Through the steps S202 to S206, during the area cleaning process of the cleaning device, the liquid storage member of the cleaning device is controlled to spray the cleaning liquid to the cleaning member of the cleaning device; determining a cleaned area of the cleaning device, wherein the cleaned area is the cleaned area of the cleaning device after spraying liquid from the liquid storage member to the cleaning member; when the area of the cleaned area is larger than or equal to the target area threshold value, the liquid storage part is controlled to spray cleaning liquid to the cleaning part again, so that the problem that the area cleaning reliability is poor due to the fact that the cleaning area is polluted by liquid overflows easily in the cleaning control mode of the area in the related art is solved, and the area cleaning reliability is improved.
In one exemplary embodiment, determining a cleaned area of a cleaning device includes:
s11, acquiring equipment pose information detected by a pose detection part of the cleaning equipment, wherein the equipment pose information is used for indicating the equipment pose of the cleaning equipment after liquid is sprayed from a liquid storage part to the cleaning part;
And S12, determining the area covered by the equipment pose of the cleaning equipment indicated by the equipment pose information as a cleaned area.
In this embodiment, the cleaning device is provided with a pose detection part, for example, a pose sensor, and may obtain device pose information detected by the pose detection part, where the device pose information is used to indicate a device pose of the cleaning device after spraying liquid from the liquid storage part to the cleaning part, and the device pose is a generic name of a position and a pose of the cleaning device, that is, the device pose information includes not only device pose information for indicating the cleaning device after spraying liquid from the liquid storage part to the cleaning part, but also device position information for indicating the cleaning device after spraying liquid from the liquid storage part to the cleaning part.
After the device pose information is acquired, the cleaning device may determine an area covered by the device pose of the cleaning device indicated by the device pose information as a cleaned area. For example, an area covered by the device position of the cleaning device may be determined as a cleaned area by the device position information included in the device pose information, or an area covered by the device position information of the cleaning device and in which the device pose information of the cleaning device displays that the device pose of the cleaning device in the area is a cleaning pose may be determined as a cleaned area.
According to the embodiment, the cleaned area of the cleaning device is determined through the device pose detected by the pose detection component, so that the accuracy and the comprehensiveness of the determination of the cleaned area can be improved.
In one exemplary embodiment, controlling the liquid reservoir to re-spray the cleaning member with cleaning liquid includes:
s21, determining a to-be-cleaned area of the cleaning device, wherein the to-be-cleaned area is the remaining cleaning area of the cleaning device;
s22, controlling the liquid storage piece to spray cleaning liquid to the cleaning piece again according to the area of the area to be cleaned.
In this embodiment, after the cleaned area is determined, the cleaning apparatus may determine the area to be cleaned of the cleaning apparatus, which is the remaining cleaning area of the cleaning apparatus, from all the cleaned areas. For example, the floor scrubber may determine an area displayed in red in the cleaning map as an area to be cleaned, or may determine an area other than the cleaned area in the cleaning map as an area to be cleaned.
After determining the area to be cleaned, the cleaning device may determine the area of the area to be cleaned, alternatively, the above process of determining the area of the area to be cleaned is similar to the process of determining the area of the cleaned area, and may also determine the area of all the areas to be cleaned as the area of the area to be cleaned.
After determining the area of the area to be cleaned, the liquid storage member may be controlled to spray the cleaning liquid again to the cleaning member according to the area of the area to be cleaned. Alternatively, the process of controlling the liquid storage member to spray the cleaning liquid onto the cleaning member again may be to determine the amount of the cleaning liquid required to be sprayed onto the cleaning member again by the liquid storage member according to the area of the area to be cleaned, if the area of the area to be cleaned is greater than or equal to the target area threshold, the amount of the cleaning liquid sprayed onto the cleaning member is a fixed amount, and if the area of the area to be cleaned is less than the target area threshold, the quotient of the fixed amount and the target area threshold may be multiplied by the area of the area to be cleaned, to determine the amount of the cleaning liquid sprayed onto the cleaning member again, and then controlling the liquid storage member to spray the cleaning liquid onto the cleaning member again by a corresponding amount.
For example, when the floor washing machine determines that the area of the area to be cleaned is 3m 2 And the amount of water required to clean a square meter of area is 100ml, the floor scrubber can control the tank to spray 300ml of water again to the mop.
According to the embodiment, according to the area of the area to be cleaned, the liquid storage piece is controlled to spray cleaning liquid to the cleaning piece again, the occurrence of the condition that the liquid overflows to pollute the cleaning area is reduced, and meanwhile the rationality of resource utilization is improved.
In one exemplary embodiment, controlling the liquid storage member to spray the cleaning liquid again to the cleaning member according to an area of an area to be cleaned includes:
s31, controlling the liquid storage piece to spray cleaning liquid with preset liquid quantity to the cleaning piece according to preset spraying speed under the condition that the area of the area to be cleaned is larger than or equal to the target area threshold value; or alternatively, the process may be performed,
s32, controlling the liquid storage piece to continuously spray the cleaning liquid to the cleaning piece according to the preset spraying speed under the condition that the area of the area to be cleaned is larger than or equal to the target area threshold value.
In the case where the area of the area to be cleaned is greater than or equal to the target area threshold, the cleaning apparatus may control the liquid storage member to spray the cleaning liquid to the cleaning member according to a preset liquid spray rule. The above spraying rules may be one or more and may include, but are not limited to, at least one of the following: a fixed amount of cleaning liquid is sprayed at a fixed rate and a fixed duration of time at a fixed rate.
As an alternative embodiment, the cleaning device may control the liquid storage member to spray the cleaning liquid to the cleaning member for a preset time at a preset spray rate. For example, the floor scrubber may control the water tank to spray 300ml of water to the mop at a rate of n ml/s.
As another alternative, the cleaning apparatus may control the liquid storage member to spray the cleaning liquid to the cleaning member for a preset time at a preset spray rate. For example, the floor scrubber may control the water tank to spray water to the mop at a rate of n ml/s for 10 seconds.
It should be noted that the product of the preset spraying speed and the preset time may be equal to the preset liquid amount. In the process of actually spraying the liquid, a certain error may exist in both the preset spraying speed and the preset time in the process of controlling the liquid storage part to continuously spray the cleaning liquid to the cleaning part according to the preset spraying speed, so that the actual sprayed liquid amount is not necessarily equal to the preset liquid amount.
According to the embodiment, the liquid storage piece is controlled to spray the cleaning liquid with the preset liquid amount to the cleaning piece according to a certain spraying speed or continuously spray the liquid for the preset time, so that the flexibility of liquid spraying can be improved.
In one exemplary embodiment, controlling the liquid storage member to spray the cleaning liquid again to the cleaning member according to an area of an area to be cleaned includes:
s41, determining a target spraying amount corresponding to the area of the area to be cleaned according to the corresponding relation between the area and the spraying amount under the condition that the area of the area to be cleaned is smaller than a target area threshold; controlling the liquid storage part to spray the cleaning liquid with the target liquid spraying amount to the cleaning part according to the preset spraying speed; or alternatively, the process may be performed,
S42, determining target liquid spraying time corresponding to the area of the area to be cleaned according to the corresponding relation between the area and the liquid spraying time under the condition that the area of the area to be cleaned is smaller than the target area threshold; and controlling the liquid storage piece to spray the cleaning liquid to the cleaning piece according to the preset spraying speed and continuously controlling the target spraying time.
In the case where the area of the area to be cleaned is less than the target area threshold, the cleaning apparatus may control the liquid reservoir to spray cleaning liquid to the cleaning member using one or more liquid spray rules, which may include, but are not limited to, at least one of: a quantity of cleaning liquid is sprayed at a fixed rate and the cleaning liquid is sprayed at a fixed rate for a period of time.
As an alternative embodiment, the cleaning apparatus may determine a target spray amount corresponding to the area of the area to be cleaned according to the correspondence between the area and the spray amount, and control the liquid reservoir member to spray the cleaning liquid of the target spray amount to the cleaning member according to the preset spray speed.
For example, the area of the area to be cleaned is 1m 2 And the water amount required for cleaning the area of one square meter is 100ml, the floor washing machine can determine that the water amount of water sprayed to the mop by the water tank is 100ml, and the water tank is controlled to spray 100ml of water to the mop according to the speed of n ml/s.
The process of controlling the liquid storage member to spray the cleaning member with the cleaning liquid of the target liquid spraying amount according to the preset spraying speed is similar to the process of controlling the liquid storage member to spray the cleaning member with the cleaning liquid of the preset liquid amount according to the preset spraying speed, and will not be described in detail in this embodiment.
As another alternative embodiment, the cleaning apparatus may determine a target spray time corresponding to the area of the area to be cleaned according to the correspondence between the area and the spray time, and control the liquid storage member to spray the cleaning liquid to the cleaning member for the target spray time according to the preset spray speed.
For example, the area of the area to be cleaned is 1m 2 And the spraying time required for cleaning the area to be cleaned is 5s, the floor scrubber can determine the target spraying time corresponding to the area of the area to be cleaned is 5s, and the water tank is controlled to spray water to the mop for 5s according to the speed of n ml/s.
The process of controlling the liquid storage member to spray the cleaning liquid to the cleaning member according to the preset spraying speed for the target spraying time is similar to the process of controlling the liquid storage member to spray the cleaning member with the preset liquid amount according to the preset spraying speed, and will not be described in detail in this embodiment.
According to the embodiment, the liquid storage piece is controlled to spray the cleaning liquid to the cleaning piece according to the corresponding relation between the area of the area to be cleaned and the liquid spraying amount or the corresponding relation between the area of the area to be cleaned and the liquid spraying amount, so that the flexibility of liquid spraying can be improved.
In one exemplary embodiment, after controlling the liquid storage member to spray the cleaning liquid again to the cleaning member, the method further comprises:
s51, in the case where the number of times of spraying the cleaning liquid to the cleaning member reaches the target number of times, controlling the cleaning apparatus to return to the base matched with the cleaning apparatus to perform the self-cleaning operation on the cleaning apparatus.
Since there is a positive correlation between the number of times the cleaning liquid is sprayed to the cleaning member and the state of soiling of the cleaning member, the more the cleaning liquid is sprayed to the cleaning member, the more soiling of the cleaning member will be. In this regard, in the present embodiment, it is possible to record the number of times the liquid storage member sprays the cleaning liquid to the cleaning member, and determine whether to perform the self-cleaning operation on the cleaning apparatus according to whether the recorded number of times the cleaning liquid is sprayed to the cleaning member reaches the target number.
Alternatively, in the case where the number of times of spraying the cleaning liquid to the cleaning member reaches the target number of times, the cleaning device may be controlled to return to the base that matches the cleaning device to perform the self-cleaning operation on the cleaning device, which may be the cleaning member of the cleaning device or the liquid storage member of the cleaning device, which is not limited in this embodiment.
Alternatively, after the number of spraying the cleaning liquid to the cleaning member reaches the target number, the amount of the cleaning liquid in the liquid storage member of the cleaning apparatus may be reduced, and thus, the cleaning liquid in the liquid storage member may be replenished through the base matched with the cleaning apparatus after the self-cleaning operation is performed on the cleaning apparatus.
For example, the target number of times is set to be 4, and when the number of times of spraying water to the mop reaches 4 times, the floor scrubber can be controlled to return to the base matched with the floor scrubber so as to perform self-cleaning operation on the floor scrubber.
By the embodiment, when the number of spraying the cleaning liquid to the cleaning member reaches the preset number, the cleaning device is controlled to return to the corresponding base to execute the self-cleaning operation, so that the cleaning effect of the cleaning device for executing the region cleaning can be improved.
In one exemplary embodiment, after determining the area of the cleaned area of the cleaning apparatus, the method further comprises:
s61, determining the lasting time that the area of the cleaned area is less than or equal to the target area threshold value;
s62, under the condition that the lasting time is greater than or equal to a target time threshold value, sending out first warning information through the cleaning equipment, wherein the first warning information is used for indicating that the cleaning equipment is abnormal; or alternatively, the process may be performed,
And S63, sending out second alarm information through terminal equipment associated with the cleaning equipment in the case that the duration is greater than or equal to the target time threshold, wherein the second alarm information is used for indicating that the cleaning equipment is abnormal.
In this embodiment, the cleaning apparatus may record the cleaning time of each area cleaning in the process of performing area cleaning. Alternatively, the cleaning apparatus may determine the cleaned area of the cleaned area to be less than or equal to the target area threshold for a duration based on the recorded cleaning time of the cleaned area.
In the case where the elapsed time is greater than or equal to the target time threshold, it may be determined that an abnormality occurs in the cleaning device, and the abnormality may be alerted. As an alternative embodiment, the first alarm information may be sent by the cleaning device, where the first alarm information is used to indicate that an abnormality occurs in the cleaning device. As another alternative embodiment, the second alarm information may be sent by a terminal device associated with the cleaning device, where the second alarm information is used to indicate that the cleaning device is abnormal.
For example, when the floor scrubber is trapped in a certain area, the duration that the area of the cleaned area of the floor scrubber is less than or equal to the area threshold will exceed the set time threshold, at which time an alarm message may be sent by the floor scrubber to inform the user that the floor scrubber is abnormal.
For another example, when the floor washer is trapped in a certain area, the duration of the cleaned area of the floor washer less than or equal to the area threshold will exceed the set time threshold, at which time an alarm message may be sent by a mobile phone associated with the floor washer to inform the user that an abnormality has occurred in the floor washer.
The first alarm information and the second alarm information may be alarm information sent by an alarm sound, or may be alarm information sent by screen display information (for example, popup window information), which is not limited in this embodiment. The first alarm information and the second alarm information may be the same type of alarm information, or may be different types of alarm information, which is not limited in this embodiment.
It should be noted that after the first alarm information or the second alarm information is sent, the cleaning device may adopt a preset escape policy to attempt escape, for example, the cleaning device may be controlled to fall back according to the running track until escape, and other escape policies may also be adopted to attempt escape. This is not limited in this embodiment.
By the embodiment, when the area of the cleaned area of the cleaning device is smaller than or equal to the area threshold and the duration time of the cleaned area is larger than or equal to the time threshold, the timeliness of abnormal processing can be improved, and the reliability of area cleaning can be improved.
The following explains the method of controlling cleaning of an area in the embodiment of the present application with reference to an alternative example. In this alternative example, the liquid storage member is a water tank and the sprayed cleaning liquid is water.
In the related art, the water outlet logic is used for controlling the water outlet of the water tank according to a fixed time interval, if the times of water outlet of the cleaning equipment in the trapped small range are more when the small range of the cleaning equipment is trapped for too long, the cleaning equipment can leak water in the trapped small range, and the reliability of the cleaning equipment in the process of cleaning the area is affected.
According to the scheme for controlling the water tank to evenly discharge water according to the cleaning area, the water discharge amount of the cleaning device after being trapped in a small range can be reduced, the probability of water leakage of the cleaning device in the trapped small range is reduced, and further the reliability of the cleaning device in the process of cleaning the area is improved.
As shown in connection with fig. 3, the flow of the area cleaning control method in this alternative example may include the following steps:
step S302, determining the positioning pose of the cleaning device.
Step S304, calculating the accumulated cleaning area according to the positioning pose.
The accumulated cleaning area of the cleaning apparatus may be determined according to the positioning pose of the cleaning apparatus, for example, the travel distance of the cleaning apparatus may be first determined, and the product of the travel distance and the cleaning area of the cleaning apparatus may be determined as the accumulated cleaning area.
In step S306, when the accumulated cleaning area reaches the set threshold, the water tank outlet is controlled.
The water tank outlet of the cleaning device can be controlled in case the cleaning area reaches a set area threshold.
Through the optional example, the water outlet of the cleaning device is controlled according to the cleaning area of the cleaning device, so that the water outlet of the cleaning device after being trapped in a small range can be reduced, and the water leakage probability of the cleaning device in the trapped small range is reduced.
It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present application.
From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM (Read-Only Memory)/RAM (Random Access Memory), magnetic disk, optical disk), comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present application.
According to another aspect of the embodiment of the present application, there is also provided an area cleaning control apparatus for implementing the above-described area cleaning control method. Fig. 4 is a block diagram of an alternative area cleaning control device according to an embodiment of the present application, as shown in fig. 4, the device may include:
a first control unit 402 for controlling the liquid storage member of the cleaning apparatus to spray the cleaning liquid to the cleaning member of the cleaning apparatus during the cleaning of the area by the cleaning apparatus;
A first determining unit 404 connected to the first control unit 402, for determining a cleaned area of the cleaning apparatus, wherein the cleaned area is an area cleaned by the cleaning apparatus after spraying the liquid from the liquid storage member to the cleaning member;
and a second control unit 406 connected to the first determination unit 404 for controlling the liquid storage member to spray the cleaning liquid again to the cleaning member in the case where the area of the cleaned area is greater than or equal to the target area threshold.
It should be noted that, the first control unit 402 in this embodiment may be used to perform the above-mentioned step S202, the first determining unit 404 in this embodiment may be used to perform the above-mentioned step S204, and the second control unit 406 in this embodiment may be used to perform the above-mentioned step S206.
Through the module, in the process of cleaning the area by the cleaning equipment, the liquid storage part of the cleaning equipment is controlled to spray cleaning liquid to the cleaning part of the cleaning equipment; determining a cleaned area of the cleaning device, wherein the cleaned area is the cleaned area of the cleaning device after spraying liquid from the liquid storage member to the cleaning member; when the area of the cleaned area is larger than or equal to the target area threshold value, the liquid storage part is controlled to spray cleaning liquid to the cleaning part again, so that the problem that the area cleaning reliability is poor due to the fact that the cleaning control mode of the area in the related technology is easy to overflow of liquid to pollute the cleaning area is solved, and the area cleaning reliability is improved.
In one exemplary embodiment, the first determining unit includes:
the acquisition module is used for acquiring equipment pose information detected by the pose detection part of the cleaning equipment, wherein the equipment pose information is used for indicating the equipment pose of the cleaning equipment after liquid is sprayed from the liquid storage part to the cleaning part;
and the first determining module is used for determining the area covered by the equipment pose of the cleaning equipment indicated by the equipment pose information as a cleaned area.
In one exemplary embodiment, the second control unit includes:
the second determining module is used for determining a to-be-cleaned area of the cleaning device, wherein the to-be-cleaned area is the remaining cleaning area of the cleaning device;
and the control module is used for controlling the liquid storage piece to spray the cleaning liquid to the cleaning piece again according to the area of the area to be cleaned.
In one exemplary embodiment, the control module includes:
the first control submodule is used for controlling the liquid storage piece to spray the cleaning liquid with a preset liquid amount to the cleaning piece according to a preset spraying speed under the condition that the area of the area to be cleaned is larger than or equal to the target area threshold value; or alternatively, the process may be performed,
and the second control submodule is used for controlling the liquid storage piece to continuously spray the cleaning liquid to the cleaning piece according to the preset spraying speed under the condition that the area of the area to be cleaned is larger than or equal to the target area threshold value.
In one exemplary embodiment, the control module includes:
the first determining submodule is used for determining a target spraying amount corresponding to the area of the area to be cleaned according to the corresponding relation between the area and the spraying amount under the condition that the area of the area to be cleaned is smaller than a target area threshold value; the third control submodule is used for controlling the liquid storage part to spray the cleaning liquid with the target liquid spraying amount to the cleaning part according to the preset spraying speed; or alternatively, the process may be performed,
the second determining submodule is used for determining target liquid spraying time corresponding to the area of the area to be cleaned according to the corresponding relation between the area and the liquid spraying time under the condition that the area of the area to be cleaned is smaller than the target area threshold; and the fourth control submodule is used for controlling the liquid storage piece to continuously spray the cleaning liquid to the cleaning piece according to the preset spraying speed and the target spraying time.
In an exemplary embodiment, the above apparatus further includes:
and a third control unit for controlling the cleaning apparatus to return to the base matched with the cleaning apparatus to perform a self-cleaning operation on the cleaning apparatus in a case where the number of spraying the cleaning liquid to the cleaning member reaches a target number after controlling the liquid storage member to spray the cleaning liquid again to the cleaning member.
In an exemplary embodiment, the above apparatus further includes:
a second determination unit configured to determine, after determining an area of a cleaned area of the cleaning apparatus, an already-for-time period in which the area of the cleaned area is less than or equal to a target area threshold;
the first warning unit is used for sending out first warning information through the cleaning equipment under the condition that the lasting time is greater than or equal to the target time threshold value, wherein the first warning information is used for indicating the cleaning equipment to be abnormal; or alternatively, the process may be performed,
and the second alarm unit is used for sending out second alarm information through the terminal equipment associated with the cleaning equipment under the condition that the lasting time is greater than or equal to the target time threshold value, wherein the second alarm information is used for indicating the cleaning equipment to be abnormal.
It should be noted that the above modules are the same as examples and application scenarios implemented by the corresponding steps, but are not limited to what is disclosed in the above embodiments. It should be noted that the above modules may be implemented in software or in hardware as part of the apparatus shown in fig. 1, where the hardware environment includes a network environment.
According to yet another aspect of an embodiment of the present application, there is also provided a storage medium. Alternatively, in the present embodiment, the above-described storage medium may be used to execute the program code of the cleaning control method of any of the above-described areas in the embodiment of the present application.
Alternatively, in this embodiment, the storage medium may be located on at least one network device of the plurality of network devices in the network shown in the above embodiment.
Alternatively, in the present embodiment, the storage medium is configured to store program code for performing the steps of:
s1, controlling a liquid storage part of the cleaning equipment to spray cleaning liquid to a cleaning part of the cleaning equipment in the process of cleaning the area by the cleaning equipment;
s2, determining a cleaned area of the cleaning device, wherein the cleaned area is the cleaned area of the cleaning device after spraying liquid from the liquid storage piece to the cleaning piece;
and S3, controlling the liquid storage part to spray the cleaning liquid to the cleaning part again under the condition that the area of the cleaned area is larger than or equal to the target area threshold value.
Alternatively, specific examples in the present embodiment may refer to examples described in the above embodiments, which are not described in detail in the present embodiment.
Alternatively, in the present embodiment, the storage medium may include, but is not limited to: various media capable of storing program codes, such as a U disk, ROM, RAM, a mobile hard disk, a magnetic disk or an optical disk.
According to still another aspect of the embodiments of the present application, there is also provided an electronic device for implementing the above-mentioned area cleaning control method, which may be a server, a terminal, or a combination thereof.
Fig. 5 is a block diagram of an alternative electronic device, according to an embodiment of the present application, including a processor 502, a communication interface 504, a memory 506, and a communication bus 508, as shown in fig. 5, wherein the processor 502, the communication interface 504, and the memory 506 communicate with each other via the communication bus 508, wherein,
a memory 506 for storing a computer program;
the processor 502 is configured to execute the computer program stored in the memory 506, and implement the following steps:
s1, controlling a liquid storage part of the cleaning equipment to spray cleaning liquid to a cleaning part of the cleaning equipment in the process of cleaning the area by the cleaning equipment;
s2, determining a cleaned area of the cleaning device, wherein the cleaned area is the cleaned area of the cleaning device after spraying liquid from the liquid storage piece to the cleaning piece;
And S3, controlling the liquid storage part to spray the cleaning liquid to the cleaning part again under the condition that the area of the cleaned area is larger than or equal to the target area threshold value.
Alternatively, in the present embodiment, the communication bus may be a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus, or an EISA (Extended Industry Standard Architecture ) bus, or the like. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, only one thick line is shown in fig. 5, but not only one bus or one type of bus. The communication interface is used for communication between the electronic device and other equipment.
The memory may include RAM or nonvolatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.
As an example, the memory 506 may include, but is not limited to, a first control unit 402, a first determination unit 404, and a second control unit 406 in a control apparatus including the device. In addition, other module units in the control device of the above apparatus may be included, but are not limited to, and are not described in detail in this example.
The processor may be a general purpose processor and may include, but is not limited to: CPU (Central Processing Unit ), NP (Network Processor, network processor), etc.; but also DSP (Digital Signal Processing, digital signal processor), ASIC (Application Specific Integrated Circuit ), FPGA (Field-Programmable Gate Array, field programmable gate array) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components.
Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments, and this embodiment is not described herein.
It will be appreciated by those skilled in the art that the structure shown in fig. 5 is only illustrative, and the device implementing the above-mentioned cleaning control method of the area may be a terminal device, and the terminal device may be a smart phone (such as an Android mobile phone, an iOS mobile phone, etc.), a tablet computer, a palmtop computer, a mobile internet device (Mobile Internet Devices, MID), a PAD, etc. Fig. 5 is not limited to the structure of the electronic device. For example, the electronic device may also include more or fewer components (e.g., network interfaces, display devices, etc.) than shown in FIG. 5, or have a different configuration than shown in FIG. 5.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be implemented by a program for instructing a terminal device to execute in association with hardware, the program may be stored in a computer readable storage medium, and the storage medium may include: flash disk, ROM, RAM, magnetic or optical disk, etc.
The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
The integrated units in the above embodiments may be stored in the above-described computer-readable storage medium if implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing one or more computer devices (which may be personal computers, servers or network devices, etc.) to perform all or part of the steps of the method described in the embodiments of the present application.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In several embodiments provided by the present application, it should be understood that the disclosed client may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, such as the division of the units, is merely a logical function division, and may be implemented in another manner, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution provided in the present embodiment.
In addition, each functional unit in the embodiments of the present application 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. The integrated units may be implemented in hardware or in software functional units.
The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application, which are intended to be comprehended within the scope of the present application.
Claims (10)
1. A method of controlling cleaning of an area, comprising:
in the process of cleaning the area by the cleaning equipment, controlling a liquid storage part of the cleaning equipment to spray cleaning liquid to the cleaning part of the cleaning equipment;
determining a cleaned area of the cleaning apparatus, wherein the cleaned area is an area cleaned by the cleaning apparatus after spraying liquid from the liquid storage member to the cleaning member;
and controlling the liquid storage part to spray cleaning liquid to the cleaning part again under the condition that the area of the cleaned area is larger than or equal to the target area threshold value.
2. The method of claim 1, wherein the determining the cleaned area of the cleaning device comprises:
acquiring equipment pose information detected by a pose detection part of the cleaning equipment, wherein the equipment pose information is used for indicating the equipment pose of the cleaning equipment after liquid is sprayed from the liquid storage part to the cleaning part;
And determining an area covered by the equipment pose of the cleaning equipment, which is indicated by the equipment pose information, as the cleaned area.
3. The method of claim 1, wherein said controlling said reservoir to re-spray cleaning liquid to said cleaning elements comprises:
determining a cleaning area of the cleaning device, wherein the cleaning area is the remaining cleaning area of the cleaning device;
and controlling the liquid storage piece to spray cleaning liquid to the cleaning piece again according to the area of the area to be cleaned.
4. A method according to claim 3, wherein controlling the liquid storage member to spray the cleaning liquid again to the cleaning member according to the area of the area to be cleaned comprises:
when the area of the area to be cleaned is larger than or equal to the target area threshold value, the liquid storage piece is controlled to spray cleaning liquid with a preset liquid amount to the cleaning piece according to a preset spraying speed; or alternatively, the process may be performed,
and controlling the liquid storage piece to continuously spray the cleaning liquid to the cleaning piece according to the preset spraying speed under the condition that the area of the area to be cleaned is larger than or equal to the target area threshold value.
5. A method according to claim 3, wherein controlling the liquid storage member to spray the cleaning liquid again to the cleaning member according to the area of the area to be cleaned comprises:
under the condition that the area of the to-be-cleaned area is smaller than the target area threshold, determining a target spraying amount corresponding to the area of the to-be-cleaned area according to the corresponding relation between the area and the spraying amount; controlling the liquid storage piece to spray the cleaning liquid with the target spraying amount to the cleaning piece according to a preset spraying speed; or alternatively, the process may be performed,
determining target liquid spraying time corresponding to the area of the area to be cleaned according to the corresponding relation between the area and the liquid spraying time under the condition that the area of the area to be cleaned is smaller than the target area threshold; and controlling the liquid storage piece to spray cleaning liquid to the cleaning piece for the target liquid spraying time according to a preset spraying speed.
6. The method of claim 1, wherein after said controlling said reservoir to re-spray cleaning liquid to said cleaning elements, said method further comprises:
in the case where the number of times of spraying the cleaning liquid to the cleaning member reaches the target number of times, the cleaning apparatus is controlled to return to the base matched with the cleaning apparatus to perform a self-cleaning operation on the cleaning apparatus.
7. The method of any one of claims 1 to 6, wherein after the determining the area of the cleaned area of the cleaning apparatus, the method further comprises:
determining a cleaned area of the cleaned area that is less than or equal to a target area threshold for a duration of time;
sending out first warning information through the cleaning equipment under the condition that the lasting time is greater than or equal to a target time threshold value, wherein the first warning information is used for indicating that the cleaning equipment is abnormal; or alternatively, the process may be performed,
and under the condition that the lasting time is greater than or equal to a target time threshold value, sending out second alarm information through terminal equipment associated with the cleaning equipment, wherein the second alarm information is used for indicating that the cleaning equipment is abnormal.
8. An area cleaning control device, comprising:
a first control unit for controlling a liquid storage member of the cleaning device to spray cleaning liquid to a cleaning member of the cleaning device in the process of cleaning an area by the cleaning device;
a first determining unit configured to determine a cleaned area of the cleaning apparatus, wherein the cleaned area is an area cleaned by the cleaning apparatus after spraying liquid from the liquid storage member to the cleaning member;
And a second control unit for controlling the liquid storage member to spray the cleaning liquid again to the cleaning member in the case that the area of the cleaned area is greater than or equal to the target area threshold.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program when run performs the method of any one of claims 1 to 7.
10. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to execute the method according to any of claims 1 to 7 by means of the computer program.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210283367.3A CN116807329A (en) | 2022-03-22 | 2022-03-22 | Method and device for controlling cleaning of area, storage medium and electronic device |
| PCT/CN2023/074205 WO2023179209A1 (en) | 2022-03-22 | 2023-02-02 | Area cleaning control method and apparatus, storage medium and electronic apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210283367.3A CN116807329A (en) | 2022-03-22 | 2022-03-22 | Method and device for controlling cleaning of area, storage medium and electronic device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116807329A true CN116807329A (en) | 2023-09-29 |
Family
ID=88099799
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210283367.3A Pending CN116807329A (en) | 2022-03-22 | 2022-03-22 | Method and device for controlling cleaning of area, storage medium and electronic device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN116807329A (en) |
| WO (1) | WO2023179209A1 (en) |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9907449B2 (en) * | 2015-03-16 | 2018-03-06 | Irobot Corporation | Autonomous floor cleaning with a removable pad |
| US11547264B2 (en) * | 2019-04-30 | 2023-01-10 | Irobot Corporation | Adjustable parameters for autonomous cleaning robots |
| CN110495821B (en) * | 2019-09-05 | 2023-11-28 | 北京石头世纪科技股份有限公司 | Cleaning robot and control method thereof |
| CN113576343A (en) * | 2020-04-30 | 2021-11-02 | 青岛塔波尔机器人技术股份有限公司 | Mopping robot workstation and mop cleaning method |
| CN212755513U (en) * | 2020-05-20 | 2021-03-23 | 延边熙梦技术有限公司 | Floor wiping machine |
| CN113876241A (en) * | 2020-07-01 | 2022-01-04 | 添可智能科技有限公司 | Reminding method, cleaning robot and computer readable storage medium |
| CN113995338B (en) * | 2020-07-28 | 2022-11-18 | 广州科语机器人有限公司 | Control method and device for spraying water mist by window cleaning robot |
| CN112971646B (en) * | 2021-02-21 | 2022-05-17 | 深圳市银星智能科技股份有限公司 | Cleaning control method, device and system and storage medium |
| CN114073457B (en) * | 2021-07-15 | 2022-12-27 | 浙江绍兴苏泊尔生活电器有限公司 | Control method of cleaning equipment, cleaning equipment and cleaning base station |
| CN113768423B (en) * | 2021-08-11 | 2022-10-21 | 汇智机器人科技(深圳)有限公司 | Cleaning operation control method and device |
-
2022
- 2022-03-22 CN CN202210283367.3A patent/CN116807329A/en active Pending
-
2023
- 2023-02-02 WO PCT/CN2023/074205 patent/WO2023179209A1/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| WO2023179209A1 (en) | 2023-09-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2023051227A1 (en) | Control method and apparatus for cleaning device | |
| RU2628127C2 (en) | Method and device for identification of user behavior | |
| CN106708697B (en) | Method and device for detecting application program used by user | |
| CN112959977A (en) | Method and device for automatically customizing vehicle cleaning | |
| CN105897933A (en) | Service request processing method and device | |
| CN116807329A (en) | Method and device for controlling cleaning of area, storage medium and electronic device | |
| CN110584544A (en) | Cleaning method and device based on intelligent home operation system and storage medium | |
| CN110353593A (en) | Control method, system, equipment and the storage medium of automatic cleaning tableware | |
| CN109373510B (en) | Air purification equipment control method and device, computer equipment and readable storage medium | |
| CN113212376A (en) | Customized cleaning method and device for car washing | |
| CN113212377A (en) | Method and device for enhancing cleaning effect | |
| CN113130356B (en) | Control method and control device for wafer cleaning and computer readable storage medium | |
| CN112948514A (en) | Method and device for pushing automobile cleaning places | |
| CN111885354B (en) | Service improvement discrimination method and device for bank outlets | |
| CN112744188A (en) | Energy-saving car washing method and device | |
| CN112776761A (en) | Car washing method and device based on big data | |
| CN112311599B (en) | Cloud resource allowance alarm method and device and server | |
| CN112890717A (en) | Cleaning method and device for dish washing machine, processor and cleaning equipment | |
| CN116439615A (en) | Control method and device of cleaning equipment, storage medium and electronic device | |
| CN113886506A (en) | Method and device for customer attribution management | |
| KR102068834B1 (en) | Method and computer readable recording medium for providing virtual reality platform service with usage based pricing | |
| CN116300844A (en) | Intelligent control method and device for cleaning equipment | |
| CN112776760A (en) | Car washing method and device for vip exclusive customer | |
| CN107357722B (en) | Social Network Service (SNS) testing system and method based on a large number of testing users | |
| CN117667323A (en) | Task cleaning method and device, storage medium and electronic equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |