CN117502993A - Cleaning control method and related device - Google Patents
Cleaning control method and related device Download PDFInfo
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- CN117502993A CN117502993A CN202210911888.9A CN202210911888A CN117502993A CN 117502993 A CN117502993 A CN 117502993A CN 202210911888 A CN202210911888 A CN 202210911888A CN 117502993 A CN117502993 A CN 117502993A
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- cleaning
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- mopping
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- 238000004140 cleaning Methods 0.000 title claims abstract description 520
- 238000000034 method Methods 0.000 title claims abstract description 45
- 239000007788 liquid Substances 0.000 claims abstract description 131
- 239000002689 soil Substances 0.000 claims description 22
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 6
- 230000018044 dehydration Effects 0.000 claims description 6
- 238000006297 dehydration reaction Methods 0.000 claims description 6
- 238000001035 drying Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 239000000243 solution Substances 0.000 description 11
- 238000001514 detection method Methods 0.000 description 10
- 238000010408 sweeping Methods 0.000 description 10
- 238000005406 washing Methods 0.000 description 7
- 239000000428 dust Substances 0.000 description 6
- 210000001503 joint Anatomy 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 239000007787 solid Substances 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 239000012535 impurity Substances 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
- A47L2201/028—Refurbishing floor engaging tools, e.g. cleaning of beating brushes
Landscapes
- Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)
Abstract
The invention discloses a cleaning control method and a related device, wherein the cleaning control method is applied to cleaning equipment, and comprises the steps of acquiring the dirt index of a mopping assembly before cleaning the mopping assembly of a cleaning robot, determining the corresponding cleaning liquid level of a cleaning tank of the cleaning equipment when the cleaning equipment cleans the mopping assembly according to the dirt index, injecting cleaning liquid to the corresponding cleaning liquid level of the cleaning tank, and executing cleaning operation on the mopping assembly.
Description
Technical Field
The invention relates to the technical field of intelligent home, in particular to a cleaning control method and a related device.
Background
The cleaning device can be matched with the cleaning robot to realize the cleaning function of a cleaning head or a mop of the cleaning robot, recover garbage collected by the cleaning robot and the like. The cleaning robot can be cleaned and maintained conveniently, so that the cleaning robot can perform the next sweeping or mopping operation.
The cleaning apparatus is generally provided with a washing tub for washing the mop, and the cleaning apparatus performs washing by injecting a washing liquid into the washing tub and rotating the mop accommodated in the washing tub. At present, when the mop is cleaned, the cleaning liquid amount injected into the cleaning tank is fixed, but because the mopping tasks performed by the cleaning robot each time are not completely consistent, if the dirt index of the mop is higher, insufficient cleaning can be caused, and if the dirt index of the mop is lower, waste of cleaning liquid can be caused, and the cleaning efficiency is lower.
Disclosure of Invention
The invention provides a cleaning control method and a related device, which are used for solving the technical problems that cleaning equipment in the prior art is insufficient in cleaning mop of a cleaning robot or low in cleaning efficiency.
In order to solve the above technical problems, one technical solution adopted by the present invention is to provide a cleaning control method, which is applied to a cleaning device, and includes:
before a cleaning operation is performed on a floor mopping assembly of a cleaning robot, acquiring a dirt index of the floor mopping assembly;
determining a cleaning liquid level corresponding to a cleaning tank of the cleaning equipment when the cleaning equipment cleans the mopping assembly according to the dirt index;
injecting cleaning liquid into the cleaning tank to the corresponding cleaning liquid level, and executing cleaning operation on the mopping assembly.
In one embodiment, the method for obtaining the soil index of the floor mopping assembly includes:
and receiving a pollution index of the mopping assembly sent by the cleaning robot, wherein the pollution index is determined by the cleaning robot according to task parameters in a mopping task.
In one embodiment, the method for obtaining the soil index of the floor mopping assembly includes:
at least one sensor for detecting the mopping assembly is started, and the mopping assembly is detected through the at least one sensor so as to acquire the dirt index of the mopping assembly.
In one embodiment, the method of performing a cleaning operation on the floor mopping assembly includes:
judging whether the liquid level in the cleaning tank exceeds a preset liquid level;
if the liquid level in the cleaning tank is higher than the preset liquid level, controlling the floor mopping assembly to rotate at a first rotation speed;
if the liquid level in the cleaning tank is not higher than the preset liquid level, controlling the floor mopping assembly to rotate at a second rotation speed;
wherein the first rotational speed is less than the second rotational speed.
In one embodiment, the method of performing a cleaning operation on the floor mopping assembly includes:
and determining the cleaning time length of the mopping assembly according to the cleaning liquid level in the cleaning tank.
In a specific embodiment, after the obtaining the dirt index of the floor mopping assembly, the method further includes:
judging whether the dirt index is lower than a preset dirt index;
if the dirt index is lower than the preset dirt index, the floor mopping assembly is not cleaned;
and if the dirt index is not lower than the preset dirt index, cleaning the floor mopping assembly.
In a specific embodiment, after the cleaning operation is performed on the floor mopping assembly, the method further includes:
and determining the time for sucking the cleaning liquid in the cleaning tank, the dehydration time and the drying time of the mopping assembly according to the cleaning liquid level of the cleaning tank.
In order to solve the above technical problems, another technical solution adopted by the present invention is to provide a cleaning control method, applied to a cleaning robot, comprising:
acquiring M task parameters corresponding to the cleaning robot when executing the current mopping task;
selecting N target task parameters from the M parameters according to the confidence coefficient of each parameter in the M task parameters;
determining the weight of each target task parameter in the N target task parameters;
determining the dirt index of the mopping component according to the N target task parameters and the weight of each target task parameter;
transmitting a soil index of the floor mopping assembly to the cleaning device;
wherein the task parameters include at least one of:
floor area, floor duration, floor suction, floor pressure, floor speed, floor area attribute, power consumption, water consumption, and floor frequency.
In order to solve the above technical problems, another technical solution adopted by the present invention is to provide a cleaning apparatus, including:
an apparatus main body;
a cleaning tank formed on the device main body and connected with the cleaning liquid mechanism;
the processor is arranged on the equipment main body and is used for acquiring the dirt index of the mopping assembly of the cleaning robot before the cleaning operation is carried out on the mopping assembly of the cleaning robot, and determining the cleaning liquid level corresponding to the cleaning tank of the cleaning equipment when the cleaning equipment cleans the mopping assembly according to the dirt index;
and the controller is arranged on the equipment main body, is in communication connection with the processor, and is used for controlling the cleaning liquid mechanism to inject the cleaning liquid into the cleaning tank to the corresponding cleaning liquid level and controlling the mopping assembly to rotate so as to execute the cleaning operation.
To solve the above-mentioned problems, another aspect of the present invention is to provide a computer readable storage medium, where a computer program is stored, and when executed by a processor, the computer program implements the cleaning control method as described above.
The cleaning control method is applied to the cleaning equipment, and comprises the steps of acquiring the dirt index of the mopping assembly before the cleaning operation is performed on the mopping assembly of the cleaning robot, determining the corresponding cleaning liquid level of a cleaning tank of the cleaning equipment when the cleaning equipment cleans the mopping assembly according to the dirt index, injecting the cleaning liquid to the corresponding cleaning liquid level of the cleaning tank, and performing the cleaning operation on the mopping assembly.
Drawings
For a clearer description of the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the description below are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art, wherein:
FIG. 1 is a flow chart of an embodiment of a control method of a cleaning apparatus of the present invention;
FIG. 2 is a flow chart of another embodiment of a control method of the cleaning apparatus of the present invention;
FIG. 3 is a flow chart of another embodiment of a control method of the cleaning apparatus of the present invention;
FIG. 4 is a schematic perspective view of a cleaning apparatus and a cleaning robot according to the present invention;
FIG. 5 is a schematic view of the structure of the cleaning apparatus of the present invention;
fig. 6 is a schematic structural view of the cleaning robot of the present invention;
fig. 7 is a schematic diagram of a computer-readable storage medium embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, are intended to fall within the scope of the present invention.
The terms "first," "second," and the like in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus. And the term "and/or" is merely an association relation describing the association object, and indicates that three relations may exist, for example, a and/or B may indicate: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
Referring to fig. 1, an embodiment of the cleaning control method of the present invention is applied to a cleaning apparatus, including:
s110, before the cleaning operation is performed on the floor mopping assembly of the cleaning robot, the dirt index of the floor mopping assembly is obtained.
In the embodiment of the invention, the cleaning robot can move on the working surface to clean the working surface, and the cleaning robot can comprise a sweeping mechanism and a mopping assembly, wherein the sweeping mechanism can sweep and collect solid garbage on the working surface, and the mopping assembly can wipe and drag the working surface to clean liquid garbage on the working surface.
In the embodiment of the invention, the sweeping mechanism comprises a sweeping head, a dust collection assembly and a dust box, wherein the sweeping head is used for sweeping up the solid garbage, so that the dust collection assembly sucks the solid garbage into the dust box.
In the embodiment of the invention, the cleaning equipment is equipment which is fixedly arranged on the working surface, can clean the sweeping mechanism and the mopping assembly of the cleaning robot, can recycle garbage collected by the sweeping mechanism, and can also perform operations such as charging for the cleaning robot.
In an embodiment of the invention, the mopping assembly comprises a mop and a cleaning liquid tank, the cleaning liquid tank can comprise a clean cleaning liquid part and a polluted cleaning liquid part, the clean cleaning liquid part is used for containing clean cleaning liquid so as to provide the cleaning liquid for the mop, the mop is used for wiping and mopping the working surface, the dirt index of the mopping assembly is the dirt index of the mop, and the polluted cleaning liquid part is used for recovering the cleaning liquid formed after wiping and mopping.
In the embodiment of the invention, the dirt index of the floor mopping component can be obtained through calculation.
In other embodiments, the cleaning device may also detect the floor mopping assembly via a sensor to directly obtain the dirt pick-up of the floor mopping assembly.
Specifically, for example, the cleaning device can detect the surface of the mop of the mopping assembly through the image sensor, and if the surface of the mop is darker or the impurities in the unit area are more, the dirt index is higher; conversely, if the surface of the mop is lighter in color or less impurities per unit area, the dirt index is lower.
S120, determining the cleaning liquid level corresponding to a cleaning tank of the cleaning equipment when the cleaning equipment cleans the mopping assembly according to the dirt index. In the embodiment of the invention, the corresponding relation between the dirt index and the cleaning liquid level can be stored in the cleaning equipment in advance, and the corresponding relation between the dirt index and the cleaning liquid level can be calculated through multiple cleaning effects.
S130, injecting cleaning liquid into the cleaning tank to the corresponding cleaning liquid level, and executing cleaning operation on the mopping assembly.
In the embodiment of the invention, the inner side wall of the cleaning tank can be provided with scale marks, and the cleaning equipment can detect whether the cleaning liquid in the cleaning tank reaches the corresponding cleaning liquid level by an image detection method. For example, an image sensor can be arranged in the cleaning tank, the cleaning device can acquire images of the inner side of the cleaning tank in real time, and when the cleaning liquid in the cleaning tank reaches the corresponding cleaning liquid level (namely the corresponding scale mark), the filling of the cleaning liquid is stopped.
In another embodiment, the cleaning device can also detect whether the cleaning liquid in the cleaning tank reaches the corresponding cleaning liquid level by a pressure detection method. For example, a pressure sensor is arranged on the bottom wall or the inner side wall of the cleaning tank, and when the hydraulic pressure of the bottom wall or the inner side wall of the cleaning tank reaches the hydraulic pressure corresponding to the cleaning liquid level, the cleaning liquid injection is stopped.
In other embodiments, the cleaning solution in the cleaning tank may also be detected by setting a floating ball in the cleaning tank, ultrasonic detection, or the like, which is not limited herein.
In an embodiment of the present invention, the cleaning apparatus may include a clean cleaning liquid tank for storing clean cleaning liquid and supplying the cleaning liquid to the cleaning tank.
In other embodiments, the cleaning apparatus may also be in communication with a water line to provide cleaning solution to the cleaning tank.
In an embodiment of the present invention, the cleaning apparatus may further include a contaminated cleaning liquid tank for recovering the cleaning liquid formed after the cleaning of the mopping assembly in the cleaning tank.
In other embodiments, the cleaning device may also be in communication with the outlet pipe to directly drain the cleaning solution formed after cleaning the floor cleaning assembly in the cleaning tank from the outlet pipe.
In the embodiment of the invention, the cleaning device can realize cleaning of the mop by controlling the mop rotation of the cleaning robot.
In other embodiments, the cleaning device may be provided with a scraper by which the mop is scraped for cleaning.
According to the embodiment of the invention, the cleaning liquid is injected into the cleaning tank to the corresponding cleaning liquid level according to the dirt index of the mopping assembly, so that the cleaning equipment can clean the mopping assembly more fully when the dirt index of the mopping assembly is higher, the cleaning effect is improved, the waste of the cleaning liquid can be avoided when the dirt index of the mopping assembly is lower, and the cleaning efficiency is improved.
Referring to fig. 2, another embodiment of the cleaning control method of the present invention is applied to a cleaning apparatus, including:
s210 of receiving a dirt index of the floor mopping assembly transmitted by the cleaning robot before performing a washing operation on the floor mopping assembly of the cleaning robot.
In the embodiment of the invention, the cleaning device can acquire the dirt index of the floor mopping assembly after the cleaning robot is parked on the cleaning device and docked.
In the embodiment of the invention, the cleaning equipment can judge whether to dock or not by detecting whether to realize electrical connection with the cleaning robot. Specifically, if the electric connection with the cleaning robot is detected, the butt joint is realized; if no electrical connection with the cleaning robot is detected, no docking is achieved.
In other embodiments, the cleaning device may also determine whether to interface with the cleaning robot by using other detection methods such as distance detection, image detection, and the like, which is not limited herein.
In other embodiments, the cleaning device may also acquire the dirt index of the floor mopping assembly when the cleaning robot is determined to be about to rest on the cleaning device before the cleaning robot is stopped on the cleaning device, so that the cleaning device performs a cleaning operation on the floor mopping assembly according to the dirt index immediately after the cleaning robot is stopped on the cleaning device. For example, if the cleaning device determines that the cleaning robot stops at the cleaning device within a preset time, the dirt index of the floor cleaning assembly is obtained, and the preset time may be 10 seconds, 7 seconds, 5 seconds, or the like.
In other embodiments, the cleaning device may also continuously receive the dirt index of the floor cleaning assembly sent by the cleaning robot. For example, the cleaning apparatus receives the soil index of the mopping assembly transmitted by the cleaning robot once every 10 minutes, 5 minutes, or 2 minutes, and performs a cleaning operation on the mopping assembly according to the recently received soil index.
In the embodiment of the invention, the dirt index can be determined by the cleaning robot according to the task parameters in the mopping task, and after the cleaning equipment receives the dirt index of the mopping assembly, the follow-up operation can be directly executed according to the dirt index, so that the calculation and judgment time of the dirt index is saved, and the efficiency of the cleaning equipment is higher.
In another embodiment, the cleaning apparatus may further activate at least one sensor for detecting the floor mopping assembly and detect the floor mopping assembly via the at least one sensor to obtain a soil index of the floor mopping assembly. The sensor can be arranged on the cleaning device or on the cleaning robot.
For example, the sensor is an image sensor and is arranged on the cleaning device, the cleaning device starts the image sensor to collect an image of the mopping component after the cleaning robot is parked on the cleaning device, and the dirt index is determined according to the color, thickness and fluffiness of the mopping component in the image. For example, wherein the darker the color of the floor mopping assembly, the higher the soil index; the greater the thickness of the floor mopping assembly, the higher the soil index; the greater the degree of loftiness of the floor mopping assembly, the higher the soil index.
For another example, the sensor is provided in the cleaning robot as a weight sensor, and the weight sensor detects the weight of the floor cleaning unit, and the greater the weight of the floor cleaning unit, the higher the dirt index.
In the embodiment of the invention, the dirt index and the dirt degree of the mopping assembly are in a positive relation, namely, the dirt index is higher when the mop of the mopping assembly is dirty; conversely, the cleaner the mop of the mopping assembly, the lower the soil index.
In the embodiment of the invention, the cleaning equipment can also store the corresponding relation between the mopping task and the dirt index of the cleaning robot, so that the cleaning equipment can directly acquire the dirt index corresponding to the cleaning robot when the cleaning robot performs the same mopping task next time, the calculation or detection process can be omitted, and the cleaning efficiency of the cleaning equipment on the mopping assembly is higher.
In the embodiment of the invention, the corresponding relation between the mopping task and the dirt index of the cleaning robot can be a set corresponding relation, and can also be calculated by the cleaning equipment according to the collected dirt index for a plurality of times.
S221, judging whether the pollution index is lower than a preset pollution index.
In the embodiment of the invention, the preset dirt index can be stored in the cleaning equipment in advance, or can be calculated for the cleaning equipment according to the collected dirt index for a plurality of times.
S222, if the dirt index is lower than the preset dirt index, the floor mopping assembly is not cleaned.
In the embodiment of the invention, if the dirt index is lower than the preset dirt index, the cleaning robot can be only charged, the cleaning and sweeping mechanism and the like, and the cleaning operation is not performed on the mopping assembly, so that the cleaning liquid resource can be further saved.
And S230, if the dirt index is not lower than the preset dirt index, determining the cleaning liquid level corresponding to the cleaning tank of the cleaning device when the cleaning device cleans the mopping assembly according to the dirt index.
In the embodiment of the invention, the dirt index and the cleaning liquid level are in a positive relation, namely, the higher the dirt index is, the larger the cleaning liquid level is, so that the floor cleaning assembly can more fully act with the cleaning liquid in the cleaning tank, and the cleaning effect is better; conversely, the lower the dirt index, the smaller the cleaning liquid level, and the cleaning efficiency can be improved.
S240, injecting cleaning liquid into the cleaning tank to the corresponding cleaning liquid level.
In the embodiment of the invention, the cleaning device can be used for injecting the cleaning liquid into the cleaning tank through the cleaning liquid tank, and can also be used for injecting the cleaning liquid into the cleaning tank through the water pipe.
S251, judging whether the cleaning liquid level in the cleaning tank exceeds a preset liquid level.
In the embodiment of the invention, whether the cleaning liquid level in the cleaning tank exceeds the preset liquid level can be detected by the sensor. For example, whether the cleaning liquid level in the cleaning tank exceeds a preset liquid level may be detected by an image sensor, a pressure sensor, or the like.
S252, if the cleaning liquid level in the cleaning tank is higher than the preset liquid level, controlling the mopping assembly to rotate at the first rotation speed.
In an embodiment of the invention, the cleaning device may send a spin cleaning signal to the cleaning robot to cause the floor cleaning assembly to spin.
In the embodiment of the invention, the cleaning equipment can send a rotary cleaning signal to the cleaning robot in a wired transmission or wireless transmission mode.
S253, if the cleaning liquid level in the cleaning tank is not higher than the preset liquid level, controlling the floor mopping assembly to rotate at the second rotation speed.
In the embodiment of the invention, the first rotating speed is smaller than the second rotating speed, so that the mopping assembly rotates at a slower speed when the liquid level is higher, and the cleaning liquid in the cleaning tank is prevented from splashing when the mop of the mopping assembly rotates or rubs with the cleaning rib in the cleaning tank, so that secondary pollution or damage to cleaning equipment and cleaning robots is avoided; the floor mopping assembly rotates at a higher speed when the liquid level is lower, so that the cleaning speed can be increased, and the cleaning efficiency is improved.
In other embodiments, the rotational speed of the floor mopping assembly can also be controlled directly according to the soil index. For example, the rotational speed of the floor cleaning assembly is negatively related to the soil index, i.e., the higher the soil index, the lower the rotational speed of the floor cleaning assembly, and conversely, the lower the soil index, the greater the rotational speed of the floor cleaning assembly.
S260, determining the cleaning time of the mopping assembly according to the cleaning liquid level in the cleaning tank.
In an embodiment of the present invention, a method for determining a cleaning time period of a floor cleaning assembly according to a cleaning liquid level in a cleaning tank may include:
s261, if the cleaning liquid level in the cleaning tank is higher than the preset liquid level, setting the time for cleaning the mopping assembly as the first cleaning time.
S262, if the cleaning liquid level in the cleaning tank is not higher than the preset liquid level, setting the time for cleaning the mopping assembly as the second cleaning time.
In the embodiment of the invention, the first cleaning time is longer than the second cleaning time, so that the cleaning time of the mopping assembly is longer when the liquid level is higher, the cleaning of the mopping assembly is more sufficient, and the cleaning effect is improved; the cleaning time of the mopping assembly is shorter when the liquid level is lower, and the cleaning efficiency is higher.
In other embodiments, the cleaning time of the floor mopping assembly can also be controlled directly according to the soil index. For example, the rotational speed of the floor cleaning assembly is in a positive relationship with the soil index, i.e., the higher the soil index, the longer the cleaning time of the floor cleaning assembly, and conversely, the lower the soil index, the shorter the cleaning time of the floor cleaning assembly.
In another embodiment, the first cleaning time is shorter than the second cleaning time, and the cleaning time can be shortened because the floor mopping component can more fully act with the cleaning liquid in the cleaning tank when the cleaning liquid level in the cleaning tank is higher than the preset liquid level; when the cleaning liquid level in the cleaning tank is not higher than the preset liquid level, the cleaning liquid which can act with the mopping assembly is less, and the cleaning can be cleaner by increasing the cleaning time.
S270, determining the time for sucking the cleaning liquid in the cleaning tank, the dehydration time and the drying time of the mopping assembly according to the cleaning liquid level of the cleaning tank.
In the embodiment of the invention, the cleaning liquid level of the cleaning tank is in a positive relation with the time of cleaning liquid suction of the cleaning tank, the dehydration time of the mopping assembly and the drying time, namely, the larger the cleaning liquid level of the cleaning tank is, the longer the time of cleaning liquid suction of the cleaning tank, the dehydration time of the mopping assembly and the drying time are; conversely, the smaller the cleaning liquid level of the cleaning tank, the shorter the time for the cleaning tank to suck the cleaning liquid, the dehydration time of the mopping assembly, and the drying time.
Referring to fig. 3, an embodiment of the cleaning control method of the present invention is applied to a cleaning robot, including:
s310, M task parameters corresponding to the cleaning robot when executing the current mopping task are acquired.
In an embodiment of the present invention, the task parameters include at least one of: floor area, floor duration, floor suction, floor pressure, floor speed, floor area attribute, power consumption, water consumption, and floor frequency.
In the embodiment of the invention, the floor mopping area in the current floor mopping task of the cleaning robot can be calculated according to the moving path of the cleaning robot and the width of the mop cloth of the floor mopping assembly. For example, the width of the mop of the mopping assembly is 0.3 meter, the moving path of the cleaning robot is 100 meters, and the mopping area in the current mopping task of the cleaning robot is 100×0.3=30 square meters.
In the embodiment of the invention, the mopping time length in the current mopping task of the cleaning robot can be obtained according to the time difference that the cleaning device detects the butt joint with the cleaning robot twice, for example, when the cleaning device detects 4 points for the first time, the cleaning device is in butt joint with the cleaning robot, and when the cleaning device detects 4 points 30 points for the second time and is in butt joint with the cleaning robot again, the mopping time length in the current mopping task of the cleaning robot is 30 minutes.
In other embodiments, determining the length of time to mop in the current task to mop the cleaning robot may also include: when the cleaning robot leaves the cleaning equipment, the cleaning robot or the cleaning equipment starts timing, and when the cleaning robot is in butt joint with the cleaning equipment, the timing is completed, and the mopping time length in the current mopping task of the cleaning robot is obtained.
In the embodiment of the invention, the floor mopping suction force and the floor mopping pressure in the current floor mopping task of the cleaning robot can be determined by arranging a pressure sensor on the cleaning robot for detection.
In the embodiment of the invention, the mopping speed in the current mopping task of the cleaning robot can be determined by arranging a speed sensor on the cleaning robot for detection.
In the embodiment of the invention, the attribute of the mopping area in the current mopping task of the cleaning robot can be divided into the living room attribute, the bedroom attribute, the kitchen area attribute and the like, and specifically, for example, heavy oil stains are easy to generate on the kitchen floor, and the dirt index needs to be increased; the bedroom floor is generally only dusty, so that the dirt index can be reduced.
In the embodiment of the invention, the power consumption and the water consumption in the current mopping task of the cleaning robot can be determined by arranging the power detector and the water consumption detector on the cleaning robot.
S320, selecting N target task parameters from the M parameters according to the confidence coefficient of each parameter in the M task parameters.
In the embodiment of the invention, the confidence coefficient of each parameter can be stored in the cleaning robot in advance, or can be calculated for the cleaning robot according to a plurality of parameters acquired before.
In the embodiment of the invention, N target task parameters with higher confidence degrees can be selected from M parameters, N target task parameters with lower confidence degrees can be selected, and target task parameters with higher partial confidence degrees and target task parameters with lower partial confidence degrees can also be selected.
S330, determining the weight of each target task parameter in the N target task parameters.
In the embodiment of the invention, the weight of each target task parameter can be stored in the cleaning robot in advance, or can be calculated for the cleaning robot according to a plurality of target task parameters acquired before.
S340, determining the dirt index of the floor mopping component according to the N target task parameters and the weight of each target task parameter.
S350, the dirt index of the floor mopping assembly is sent to the cleaning equipment.
In the embodiment of the invention, the cleaning robot can send the dirt index to the cleaning device in a wired transmission mode after stopping and docking with the cleaning device.
In other embodiments, the cleaning robot may also send the fouling index to the cleaning device by means of wireless transmission.
Referring to fig. 4, an embodiment of a cleaning apparatus 400 of the present invention includes an apparatus main body, a cleaning tank, a first processor, and a controller, where the cleaning tank is formed on the apparatus main body and is connected to a cleaning liquid mechanism, the first processor is disposed on the apparatus main body, and is configured to obtain a dirt index of a floor cleaning assembly of the cleaning robot before performing a cleaning operation on the floor cleaning assembly of the cleaning robot, determine a cleaning liquid level corresponding to the cleaning tank of the cleaning apparatus when the floor cleaning assembly is cleaned according to the dirt index, and the controller is disposed on the apparatus main body and is communicatively connected to the first processor, and is configured to control the cleaning liquid mechanism to inject a cleaning liquid to the corresponding cleaning liquid level and control the floor cleaning assembly to rotate, so as to perform the cleaning operation.
In an embodiment of the present invention, the cleaning apparatus may further comprise a charging device for charging the cleaning robot, a mop cleaning device for cleaning a mop of the cleaning robot, a suction device for sucking solid garbage in a dust box of the cleaning robot, a dust collecting container, and a cleaning solution tank for replenishing the cleaning solution to the cleaning solution tank of the cleaning robot, wherein the mop cleaning device comprises a cleaning tank.
In an embodiment of the invention, a cleaning rib may be formed in the cleaning trough for rubbing against the mop to clean the mop.
In the embodiment of the invention, the cleaning device can also comprise an infrared receiver connected with the controller, and the infrared receiver is used for receiving infrared signals emitted by the infrared emitter of the cleaning robot and can also be used for realizing detection function as an infrared sensor.
Referring to fig. 4, an embodiment of a cleaning robot 500 includes a robot main body and a second processor disposed on the robot main body, where the second processor is configured to obtain M task parameters corresponding to a cleaning robot when executing a current mopping task, select N target task parameters from the M task parameters according to a confidence coefficient of each parameter in the M task parameters, determine a weight of each target task parameter in the N target task parameters, determine a dirt index of a mopping component according to the N target task parameters and the weight of each target task parameter, and send the dirt index of the mopping component to a cleaning device.
In the embodiment of the present invention, the robot body is provided with a water filling port 510 for receiving the cleaning solution of the cleaning device 400 to be matched with the mopping assembly for mopping.
Referring to fig. 5, an embodiment of a cleaning apparatus 600 of the present invention includes an apparatus main body 610, a cleaning unit 620, a first processing unit 630, and a control unit 640, wherein the cleaning unit 620 is formed on the apparatus main body 610 and is connected to a cleaning liquid mechanism, the first processing unit 630 is disposed on the apparatus main body 610 and is used for obtaining a dirt index of a floor cleaning assembly of a cleaning robot before a cleaning operation is performed on the floor cleaning assembly of the cleaning robot, determining a cleaning liquid level corresponding to the cleaning unit 620 of the cleaning apparatus 600 when the cleaning apparatus cleans the floor cleaning assembly according to the dirt index, and the control unit 640 is disposed on the apparatus main body 610 and is in communication connection with the first processing unit 630 and is used for controlling the cleaning liquid mechanism to inject the cleaning liquid to the cleaning unit 620 to the corresponding cleaning liquid level and controlling the floor cleaning assembly to rotate so as to perform the cleaning operation.
Referring to fig. 6, an embodiment of a cleaning robot 700 includes a robot main body 710 and a second processing unit 720 disposed on the robot main body 710, where the second processing unit 720 is configured to obtain M task parameters corresponding to the cleaning robot 700 when executing a current mopping task, select N target task parameters from the M parameters according to a confidence level of each parameter in the M task parameters, determine a weight of each target task parameter in the N target task parameters, determine a dirt index of a mopping component according to the N target task parameters and the weight of each target task parameter, and send the dirt index of the mopping component to a cleaning device.
Referring to fig. 7, an embodiment of a computer readable storage medium 800 of the present invention stores a computer program 810, which computer program 810, when executed by a processor, implements a cleaning control method as described above.
In the embodiment of the present invention, the computer readable storage medium 800 may be a portable storage medium, for example, a U-disk, an optical disc, or the like, or may be a terminal, a server, or the like.
The foregoing description is only of embodiments of the present invention, and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present invention or directly or indirectly applied to other related technical fields are included in the scope of the present invention.
Claims (10)
1. A cleaning control method, characterized by being applied to a cleaning apparatus, comprising:
before a cleaning operation is performed on a floor mopping assembly of a cleaning robot, acquiring a dirt index of the floor mopping assembly;
determining a cleaning liquid level corresponding to a cleaning tank of the cleaning equipment when the cleaning equipment cleans the mopping assembly according to the dirt index;
injecting cleaning liquid into the cleaning tank to the corresponding cleaning liquid level, and executing cleaning operation on the mopping assembly.
2. The cleaning control method of claim 1, wherein the method of obtaining a soil index of the floor cleaning assembly comprises:
and receiving a pollution index of the mopping assembly sent by the cleaning robot, wherein the pollution index is determined by the cleaning robot according to task parameters in a mopping task.
3. The cleaning control method of claim 1 or 2, wherein the method of obtaining a soil index of the floor cleaning assembly comprises:
at least one sensor for detecting the mopping assembly is started, and the mopping assembly is detected through the at least one sensor so as to acquire the dirt index of the mopping assembly.
4. The cleaning control method of claim 1, wherein the method of performing a cleaning operation on the floor cleaning assembly comprises:
judging whether the cleaning liquid level in the cleaning tank exceeds a preset liquid level;
if the cleaning liquid level in the cleaning tank is higher than the preset liquid level, controlling the mopping assembly to rotate at a first rotation speed;
if the cleaning liquid level in the cleaning tank is not higher than the preset liquid level, controlling the floor mopping assembly to rotate at a second rotation speed;
wherein the first rotational speed is less than the second rotational speed.
5. The cleaning control method of claim 1, wherein the method of performing a cleaning operation on the floor cleaning assembly comprises:
and determining the cleaning time length of the mopping assembly according to the cleaning liquid level in the cleaning tank.
6. The cleaning control method of claim 1, wherein after the obtaining the soil index of the floor cleaning assembly, the method further comprises:
judging whether the dirt index is lower than a preset dirt index;
if the dirt index is lower than the preset dirt index, the floor mopping assembly is not cleaned;
and if the dirt index is not lower than the preset dirt index, cleaning the floor mopping assembly.
7. The cleaning control method of claim 1, wherein after performing a cleaning operation on the floor mopping assembly, the method further comprises:
and determining the time for sucking the cleaning liquid in the cleaning tank, and the dehydration time and the drying time of the mopping assembly according to the cleaning liquid level of the cleaning tank.
8. A cleaning control method, characterized by being applied to a cleaning robot, comprising:
acquiring M task parameters corresponding to the cleaning robot when executing the current mopping task;
selecting N target task parameters from the M parameters according to the confidence coefficient of each parameter in the M task parameters;
determining the weight of each target task parameter in the N target task parameters;
determining the dirt index of the mopping component according to the N target task parameters and the weight of each target task parameter;
transmitting a soil index of the floor mopping assembly to the cleaning device;
wherein the task parameters include at least one of:
floor area, floor duration, floor suction, floor pressure, floor speed, floor area attribute, power consumption, water consumption, and floor frequency.
9. A cleaning apparatus, comprising:
an apparatus main body;
a cleaning tank formed on the device main body and connected with the cleaning liquid mechanism;
the processor is arranged on the equipment main body and is used for acquiring the dirt index of the mopping assembly of the cleaning robot before the cleaning operation is carried out on the mopping assembly of the cleaning robot, and determining the cleaning liquid level corresponding to the cleaning tank of the cleaning equipment when the cleaning equipment cleans the mopping assembly according to the dirt index;
and the controller is arranged on the equipment main body, is in communication connection with the processor, and is used for controlling the cleaning liquid mechanism to inject the cleaning liquid into the cleaning tank to the corresponding cleaning liquid level and controlling the mopping assembly to rotate so as to execute the cleaning operation.
10. A computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the cleaning control method according to any one of claims 1 to 7 or claim 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210911888.9A CN117502993A (en) | 2022-07-29 | 2022-07-29 | Cleaning control method and related device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210911888.9A CN117502993A (en) | 2022-07-29 | 2022-07-29 | Cleaning control method and related device |
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| CN117502993A true CN117502993A (en) | 2024-02-06 |
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| CN202210911888.9A Pending CN117502993A (en) | 2022-07-29 | 2022-07-29 | Cleaning control method and related device |
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| CN (1) | CN117502993A (en) |
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- 2022-07-29 CN CN202210911888.9A patent/CN117502993A/en active Pending
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