WO2021098443A1 - 清洗设备的控制方法、装置及清洗设备 - Google Patents

清洗设备的控制方法、装置及清洗设备 Download PDF

Info

Publication number
WO2021098443A1
WO2021098443A1 PCT/CN2020/123150 CN2020123150W WO2021098443A1 WO 2021098443 A1 WO2021098443 A1 WO 2021098443A1 CN 2020123150 W CN2020123150 W CN 2020123150W WO 2021098443 A1 WO2021098443 A1 WO 2021098443A1
Authority
WO
WIPO (PCT)
Prior art keywords
host
water gun
cleaning equipment
position information
current position
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.)
Ceased
Application number
PCT/CN2020/123150
Other languages
English (en)
French (fr)
Inventor
陈培鹤
查霞红
赵凤丽
李中仲
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Positec Power Tools Suzhou Co Ltd
Original Assignee
Positec Power Tools Suzhou Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from CN201911151305.1A external-priority patent/CN112824992A/zh
Priority claimed from CN201922027914.8U external-priority patent/CN210835725U/zh
Application filed by Positec Power Tools Suzhou Co Ltd filed Critical Positec Power Tools Suzhou Co Ltd
Publication of WO2021098443A1 publication Critical patent/WO2021098443A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/02—Cleaning by the force of jets or sprays
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the present invention relates to the technical field of industrial cleaning, in particular to a control method, device and cleaning equipment of a cleaning equipment.
  • Commonly used water spray cleaning equipment can be, for example, a seat-type high-pressure cleaner.
  • the seat-type high-pressure cleaner includes a water gun and a cleaning host.
  • the cleaning host is equipped with The water pump pumps the water in the water tank in the host into the water gun along the water pipe to perform cleaning operations, such as cleaning vehicles and cleaning building walls.
  • manpower is required to actively drag the host of the cleaning device to perform multi-directional cleaning, or to configure a longer water pipe for the cleaning device.
  • the present invention aims to solve one of the technical problems in the related art at least to a certain extent.
  • the purpose of the present invention is to provide a cleaning equipment control method, device and cleaning equipment, which can realize the self-adaptive movement of the cleaning equipment host and effectively improve the self-adaptive control effect of the cleaning equipment.
  • the first aspect of the present invention provides a method for controlling a cleaning device.
  • the cleaning device includes a water gun and a host, and the water gun and the host are connected via a water pipe, including: During the working process, the position information of the water gun is acquired; and the current position of the host is adjusted according to the position information of the water gun.
  • the method for controlling the cleaning device proposed by the embodiment of the first aspect of the present invention obtains the position information of the water gun during the working process of the cleaning device, and adjusts the current position of the host according to the position information of the water gun, so as to realize the control according to the position information of the water gun.
  • the position of the host is dynamically adjusted adaptively to realize the adaptive movement of the host of the cleaning equipment, and effectively improve the self-adaptive control effect of the cleaning equipment.
  • the second aspect of the present invention provides a control device for a cleaning equipment.
  • the cleaning equipment includes a water gun and a host.
  • the water gun and the host are connected via a water pipe.
  • the control device includes: The module is used to obtain the position information of the water gun during the working process of the cleaning equipment; the control module is used to adjust the current position of the host according to the position information of the water gun.
  • the control device of the cleaning equipment proposed in the embodiment of the second aspect of the present invention obtains the position information of the water gun during the working process of the cleaning equipment, and adjusts the current position of the host according to the position information of the water gun, so as to realize the adjustment according to the position information of the water gun.
  • the position of the host is dynamically adjusted adaptively to realize the adaptive movement of the host of the cleaning equipment, and effectively improve the self-adaptive control effect of the cleaning equipment.
  • the cleaning device proposed by the embodiment of the third aspect of the present invention includes: a water gun and a host, the water gun and the host are connected via a water pipe, and the control of the cleaning device provided by the embodiment of the second aspect Device.
  • the cleaning device proposed in the embodiment of the third aspect of the present invention obtains the position information of the water gun during the operation of the cleaning device, and adjusts the current position of the host according to the position information of the water gun, so as to realize adaptively according to the position information of the water gun.
  • the position of the host is dynamically adjusted to realize the adaptive movement of the host of the cleaning equipment, and effectively improve the self-adaptive control effect of the cleaning equipment.
  • FIG. 1 is a schematic flowchart of a method for controlling a cleaning device according to an embodiment of the present invention
  • Figure 2 is a schematic structural diagram of a cleaning device in an embodiment of the present invention.
  • FIG. 3 is a schematic flowchart of a method for controlling a cleaning device according to another embodiment of the present invention.
  • FIG. 4 is a schematic flowchart of a method for controlling a cleaning device according to another embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a control device of a cleaning equipment provided by an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a control device of a cleaning equipment according to another embodiment of the present invention.
  • Fig. 7 is a cleaning device proposed by an embodiment of the present invention.
  • the embodiment of the present invention provides a method for controlling the cleaning device. , By acquiring the position information of the water gun during the working process of the cleaning equipment, and adjusting the current position of the host according to the position information of the water gun, the position of the host can be dynamically adjusted according to the position information of the water gun to realize the cleaning.
  • the self-adaptive movement of the equipment host effectively improves the self-adaptive control effect of the cleaning equipment.
  • Fig. 1 is a schematic flowchart of a method for controlling a cleaning device according to an embodiment of the present invention.
  • the method for controlling a cleaning device is configured as a control device of the cleaning device for example.
  • control method of the cleaning device in this embodiment may be configured in the control device of the cleaning device, and the control device of the cleaning device may be set in the server, or may also be set in the cleaning device, which is not limited in the embodiment of the present invention.
  • control method of the cleaning device is configured in the host of the cleaning device as an example.
  • the execution body of the embodiment of the present invention may be, for example, a server or a central processing unit (CPU) in the host of a cleaning device in hardware, and may be, for example, a server or a host of a cleaning device in software. There are no restrictions on the related background services in.
  • FIG 2 is a schematic diagram of the structure of the cleaning device in the embodiment of the present invention, including: a water gun 21 and a host 22.
  • the water gun 21 and the host 22 are connected via a water pipe 23.
  • the cleaning device can also be equipped with a water tank 24 and a water pump. 25 and a control module 26.
  • the water tank 24, the water pump 25 and the control module 26 are arranged inside the host 22, and the control module 26 can obtain the position information of the water gun in real time during the working process of the cleaning equipment, and there is no restriction on this.
  • the method includes:
  • the built-in control module of the cleaning equipment host can obtain the position information of the water gun in real time during the operation of the cleaning equipment, or obtain the position information of the water gun every preset period. There is no restriction on this .
  • a graphical human-computer interaction interface can be provided on the host of the cleaning equipment in advance, and a module that can be selected by the user to adjust the position of the entire host can be provided on the graphical human-computer interaction interface.
  • the control module can perform the step of obtaining the position information of the water gun during the working process of the cleaning device.
  • the user does not trigger the module for adaptively adjusting the position of the host, it can be determined that the user currently does not have the need to adaptively adjust the position of the host. At this time, the current position of the host may not be adaptively adjusted during the working process of the cleaning device.
  • the position of the water gun will dynamically change as the cleaning operation progresses.
  • the change of the position information of the water gun can be monitored in real time, thereby triggering the subsequent step of adjusting the current position of the host according to the position information of the water gun.
  • the embodiment of the present invention may pre-set a signal transmitter for the water gun, and set a signal receiver on the host, wherein the signal receiver receives the signal transmitter The transmitted target signal; according to the target signal, determine the position information of the water gun.
  • the signal receiver can be, for example, an ultrasonic signal receiver, an infrared signal receiver, or any other possible signal receiver, which is not limited, and the signal receiver is also configured to be connected to the control module, thus ,
  • the control module can monitor whether the signal receiver receives the target signal in real time. When it is determined that the signal receiver receives the target signal, the control module can obtain the target signal to determine the position information of the water gun according to the target signal.
  • the signal transmitter can send the initial signal in real time during the working process of the cleaning equipment. Due to the attenuation of factors such as air resistance, the signal received by the signal receiver may not be completely consistent with the initial signal parameters. Therefore, in the embodiment of the present invention, the signal received by the signal receiver can be referred to as the target signal, and the target signal is the initial signal emitted by the signal transmitter, which is attenuated by certain factors such as air resistance. signal of.
  • signal parameters such as the phase and signal strength of the initial signal transmitted can be set in advance for the signal transmitter, and the target signal is received by the signal receiver. Furthermore, the control module can be based on the received signal. The actual phase of the target signal and the actual signal strength and other parameters are used to determine the position information of the water gun, and there is no restriction on this.
  • the signal transmitter is, for example, an infrared signal transmitter
  • the signal receiver is, for example, an infrared receiving tube. Therefore, the signal transmitter on the water gun can also emit infrared signals in various directions to clean the infrared receiver on the main body of the equipment.
  • the tube is triggered when the infrared signal is received, and the control module on the host is electrically connected to the infrared receiving tube. It can read the trigger information of the infrared receiving tube and judge the position of the infrared signal transmitter, so as to use the position of the infrared signal transmitter as the water gun Location information, there is no restriction on this.
  • a positioning device can also be set on the water gun in advance, and the positioning device can be configured to communicate with the control module. Therefore, the control module can directly receive the position information of the water gun obtained by the positioning device. , There is no restriction on this.
  • a signal transmitter is provided on the water gun
  • a signal receiver is provided on the host.
  • the signal receiver receives the target signal emitted by the signal transmitter, and determines the position of the water gun according to the target signal.
  • Information or, by setting up a positioning device on the water gun, and directly receiving the position information of the water gun sent by the positioning device, it is possible to obtain more accurate position information without excessively increasing the hardware manufacturing cost of the cleaning device. As a result, It can effectively improve the feasibility and applicability of the method, and enhance the user experience.
  • S102 Adjust the current position of the host according to the position information of the water gun.
  • the position of the host may be referred to as the current position.
  • the host when the current position of the host is adjusted, the host is adjusted to the direction close to the water gun according to the position information of the water gun, so that when the cleaning equipment performs multi-directional cleaning, it is avoided that manpower actively drags the host of the cleaning equipment ,
  • the host of the cleaning equipment can adaptively follow the movement of the water gun.
  • the embodiment of the present invention can also be applied to the application scenario where the position of the water gun is closer to the position of the host, and the host needs to be adjusted in a direction away from the water gun. It can be seen that the present invention
  • the control method of the cleaning device in the embodiment has good applicability, and the control method is relatively flexible, and can meet the user's use requirements in a multi-faceted manner.
  • the current position of the host is adjusted according to the position information of the water gun, and the position of the host is adaptively dynamically adjusted according to the position information of the water gun. Adjust, realize the self-adaptive movement of the host of the cleaning equipment, and effectively improve the self-adaptive control effect of the cleaning equipment.
  • FIG. 3 is a schematic flowchart of a method for controlling a cleaning device according to another embodiment of the present invention.
  • the method includes:
  • the built-in control module of the cleaning equipment host can obtain the position information of the water gun in real time during the operation of the cleaning equipment, or obtain the position information of the water gun every preset period. There is no restriction on this .
  • a graphical human-computer interaction interface can be provided on the host of the cleaning equipment in advance, and a module that can be selected by the user to adjust the position of the entire host can be provided on the graphical human-computer interaction interface.
  • the control module can perform the step of obtaining the position information of the water gun during the working process of the cleaning device.
  • the user does not trigger the module for adaptively adjusting the position of the host, it can be determined that the user currently does not have the need to adjust the position of the host adaptively. At this time, the current position of the host may not be adaptively adjusted during the working process of the cleaning device.
  • the position of the water gun will dynamically change as the cleaning operation progresses.
  • the change of the position information of the water gun can be monitored in real time, thereby triggering the subsequent step of adjusting the current position of the host according to the position information of the water gun.
  • the actual application scenario requirements are taken into consideration, that is, before the current position of the host is adaptively adjusted according to the position information of the water gun, the relative distance value between the water gun and the host is also combined to determine whether the host is currently triggered.
  • the current position is adjusted adaptively.
  • the relative distance value between the water gun and the main body of the cleaning equipment is not enough to stretch the water pipe to the longest length.
  • it is not necessary to adjust the current position of the host.
  • the hardware resource consumption required for the adaptive adjustment of the control host can be effectively saved, and the electricity consumption of the cleaning equipment can be effectively saved.
  • the water pipe is stretched to the longest length, it can trigger the adjustment of the current position of the host.
  • the location information of the host obtained by the positioning module is obtained locally, so as to determine the relative distance value between the water gun and the host according to the location information of the water gun and the location information of the host, which is not limited.
  • the preset threshold is the limit value that is about to stretch the water pipe to the longest length
  • the preset threshold can be set to be slightly smaller than the length of the water pipe
  • the preset threshold can be set by the user of the cleaning equipment according to his own needs, or , It can also be preset by the factory program of the cleaning equipment, and there is no restriction on this.
  • S304 Stop adjusting the current position of the host when the relative distance value is lower than the preset threshold.
  • the relative distance value between the water gun and the host is detected, the relative distance value is compared with the preset threshold value. When the relative distance value exceeds the preset threshold value, it is determined that the water pipe will be stretched to the maximum The long length can trigger the adjustment of the current position of the host at this time, and when the relative distance value is lower than the preset threshold, the adjustment of the current position of the host may not be triggered, or the current position of the host may be adjusted in the post In the process, when it is detected in real time that the relative distance value has fallen below the preset threshold, the adjustment of the current position of the host can be stopped. It can be seen that the control method in the embodiment of the present invention is relatively flexible and can adapt to different application scenarios demand.
  • the current position of the host is adjusted according to the position information of the water gun, and the position of the host is adaptively dynamically adjusted according to the position information of the water gun. Adjust, realize the self-adaptive movement of the host of the cleaning equipment, and effectively improve the self-adaptive control effect of the cleaning equipment.
  • the relative distance value is compared with the preset threshold value. When the relative distance value exceeds the preset threshold value, it is determined that the water pipe will be stretched to the longest length.
  • Trigger the adjustment of the current position of the host and when the relative distance value is lower than the preset threshold, the adjustment of the current position of the host may not be triggered, or, in the process of adjusting the current position of the host, real-time detection
  • you can stop adjusting the current position of the host which can effectively guarantee the control effect, while effectively saving the hardware resource consumption required for the adaptive adjustment of the control host, effectively saving
  • the power consumption of the cleaning equipment and the control method are more flexible, which can adapt to the needs of different application scenarios.
  • Fig. 4 is a schematic flowchart of a method for controlling a cleaning device according to another embodiment of the present invention.
  • the method includes:
  • the built-in control module of the cleaning equipment host can obtain the position information of the water gun in real time during the operation of the cleaning equipment, or obtain the position information of the water gun every preset period. There is no restriction on this .
  • a graphical human-computer interaction interface can be provided on the host of the cleaning equipment in advance, and a module that can be selected by the user to adjust the position of the entire host can be provided on the graphical human-computer interaction interface.
  • the control module can perform the step of obtaining the position information of the water gun during the working process of the cleaning device.
  • the user does not trigger the module for adaptively adjusting the position of the host, it can be determined that the user currently does not have the need to adjust the position of the host adaptively. At this time, the current position of the host may not be adaptively adjusted during the working process of the cleaning device.
  • the position of the water gun will dynamically change as the cleaning operation progresses.
  • the change of the position information of the water gun can be monitored in real time, thereby triggering the subsequent step of adjusting the current position of the host according to the position information of the water gun.
  • S402 Determine obstacle distribution information in the environment, and determine road condition information.
  • an environment sensing module can be configured on the host of the cleaning device in advance, and the obstacle distribution information in the environment can be determined through the environment sensing module, and the road condition information can be determined.
  • the obstacle distribution information can be used to describe the type of obstacles in the environment where the cleaning device is currently located, and the corresponding location and other information.
  • the road condition information can be, for example, information such as the type and level of the road surface in the environment where the cleaning device is currently located. , There is no restriction on this.
  • the above determined obstacle distribution information and road condition information are used to assist the planning of the optimal path, and the optimal path may be referred to as a target path.
  • the target path is generated in combination with the obstacle distribution information and the road condition information.
  • the control module combines the obstacle distribution information and the road condition information according to the position information of the water gun and the current position of the host, as well as the combination
  • the pre-configured path planning algorithm is used to plan the target path.
  • the control module can also send the position information of the water gun and the current position of the host, combined with obstacle distribution information and road condition information, to the cloud server, and the cloud server will send it to the cloud server according to the preset
  • the path planning algorithm plans to obtain the target path, so that the control module directly obtains the target path from the cloud server, and there is no restriction on this.
  • the host is adjusted to the direction close to the water gun based on the target path, which can be specifically adjusted to the direction close to the water gun along the target path.
  • the optimal path be planned automatically, but also the obstacle avoidance process can be implemented adaptively, so that it can have a better safety factor.
  • the environment image can also be obtained, the target object image of the environment image is recognized, and the target object image is determined, which corresponds to the position of the target object in the actual environment, and According to the position of the target object, the host is controlled to turn accordingly.
  • a camera component can be set on the host, the camera component is controlled by the control module to obtain environmental images, and an image processing component is set on the host, the image processing component is controlled by the control module, and the environmental image obtained by the camera component is analyzed and identified
  • the target object image (for example, the target object image needs to be controlled by the host to avoid collision, and corresponds to the image part in the environment image).
  • the target object image can be reported to the cloud server.
  • the server determines the target object image, which corresponds to the position of the target object in the actual environment, so as to perform corresponding steering control on the host according to the position of the target object.
  • the host when the control host is about to move to the location of the target object, the host can be controlled to turn in time to avoid collision with the target object, thereby realizing flexibly and adaptively adjusting the location of the host.
  • the obstacle distribution information in the environment is determined, and the road condition information is determined, and based on the position information of the water gun and the current position of the host, combined with the obstacle distribution
  • the information and road condition information generate the target path, and based on the target path, adjust the host to the direction close to the water gun, which can effectively avoid collisions in the adaptive adjustment control process, effectively guarantee the safety of the cleaning equipment position adjustment, and prolong the cleaning The service life of the equipment.
  • the environment image can also be obtained, the target object image of the environment image can be recognized, and the target object image can be determined, corresponding to the position of the target object in the actual environment, and according to the target object's position.
  • the corresponding steering control of the host can not only realize the automatic planning of the optimal path, but also realize the adaptive obstacle avoidance processing, so that it can have a better safety factor.
  • Fig. 5 is a schematic structural diagram of a control device of a cleaning equipment proposed in an embodiment of the present invention.
  • the cleaning equipment includes a water gun and a host, and the water gun and the host are connected via a water pipe.
  • the device 500 includes:
  • the obtaining module 501 is used to obtain position information of the water gun during the working process of the cleaning equipment;
  • the control module 502 is used to adjust the current position of the host according to the position information of the water gun.
  • a signal transmitter is provided on the water gun, and a signal receiver is provided on the host.
  • the signal receiver receives the target signal emitted by the signal transmitter, and the acquisition module 501 determines the position information of the water gun according to the target signal. .
  • a positioning device is provided on the water gun, and the acquisition module 501 is specifically configured to:
  • control module 502 is specifically configured to:
  • FIG. 6 further including:
  • the control module 502 can adjust the current position of the host when the relative distance value exceeds a preset threshold.
  • the control module 502 can stop adjusting the current position of the host when the relative distance value is lower than the preset threshold.
  • control module 502 is also specifically configured to:
  • the target path is generated by combining the obstacle distribution information and the road condition information;
  • control module 502 is also specifically configured to:
  • the host is controlled to turn accordingly.
  • the current position of the host is adjusted according to the position information of the water gun, and the position of the host is adaptively dynamically adjusted according to the position information of the water gun. Adjust, realize the self-adaptive movement of the host of the cleaning equipment, and effectively improve the self-adaptive control effect of the cleaning equipment.
  • Fig. 7 is a cleaning device proposed by an embodiment of the present invention.
  • the cleaning device 70 includes:
  • the water gun 71 and the host 72, the water gun and the host are connected via a water pipe 73, and the control device 500 of the cleaning equipment.
  • the current position of the host is adjusted according to the position information of the water gun, and the position of the host is adaptively dynamically adjusted according to the position information of the water gun. Adjust, realize the self-adaptive movement of the cleaning equipment host, and effectively improve the self-adaptive control effect of the cleaning equipment.
  • each part of the present invention can be implemented by hardware, software, firmware or a combination thereof.
  • multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system.
  • a suitable instruction execution system For example, if it is implemented by hardware, as in another embodiment, it can be implemented by any one or a combination of the following technologies known in the art: Discrete logic circuits, application-specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.
  • a person of ordinary skill in the art can understand that all or part of the steps carried in the method of the foregoing embodiments can be implemented by a program instructing relevant hardware to complete.
  • the program can be stored in a computer-readable storage medium, and the program can be stored in a computer-readable storage medium. When executed, it includes one of the steps of the method embodiment or a combination thereof.
  • the functional units in the various embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units may be integrated into one module.
  • the above-mentioned integrated modules can be implemented in the form of hardware or software function modules. If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer readable storage medium.
  • the aforementioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Cleaning By Liquid Or Steam (AREA)

Abstract

本发明提出一种清洗设备的控制方法、装置及清洗设备，清洗设备包括水枪和主机，水枪和主机之间经由水管相连接，该方法包括在清洗设备工作的过程中，获取水枪的位置信息；根据水枪的位置信息，对主机的当前位置进行调整。通过本发明能够实现清洗设备主机的自适应移动，有效提升清洗设备的自适应控制效果。

Description

清洗设备的控制方法、装置及清洗设备
本申请要求了申请日为2019年11月21日，申请号为201911151305.1和201922027914.8的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及工业清洗技术领域，尤其涉及一种清洗设备的控制方法、装置及清洗设备。
背景技术
在一些应用场景下，用户会有使用清洗设备执行清洁作业的需求，常用的喷水式清洗设备可以例如为座式高压清洗机，座式高压清洗机包括水枪和清洗主机，清洗主机内设置有水泵，将主机内水箱中的水沿着水管泵入水枪，以执行清洗作业，例如，清洗车辆、清洗建筑墙面等。
相关技术中，需要人力主动拖拽清洗设备的主机从而执行多方位的清洗，或者，针对清洗设备配置较长的水管。
上述方式下，不能够实现清洗设备主机的自适应移动，并且，不便于水管的收纳，清洗设备的自适应控制效果不佳。
发明内容
本发明旨在至少在一定程度上解决相关技术中的技术问题之一。
为此，本发明的目的在于提出一种清洗设备的控制方法、装置及清洗设备，能够实现清洗设备主机的自适应移动，有效提升清洗设备的自适应控制效果。
为达到上述目的，本发明第一方面实施例提出的清洗设备的控制方法，所 述清洗设备包括水枪和主机，所述水枪和所述主机之间经由水管相连接，包括：在所述清洗设备工作的过程中，获取所述水枪的位置信息；根据所述水枪的位置信息，对所述主机的当前位置进行调整。
本发明第一方面实施例提出的清洗设备的控制方法，通过在清洗设备工作的过程中，获取水枪的位置信息，根据水枪的位置信息，对主机的当前位置进行调整，实现根据水枪的位置信息自适应地对主机的位置进行动态的调整，实现清洗设备主机的自适应移动，有效提升清洗设备的自适应控制效果。
为达到上述目的，本发明第二方面实施例提出的清洗设备的控制装置，所述清洗设备包括水枪和主机，所述水枪和所述主机之间经由水管相连接，所述控制装置包括：获取模块，用于在所述清洗设备工作的过程中，获取所述水枪的位置信息；控制模块，用于根据所述水枪的位置信息，对所述主机的当前位置进行调整。
本发明第二方面实施例提出的清洗设备的控制装置，通过在清洗设备工作的过程中，获取水枪的位置信息，根据水枪的位置信息，对主机的当前位置进行调整，实现根据水枪的位置信息自适应地对主机的位置进行动态的调整，实现清洗设备主机的自适应移动，有效提升清洗设备的自适应控制效果。
为达到上述目的，本发明第三方面实施例提出的清洗设备，包括：水枪和主机，所述水枪和所述主机之间经由水管相连接，以及，第二方面实施例提出的清洗设备的控制装置。
本发明第三方面实施例提出的清洗设备，通过在清洗设备工作的过程中，获取水枪的位置信息，根据水枪的位置信息，对主机的当前位置进行调整，实现根据水枪的位置信息自适应地对主机的位置进行动态的调整，实现清洗设备主机的自适应移动，有效提升清洗设备的自适应控制效果。
本发明附加的方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。
附图说明
本发明上述的和/或附加的方面和优点从下面结合附图对实施例的描述中将变得明显和容易理解，其中：
图1是本发明一实施例提出的清洗设备的控制方法的流程示意图；
图2为本发明实施例中清洗设备的结构示意图；
图3是本发明另一实施例提出的清洗设备的控制方法的流程示意图；
图4是本发明另一实施例提出的清洗设备的控制方法的流程示意图；
图5是本发明一实施例提出的清洗设备的控制装置的结构示意图；
图6是本发明另一实施例提出的清洗设备的控制装置的结构示意图；
图7是本发明一实施例提出的清洗设备。
具体实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本发明，而不能理解为对本发明的限制。相反，本发明的实施例包括落入所附加权利要求书的精神和内涵范围内的所有变化、修改和等同物。
为了解决相关技术中，不能够实现清洗设备主机的自适应移动，并且，不便于水管的收纳，清洗设备的自适应控制效果不佳的技术问题，本发明实施例提供一种清洗设备的控制方法，通过在清洗设备工作的过程中，获取水枪的位置信息，根据水枪的位置信息，对主机的当前位置进行调整，实现根据水枪的位置信息自适应地对主机的位置进行动态的调整，实现清洗设备主机的自适应移动，有效提升清洗设备的自适应控制效果。
图1是本发明一实施例提出的清洗设备的控制方法的流程示意图。
本实施例以清洗设备的控制方法被配置为清洗设备的控制装置中来举例说明。
本实施例中清洗设备的控制方法可以被配置在清洗设备的控制装置中，清洗设备的控制装置可以设置在服务器中，或者也可以设置在清洗设备中，本发明实施例对此不作限制。
本实施例以清洗设备的控制方法被配置在清洗设备的主机中为例。
需要说明的是，本发明实施例的执行主体，在硬件上可以例如为服务器或者清洗设备的主机中的中央处理器(Central Processing Unit，CPU)，在软件上可以例如为服务器或者清洗设备的主机中的相关的后台服务，对此不作限制。
参见图2，图2为本发明实施例中清洗设备的结构示意图，包括：水枪21和主机22，水枪21和主机22之间经由水管23相连接，还可以在清洗设备中配置水箱24、水泵25和控制模块26，其中，水箱24、水泵25和控制模块26设置在主机22内部，可以由控制模块26在清洗设备工作的过程中，实时地获取水枪的位置信息，对此不作限制。
参见图1，该方法包括：
S101：在清洗设备工作的过程中，获取水枪的位置信息。
在具体执行的过程中，可以由清洗设备主机内置的控制模块，在清洗设备工作的过程中，实时地获取水枪的位置信息，或者，每隔预设周期获取水枪的位置信息，对此不作限制。
其中，可以预先在清洗设备主机上提供图形化的人机交互界面，在该图形化的人机交互界面上可以提供可供用户选择的自适应调整整主机位置的模块，当用户触发该模块时，确定用户当前具有自适应调整主机位置的需求，在上述设定好之后，控制模块可以在清洗设备工作的过程中，执行获取水枪的位置信息的步骤。
而若用户未触发自适应调整主机位置的模块，则可以确定用户当前不具有自适应调整主机位置的需求，此时，可以在清洗设备工作的过程中，不对主机的当前位置自适应调整。
其中，在清洗设备工作的过程中，若当前的清洗场景为针对待清洗对象进 行全方位多角度的清洗，则随着清洗作业的进行，水枪的位置会动态地产生变化，本发明实施例中即可以实时地监测水枪的位置信息变化的情况，由此，触发后续根据水枪的位置信息，对主机的当前位置进行调整的步骤。
可选地，在执行获取水枪的位置信息的步骤的过程中，本发明实施例可以预先针对水枪设置信号发射器，针对主机上设置有信号接收器，其中，通过信号接收器接收信号发射器所发射的目标信号；根据目标信号，确定水枪的位置信息。
其中的信号接收器可以例如为超声波信号接收器，或者红外信号接收器，或者也可以为其它任意可能的信号接收器，对此不作限制，并且还配置信号接收器与控制模块相连接，由此，可以由控制模块实时地监听信号接收器是否接收到目标信号，在确定信号接收器接收到目标信号时，控制模块可以获取该目标信号，从而根据目标信号，确定水枪的位置信息。
其中，可以在清洗设备工作的过程中，由信号发射器实时地发送初始的信号，由于空气阻力等因素的衰减作用，信号接收器接收到的信号，可能与初始的信号的参数不是完全一致，由此，本发明实施例中，可以将信号接收器所接收到的信号，称为目标信号，并且，该目标信号为信号发射器所发射的初始的信号，经由一定的空气阻力等因素衰减后的信号。
作为一种示例，通常在执行的过程中，可以预先针对信号发射器设置所发射的初始信号的相位、信号强度等信号参数，由信号接收器接收目标信号，进而，控制模块可以根据所接收到的目标信号的实际的相位和实际的信号强度等参数，确定水枪的位置信息，对此不作限制。
作为另一种示例，信号发射器例如为红外信号发射器，信号接收器例如为红外接收管，由此，水枪上的信号发射器还可以向各个方向发射红外信号，清洗设备主机上的红外接收管接收到红外信号时被触发，主机上的控制模块与红外接收管电连接，可以读取红外接收管的触发信息并判断红外信号发射器的位置，从而将红外信号发射器的位置作为水枪的位置信息，对此不作限制。
作为另一种示例，还可以预先在水枪上设置有定位设备，并配置该定位设备与控制模块之间进行数据通信，由此，可以由控制模块，直接接收定位设备定位得到的水枪的位置信息，对此不作限制。
由上述可见，本发明实施例中，通过在水枪上设置有信号发射器，主机上设置有信号接收器，通过信号接收器接收信号发射器所发射的目标信号，根据目标信号，确定水枪的位置信息，或者，通过在水枪上设置有定位设备，直接接收定位设备发送的水枪的位置信息，均能够在不过多增加清洗设备的硬件制造成本的情况下，获得较为精准的位置信息，由此，能够有效提升方法的可行性和适用性，提升用户的使用体验度。
S102：根据水枪的位置信息，对主机的当前位置进行调整。
其中，在触发对主机的位置进行调整的时间点上，主机的位置可以被称为当前位置。
作为一种示例，在对主机的当前位置进行调整，根据水枪的位置信息将主机向靠近水枪的方向进行调整，从而在清洗设备执行多方位的清洗时，避免了人力主动拖拽清洗设备的主机，实现清洗设备的主机能够自适应地跟随水枪的移动。
可以理解的是，在实际使用的过程中，本发明实施例还可以应用在水枪的位置与主机的位置较为靠近，需要将主机向远离水枪的方向进行调整的应用场景中，由此可见，本实施例中的清洗设备的控制方法，具有较好的适用性，并且控制的方法较为灵活，能够多方位地满足用户的使用需求。
本实施例中，通过在清洗设备工作的过程中，获取水枪的位置信息，根据水枪的位置信息，对主机的当前位置进行调整，实现根据水枪的位置信息自适应地对主机的位置进行动态的调整，实现清洗设备主机的自适应移动，有效提升清洗设备的自适应控制效果。
图3是本发明另一实施例提出的清洗设备的控制方法的流程示意图。
参见图3，该方法包括：
S301：在清洗设备工作的过程中，获取水枪的位置信息。
在具体执行的过程中，可以由清洗设备主机内置的控制模块，在清洗设备工作的过程中，实时地获取水枪的位置信息，或者，每隔预设周期获取水枪的位置信息，对此不作限制。
其中，可以预先在清洗设备主机上提供图形化的人机交互界面，在该图形化的人机交互界面上可以提供可供用户选择的自适应调整整主机位置的模块，当用户触发该模块时，确定用户当前具有自适应调整主机位置的需求，在上述设定好之后，控制模块可以在清洗设备工作的过程中，执行获取水枪的位置信息的步骤。
而若用户未触发自适应调整整主机位置的模块，则可以确定用户当前不具有自适应调整主机位置的需求，此时，可以在清洗设备工作的过程中，不对主机的当前位置自适应调整。
其中，在清洗设备工作的过程中，若当前的清洗场景为针对待清洗对象进行全方位多角度的清洗，则随着清洗作业的进行，水枪的位置会动态地产生变化，本发明实施例中即可以实时地监测水枪的位置信息变化的情况，由此，触发后续根据水枪的位置信息，对主机的当前位置进行调整的步骤。
S302：检测水枪和主机之间的相对距离值。
本实施例中考虑到实际的应用场景需求，即在根据水枪的位置信息，自适应对主机的当前位置进行调整之前，还结合了水枪和主机之间的相对距离值，确定当前是否触发对主机的当前位置进行自适应调整。
可以理解的是，通常水枪和清洗设备的主机之间的水管会具有一定的长度，由此，在水枪和清洗设备的主机之间的相对距离值，不足以将水管拉伸至最长的长度的情况下，可以不对主机的当前位置进行调整，以此，能够有效节约控制主机自适应调整所需要的硬件资源消耗，有效节约清洗设备的用电消耗，在确定水枪和清洗设备的主机之间的相对距离值，即将水管拉伸至最长的长度的情况下，则可以触发对主机的当前位置进行调整。
通过上述步骤，能够有效地在保障控制效果的基础上，同时有效节约控制主机自适应调整所需要的硬件资源消耗，有效节约清洗设备的用电消耗。
在具体执行的过程中，可以在主机中设置定位模块，并配置该定位模块与控制模块相连接，经由该定位模块定位得到主机的位置信息，而后，控制模块获取水枪的位置信息时，可以同步地获得定位模块定位得到的主机的位置信息，从而根据水枪的位置信息和主机的位置信息，确定水枪和主机之间的相对距离值，对此不作限制。
S303：在相对距离值超过预设阈值时，对主机的当前位置进行调整。
其中，预设阈值为即将将水管拉伸至最长的长度的极限值，预设阈值可以设置为略小于水管的长度值，预设阈值可以由清洗设备的用户根据自身需求进行设定，或者，也可以由清洗设备的出厂程序预先设定，对此不作限制。
S304：在相对距离值低于预设阈值时，停止对主机的当前位置进行调整。
在具体执行的过程中，当检测水枪和主机之间的相对距离值后，将相对距离值和预设阈值进行比对，在相对距离值超过预设阈值时，确定即将将水管拉伸至最长的长度，此时可以触发对主机的当前位置进行调整，而在相对距离值低于预设阈值时，可以不触发对主机的当前位置进行调整，或者，在发对主机的当前位置进行调整的过程中，实时地检测到相对距离值已经低于预设阈值时，可以停止对主机的当前位置进行调整，由此可见，本发明实施例中的控制方法较为灵活，能够适应不同的应用场景需求。
本实施例中，通过在清洗设备工作的过程中，获取水枪的位置信息，根据水枪的位置信息，对主机的当前位置进行调整，实现根据水枪的位置信息自适应地对主机的位置进行动态的调整，实现清洗设备主机的自适应移动，有效提升清洗设备的自适应控制效果。当检测水枪和主机之间的相对距离值后，将相对距离值和预设阈值进行比对，在相对距离值超过预设阈值时，确定即将将水管拉伸至最长的长度，此时可以触发对主机的当前位置进行调整，而在相对距离值低于预设阈值时，可以不触发对主机的当前位置进行调整，或者，在发对 主机的当前位置进行调整的过程中，实时地检测到相对距离值已经低于预设阈值时，可以停止对主机的当前位置进行调整，能够有效地在保障控制效果的基础上，同时有效节约控制主机自适应调整所需要的硬件资源消耗，有效节约清洗设备的用电消耗，控制方法较为灵活，能够适应不同的应用场景需求。
图4是本发明另一实施例提出的清洗设备的控制方法的流程示意图。
参见图4，该方法包括：
S401：在清洗设备工作的过程中，获取水枪的位置信息。
在具体执行的过程中，可以由清洗设备主机内置的控制模块，在清洗设备工作的过程中，实时地获取水枪的位置信息，或者，每隔预设周期获取水枪的位置信息，对此不作限制。
其中，可以预先在清洗设备主机上提供图形化的人机交互界面，在该图形化的人机交互界面上可以提供可供用户选择的自适应调整整主机位置的模块，当用户触发该模块时，确定用户当前具有自适应调整主机位置的需求，在上述设定好之后，控制模块可以在清洗设备工作的过程中，执行获取水枪的位置信息的步骤。
而若用户未触发自适应调整整主机位置的模块，则可以确定用户当前不具有自适应调整主机位置的需求，此时，可以在清洗设备工作的过程中，不对主机的当前位置自适应调整。
其中，在清洗设备工作的过程中，若当前的清洗场景为针对待清洗对象进行全方位多角度的清洗，则随着清洗作业的进行，水枪的位置会动态地产生变化，本发明实施例中即可以实时地监测水枪的位置信息变化的情况，由此，触发后续根据水枪的位置信息，对主机的当前位置进行调整的步骤。
S402：确定环境中的障碍物分布信息，并确定路况信息。
其中，可以预先在清洗设备的主机上配置环境感知模块，经由该环境感知模块确定环境中的障碍物分布信息，并确定路况信息。
其中，障碍物分布信息可以用于描述清洗设备当前所处环境中障碍物的类 型，以及相应的位置等信息，路况信息可以例如为清洗设备当前所处环境中的路面的类型、平整程度等信息，对此不作限制。
上述确定的障碍物分布信息和路况信息用于辅助规划处最优的路径，该最优的路径可以被称为目标路径。
S403：根据水枪的位置信息和主机的当前位置，结合障碍物分布信息和路况信息生成目标路径。
其中，在规划目标路径的过程中，可以避开上述的障碍物，在具体执行的过程中，由控制模块根据水枪的位置信息和主机的当前位置，结合障碍物分布信息和路况信息，以及结合预配置的路径规划算法，规划得到目标路径，或者，也可以由控制模块将水枪的位置信息和主机的当前位置，结合障碍物分布信息和路况信息发送至云服务器，由云服务器根据预设置的路径规划算法，规划得到目标路径，从而由控制模块直接从云服务器获得目标路径，对此不作限制。
S404：基于目标路径，将主机向靠近水枪的方向进行调整。
在具体执行的过程中，通过在规划得到目标路径之后，基于目标路径，将主机向靠近水枪的方向进行调整，可以具体是以沿着目标路径的方式，将主机向靠近水枪的方向进行调整，由此，有效避免了自适应调整控制过程中的碰撞，有效保障了清洗设备位置调整的安全性，延长了清洗设备的使用寿命。
作为另一种可选的示例，本实施例中，不仅能够实现自动地对最优路径进行规划，还能够实现自适应地避障处理，由此，能够具备更优的安全系数。
可选地，在将主机向靠近水枪的方向进行调整的过程中，还可以获取环境图像，识别环境图像的目标物体图像，并确定目标物体图像，对应于实际环境中的目标物体的位置，以及根据目标物体的位置，对主机进行相应的转向控制。
其中，可以在主机上设置摄像头组件，由控制模块控制该摄像头组件获取环境图像，并在主机上设置图像处理组件，由控制模块控制图像处理组件，解析摄像头组件所获取的环境图像，从中识别出目标物体图像(该目标物体图像例如需要控制主机转向从而避免碰撞的物体，对应于环境图像中的图像部分)， 在确定出目标物体图像后，可以将该目标物体图像上报至云服务器，由云服务器确定目标物体图像，对应于实际环境中的目标物体的位置，从而根据目标物体的位置，对主机进行相应的转向控制。
例如，当控制主机即将移动至该目标物体的位置时，及时地控制主机转向从而避免与目标物体碰撞，由此，实现灵活地对主机的位置进行自适应地调整。
本实施例中，通过在清洗设备工作的过程中，获取水枪的位置信息，确定环境中的障碍物分布信息，并确定路况信息，并根据水枪的位置信息和主机的当前位置，结合障碍物分布信息和路况信息生成目标路径，以及基于目标路径，将主机向靠近水枪的方向进行调整，能够有效避免了自适应调整控制过程中的碰撞，有效保障了清洗设备位置调整的安全性，延长了清洗设备的使用寿命。在将主机向靠近水枪的方向进行调整的过程中，还可以获取环境图像，识别环境图像的目标物体图像，并确定目标物体图像，对应于实际环境中的目标物体的位置，以及根据目标物体的位置，对主机进行相应的转向控制，不仅能够实现自动地对最优路径进行规划，还能够实现自适应地避障处理，由此，能够具备更优的安全系数。
图5是本发明一实施例提出的清洗设备的控制装置的结构示意图。
清洗设备包括水枪和主机，水枪和主机之间经由水管相连接。
参见图5，装置500包括：
获取模块501，用于在清洗设备工作的过程中，获取水枪的位置信息；
控制模块502，用于根据水枪的位置信息，对主机的当前位置进行调整。
可选地，一些实施例中，水枪上设置有信号发射器，主机上设置有信号接收器，信号接收器接收信号发射器所发射的目标信号，获取模块501根据目标信号，确定水枪的位置信息。
可选地，一些实施例中，水枪上设置有定位设备，获取模块501具体用于：
接收定位设备发送的水枪的位置信息。
可选地，一些实施例中，控制模块502具体用于：
根据水枪的位置信息将主机向靠近水枪的方向进行调整。
可选地，一些实施例中，参见图6，还包括：
超声波传感器503，用于检测水枪和主机之间的相对距离值并反馈给控制模块；
控制模块502能够在相对距离值超过预设阈值时，对主机的当前位置进行调整。
可选地，一些实施例中，
控制模块502能够在相对距离值低于预设阈值时，停止对主机的当前位置进行调整。
可选地，一些实施例中，控制模块502，还具体用于：
确定环境中的障碍物分布信息，并确定路况信息；
根据水枪的位置信息和主机的当前位置，结合障碍物分布信息和路况信息生成目标路径；
基于目标路径，将主机向靠近水枪的方向进行调整。
可选地，一些实施例中，控制模块502，还具体用于：
获取环境图像；
识别环境图像的目标物体图像；
确定目标物体图像，对应于实际环境中的目标物体的位置；
根据目标物体的位置，对主机进行相应的转向控制。
需要说明的是，上述图1-图4对清洗设备的控制方法实施例的解释说明也适用于该实施例提出的清洗设备的控制装置500，其实现原理类似，此处不在赘述。
本实施例中，通过在清洗设备工作的过程中，获取水枪的位置信息，根据水枪的位置信息，对主机的当前位置进行调整，实现根据水枪的位置信息自适应地对主机的位置进行动态的调整，实现清洗设备主机的自适应移动，有效提升清洗设备的自适应控制效果。
图7是本发明一实施例提出的清洗设备。
参见图7，该清洗设备70，包括：
水枪71和主机72，水枪和主机之间经由水管73相连接，以及，清洗设备的控制装置500。
需要说明的是，上述图1-图4对清洗设备的控制方法实施例的解释说明也适用于该实施例提出的清洗设备70，其实现原理类似，此处不在赘述。
本实施例中，通过在清洗设备工作的过程中，获取水枪的位置信息，根据水枪的位置信息，对主机的当前位置进行调整，实现根据水枪的位置信息自适应地对主机的位置进行动态的调整，实现清洗设备主机的自适应移动，有效提升清洗设备的自适应控制效果。
需要说明的是，在本发明的描述中，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性。此外，在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上。
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多个用于实现特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本发明的优选实施方式的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本发明的实施例所属技术领域的技术人员所理解。
应当理解，本发明的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。例如，如果用硬件来实现，和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。
本技术领域的普通技术人员可以理解实现上述实施例方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。
此外，在本发明各个实施例中的各功能单元可以集成在一个处理模块中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。所述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。
上述提到的存储介质可以是只读存储器，磁盘或光盘等。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (13)

  1. 一种清洗设备的控制方法，其特征在于，所述清洗设备包括水枪和主机，所述水枪和所述主机之间经由水管相连接，所述方法包括：
    在所述清洗设备工作的过程中，获取所述水枪的位置信息；
    根据所述水枪的位置信息，对所述主机的当前位置进行调整；
    所述根据所述水枪的位置信息，对所述主机的当前位置进行调整之前，还包括：检测所述水枪和所述主机之间的相对距离值；
    所述根据所述水枪的位置信息，对所述主机的当前位置进行调整，包括：在所述相对距离值超过预设阈值时，对所述主机的当前位置进行调整；
    其中，所述对所述主机的当前位置进行调整，包括：确定环境中的障碍物分布信息，并确定路况信息；根据所述水枪的位置信息和所述主机的当前位置，结合所述障碍物分布信息和所述路况信息生成目标路径；基于所述目标路径，将所述主机向靠近所述水枪的方向进行调整；
    在所述将所述主机向靠近所述水枪的方向进行调整的过程中，还包括：获取环境图像；识别所述环境图像的目标物体图像；确定所述目标物体图像，对应于实际环境中的目标物体的位置；根据所述目标物体的位置，对所述主机进行相应的转向控制。
  2. 如权利要求1所述的清洗设备的控制方法，其特征在于，所述水枪上设置有信号发射器，所述主机上设置有信号接收器，其中，
    通过所述信号接收器接收所述信号发射器所发射的目标信号；
    根据所述目标信号，确定所述水枪的位置信息。
  3. 如权利要求1所述的清洗设备的控制方法，其特征在于，在所述水枪上设置有定位设备，所述获取所述水枪的位置信息，包括：
    接收所述定位设备发送的所述水枪的位置信息。
  4. 如权利要求1所述的清洗设备的控制方法，其特征在于，还包括：
    在所述相对距离值低于所述预设阈值时，停止对所述主机的当前位置进行调整。
  5. 一种清洗设备的控制装置，其特征在于，所述清洗设备包括水枪和主机，所述水枪和所述主机之间经由水管相连接，所述控制装置包括：
    获取模块，用于在所述清洗设备工作的过程中，获取所述水枪的位置信息；
    控制模块，用于根据所述水枪的位置信息，对所述主机的当前位置进行调整。
  6. 如权利要求5所述的清洗设备的控制装置，其特征在于，所述水枪上设置有信号发射器，所述主机上设置有信号接收器，所述信号接收器接收所述信号发射器所发射的目标信号，所述获取模块根据所述目标信号，确定所述水枪的位置信息。
  7. 如权利要求5所述的清洗设备的控制装置，其特征在于，所述水枪上设置有定位设备，所述获取模块具体用于：
    接收所述定位设备发送的所述水枪的位置信息。
  8. 如权利要求5所述的清洗设备的控制装置，其特征在于，所述控制模块具体用于：
    根据所述水枪的位置信息将所述主机向靠近所述水枪的方向进行调整。
  9. 如权利要求5所述的清洗设备的控制装置，其特征在于，还包括：
    超声波传感器，用于检测所述水枪和所述主机之间的相对距离值并反馈给所述控制模块；
    所述控制模块能够在所述相对距离值超过预设阈值时，对所述主机的当前位置进行调整。
  10. 如权利要求9所述的清洗设备的控制装置，其特征在于，
    所述控制模块能够在所述相对距离值低于所述预设阈值时，停止对所述主机的当前位置进行调整。
  11. 如权利要求9所述的清洗设备的控制装置，其特征在于，所述控制模 块，还具体用于：
    确定环境中的障碍物分布信息，并确定路况信息；
    根据所述水枪的位置信息和主机的当前位置，结合所述障碍物分布信息和所述路况信息生成目标路径；
    基于所述目标路径，将所述主机向靠近所述水枪的方向进行调整。
  12. 如权利要求11所述的清洗设备的控制装置，其特征在于，所述控制模块，还具体用于：
    获取环境图像；
    识别所述环境图像的目标物体图像；
    确定所述目标物体图像，对应于实际环境中的目标物体的位置；
    根据所述目标物体的位置，对所述主机进行相应的转向控制。
  13. 一种清洗设备，包括：
    水枪和主机，所述水枪和所述主机之间经由水管相连接，以及，
    如权利要求5-12任一项所述的清洗设备的控制装置。
PCT/CN2020/123150 2019-11-21 2020-10-23 清洗设备的控制方法、装置及清洗设备 Ceased WO2021098443A1 (zh)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201911151305.1A CN112824992A (zh) 2019-11-21 2019-11-21 清洗设备的控制方法、装置及清洗设备
CN201911151305.1 2019-11-21
CN201922027914.8U CN210835725U (zh) 2019-11-21 2019-11-21 清洗设备
CN201922027914.8 2019-11-21

Publications (1)

Publication Number Publication Date
WO2021098443A1 true WO2021098443A1 (zh) 2021-05-27

Family

ID=75981171

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/123150 Ceased WO2021098443A1 (zh) 2019-11-21 2020-10-23 清洗设备的控制方法、装置及清洗设备

Country Status (1)

Country Link
WO (1) WO2021098443A1 (zh)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2936460Y (zh) * 2006-08-19 2007-08-22 宁波市鄞州横溪迪仕液压管件厂 遥控控制高压清洗机
EP1854558A2 (de) * 2006-05-08 2007-11-14 Suttner GmbH Ventilanordnung
WO2013141813A1 (en) * 2012-03-21 2013-09-26 Tan Chin Kiong Cleaning system and method
CN203954517U (zh) * 2014-06-30 2014-11-26 苏州征之魂专利技术服务有限公司 一种多水源集水增压小区内部自救消防水带
CN105013735A (zh) * 2014-09-10 2015-11-04 山东鲁能智能技术有限公司 基于激光测距的变电站水冲洗机器人的水冲洗控制方法
CN208131562U (zh) * 2018-03-09 2018-11-23 河南正宏建设工程有限公司 一种水利工程水闸清洗设备
CN109013459A (zh) * 2018-06-15 2018-12-18 芜湖华特电子科技有限公司 一种工业显示器表面清洁装置
CN210835725U (zh) * 2019-11-21 2020-06-23 苏州宝时得电动工具有限公司 清洗设备

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1854558A2 (de) * 2006-05-08 2007-11-14 Suttner GmbH Ventilanordnung
CN2936460Y (zh) * 2006-08-19 2007-08-22 宁波市鄞州横溪迪仕液压管件厂 遥控控制高压清洗机
WO2013141813A1 (en) * 2012-03-21 2013-09-26 Tan Chin Kiong Cleaning system and method
CN203954517U (zh) * 2014-06-30 2014-11-26 苏州征之魂专利技术服务有限公司 一种多水源集水增压小区内部自救消防水带
CN105013735A (zh) * 2014-09-10 2015-11-04 山东鲁能智能技术有限公司 基于激光测距的变电站水冲洗机器人的水冲洗控制方法
CN208131562U (zh) * 2018-03-09 2018-11-23 河南正宏建设工程有限公司 一种水利工程水闸清洗设备
CN109013459A (zh) * 2018-06-15 2018-12-18 芜湖华特电子科技有限公司 一种工业显示器表面清洁装置
CN210835725U (zh) * 2019-11-21 2020-06-23 苏州宝时得电动工具有限公司 清洗设备

Similar Documents

Publication Publication Date Title
CN110723079B (zh) 车载传感器的位姿调整方法、装置、设备和介质
CN103455137B (zh) 位移感测方法与位移感测装置
CN108119992B (zh) 一种空调定向送风方法
CN108247647A (zh) 一种清洁机器人
TW201235808A (en) System and method for controlling UAV to flight in predefined area
WO2019136808A1 (zh) 机器人移动方法、机器人移动装置、扫地机器人
CN108431715A (zh) 自动识别前方物体的自移动设备及其识别方法
CN105433983A (zh) 一种超声诊断设备及切换超声探头工作状态的方法
TWI824503B (zh) 自移動設備及其控制方法
CN114564022A (zh) 一种机器人碰撞处理方法及装置
CN210835725U (zh) 清洗设备
CN112051844A (zh) 自移动机器人及其控制方法
CN107581976A (zh) 一种清扫方法、装置及清洁机器人
CN110946512B (zh) 基于激光雷达和摄像头的扫地机器人的控制方法及装置
CN109059991A (zh) 智能自移动设备及其传感器校正的方法、计算机存储介质
CN108873014A (zh) 一种基于激光雷达的镜面检测方法及装置
US20250325160A1 (en) Cleaning robot and movement control method thereof
WO2018120714A1 (zh) 风扇开关机控制方法及装置
CN110967703A (zh) 使用激光雷达和摄像头的室内导航方法及室内导航装置
CN110618674B (zh) 可移动设备的避障方法和装置、可移动设备及存储介质
WO2021098443A1 (zh) 清洗设备的控制方法、装置及清洗设备
CN113160590A (zh) 智能汽车的控制方法、装置及相关设备
WO2022253119A1 (zh) 自移动设备及躲避障碍的控制方法、存储介质
JP2016075526A (ja) 物体検知装置
JPWO2019239471A1 (ja) 運転支援装置、運転支援システムおよび運転支援方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20891243

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20891243

Country of ref document: EP

Kind code of ref document: A1