WO2021238154A1 - 一种清洁设备的控制方法、清洁设备以及存储介质 - Google Patents

一种清洁设备的控制方法、清洁设备以及存储介质 Download PDF

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Publication number
WO2021238154A1
WO2021238154A1 PCT/CN2020/135670 CN2020135670W WO2021238154A1 WO 2021238154 A1 WO2021238154 A1 WO 2021238154A1 CN 2020135670 W CN2020135670 W CN 2020135670W WO 2021238154 A1 WO2021238154 A1 WO 2021238154A1
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Prior art keywords
resistance value
value
target
target parameter
traveling resistance
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PCT/CN2020/135670
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English (en)
French (fr)
Inventor
倪祖根
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莱克电气股份有限公司
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Publication of WO2021238154A1 publication Critical patent/WO2021238154A1/zh

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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
    • A47L11/40—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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers

Definitions

  • This application relates to the field of cleaning technology, and in particular to a method for controlling a cleaning device, a cleaning device, and a storage medium.
  • the cleaning device needs to overcome a large resistance value to travel, which causes the cleaning device to freeze and fail to travel smoothly, resulting in user experience Difference.
  • the invention discloses a control method of a cleaning device, a cleaning device and a storage medium, so as to solve the problem that the cleaning device in the prior art causes large traveling resistance due to changes in the cleaning environment.
  • the present invention adopts the following technical solutions:
  • the present invention provides a method for controlling a cleaning device, the method including:
  • the traveling resistance value is greater than the first threshold value, adjusting the target parameter to the target value according to the traveling resistance value, so that the traveling resistance value is within a comfortable traveling resistance value range;
  • the first threshold is the maximum value in the comfortable travel resistance value range
  • the target parameter is at least one of the parameters that affect the vacuum degree of the floor brush
  • the target value corresponds to the vacuum degree of the floor brush It is negatively correlated with the travel resistance value
  • the present invention provides a cleaning device, including:
  • the traveling resistance value obtaining module is used to obtain the traveling resistance value of the cleaning equipment
  • the target value determination module is configured to adjust a target parameter to a target value according to the traveling resistance value when the traveling resistance value is greater than a first threshold value, so that the traveling resistance value is within a comfortable traveling resistance value range;
  • the first threshold is the maximum value in the comfortable travel resistance value range
  • the target parameter is at least one of the parameters that affect the vacuum degree of the floor brush
  • the target value corresponds to the vacuum degree of the floor brush It is negatively correlated with the travel resistance value
  • the present invention provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above-mentioned control method are realized.
  • the target parameter is adjusted to the target value according to the traveling resistance value, so that the traveling resistance value is in the comfortable traveling range.
  • the resistance value is within the range to avoid the cleaning equipment from being difficult to travel due to the excessive resistance value.
  • the first threshold is the maximum value in the range of comfortable traveling resistance
  • the target parameter is at least one of the parameters that affect the vacuum degree of the floor brush
  • the vacuum degree of the floor brush corresponding to the target value is negatively correlated with the traveling resistance
  • FIG. 1 is a flowchart of a method for controlling a cleaning device according to Embodiment 1 of the present invention
  • FIG. 2 is a flowchart of an implementation manner of S14 in FIG. 1;
  • FIG. 3 is a flowchart of an implementation manner of S12 in FIG. 1;
  • FIG. 4 is a flowchart of another method for controlling a cleaning device according to Embodiment 1 of the present invention.
  • FIG. 5 is a flowchart of a method for controlling a cleaning device according to Embodiment 2 of the present invention.
  • FIG. 6 is a flowchart of an implementation manner of S24 in FIG. 5;
  • FIG. 7 is a flowchart of an implementation manner of S26 in FIG. 5;
  • FIG. 8 is a flowchart of a method for controlling a cleaning device according to Embodiment 3 of the present invention.
  • FIG. 9 is a schematic diagram of a module of a cleaning device provided by Embodiment 4 of the present invention.
  • the cleaning equipment in the embodiment of the present invention includes, but is not limited to, a vacuum cleaner or a sweeping robot.
  • the cleaning device can be any device that has a suction motor and a suction port, and can generate suction on the surface of the cleaning object to achieve the purpose of cleaning.
  • the cleaning device may be a device with a floor brush motor, a floor brush opening, or a device with bristles that are in contact with the cleaning object.
  • the positive correlation and the negative correlation in the embodiment of the present invention are for the overall data, and represent the general trend of the data relationship, rather than being limited to a specific interval of the data.
  • Positive correlation includes the special case of positive ratio
  • negative correlation includes the special case of inverse ratio.
  • an embodiment of the present invention provides a cleaning equipment control method .
  • the cleaning device is a cleaning device held by a user as an example.
  • the cleaning device may not be a cleaning device held by the user.
  • FIG. 1 is a flowchart of a method for controlling a cleaning device provided by an embodiment of the present invention.
  • the execution subject includes, but is not limited to, a cleaning device or a mobile terminal.
  • the traveling resistance value is greater than the first threshold value, adjust the target parameter to the target value according to the traveling resistance value, so that the traveling resistance value is within the comfortable traveling resistance value range; where the first threshold is the maximum value in the comfortable traveling resistance value range
  • the target parameter is at least one of the parameters that affect the vacuum degree of the ground brush mouth, and the vacuum degree of the ground brush mouth corresponding to the target value is negatively correlated with the travel resistance value.
  • the target parameter is adjusted to the target value according to the traveling resistance value, so that the traveling resistance value is within the comfortable traveling resistance value range, In order to avoid the difficulty of the cleaning equipment to travel due to the excessive travel resistance value.
  • the first threshold is the maximum value in the range of comfortable traveling resistance
  • the target parameter is at least one of the parameters that affect the vacuum degree of the floor brush
  • the vacuum degree of the floor brush corresponding to the target value is negatively correlated with the traveling resistance, thus
  • the vacuum degree of the floor brush mouth is reduced by adjusting the target parameter to the target value, so that the cleaning device is within the comfortable traveling resistance value range.
  • the cleaning device is within a comfortable traveling resistance range, the pushing and pulling force perceived by the user of the handheld cleaning device is also within a stable and comfortable range, which improves the user experience.
  • the travel resistance value of the cleaning device changes with the change of the cleaning environment.
  • the greater the surface roughness of the cleaning object or the surface foreign matter The denser the greater the resistance to travel.
  • the travel resistance value of the cleaning equipment changes with the change of the vacuum degree of the ground brush mouth.
  • the greater the vacuum degree of the ground brush mouth the greater the travel resistance value.
  • the clean environment refers to related parameters that cannot be actively adjusted by the cleaning equipment, such as the surface roughness of the cleaning object and the concentration of foreign matter on the surface of the cleaning object. Therefore, in order to make the traveling resistance value of the cleaning device within a comfortable traveling resistance value range, the present application adjusts the vacuum degree of the floor brush opening by adjusting the target parameter that can be adjusted on the cleaning device.
  • control method of the embodiment of the present invention may further include:
  • the traveling resistance value is less than the second threshold value, because the traveling resistance value is too small, the cleaning equipment is likely to collide with objects on the surrounding side when traveling. Therefore, it is necessary to adjust the target parameter to the target value to increase the vacuum degree of the ground brush, so as to make the traveling The resistance value is within the range of comfortable traveling resistance value and can enhance the dust collection effect.
  • the travel resistance value of the cleaning equipment is small, that is, the user can drive the cleaning equipment with a small push and pull force, which will easily cause the cleaning equipment to collide with surrounding objects, and the cleaning equipment is at a comfortable traveling resistance.
  • the push-pull force perceived by the user of the handheld cleaning device is also within a stable and comfortable range, which not only improves the user experience, but also enhances the dust suction effect.
  • the parameters that affect the vacuum degree of the brush port of the cleaning device include at least one of the following: the rotation speed of the suction motor, the size of the suction port, the contact depth between the bristles and the cleaning object, and the rotation speed of the floor brush motor.
  • the rotation speed of the suction motor is positively correlated with the vacuum degree of the brush port of the cleaning device.
  • the greater the rotation speed of the suction motor the greater the suction force of the cleaning device and the corresponding vacuum degree of the brush port.
  • the size of the suction port is negatively related to the vacuum degree of the ground brush port.
  • the larger the size of the suction port the smaller the vacuum degree of the ground brush port.
  • the size of the suction port can be adjusted actively or passively.
  • the passive adjustment of the size of the suction port is caused by different cleaning objects. For example, when the floor tile is transferred to the carpet, the surface of the floor tile is relatively flat and the surface of the carpet is more uneven. Therefore, the suction port on the carpet is not adjusted actively.
  • the size is smaller than the size of the suction port on the floor tiles.
  • the contact depth between the bristles and the cleaning object is positively related to the vacuum degree of the ground brush mouth. The greater the contact depth of the bristles with the cleaning object, the smaller the gap between the brush and the cleaning object, and the greater the vacuum degree of the ground brush mouth. ;
  • the rotational speed of the floor brush motor is positively related to the vacuum degree of the floor brush opening.
  • the target parameter since there are many parameters that affect the vacuum degree of the ground brush mouth, it is necessary to filter the target parameter from the many parameters that can affect the vacuum degree of the ground brush mouth, that is, determine the target parameter from a large number of candidate parameters. For example, when some parameters are at the limit value, the purpose of changing the vacuum of the ground brush port cannot be achieved through these parameters. For example, the rotation speed of the suction motor is already at a minimum. Rotation speed reduces the vacuum degree; for another example, the vacuum degree of the ground brush mouth needs to be changed greatly, and some parameters can only change the vacuum degree of the ground brush mouth slightly; another example, the vacuum degree of the ground brush mouth needs to be changed more finely, and Some parameters can only drastically change the vacuum degree of the ground brush.
  • S14 or S16 includes S141: determining a target parameter according to a preset rule; and S142: adjusting the target parameter to the target value according to the traveling resistance value.
  • S141 includes at least one of the following:
  • the target parameters are determined. For example, according to the factory setting of the cleaning device in advance, or the default setting when the power is turned on, or according to the latitude and longitude of the cleaning device, or according to the time when the cleaning device is started, the rotation speed of the suction motor, the suction port One, two, three or four of the size, the depth of contact between the bristles and the cleaning object, and the rotational speed of the floor brush motor are used as target parameters.
  • the target parameter is determined. After the cleaning device is started, the target parameters are determined according to the user's selection instruction.
  • the high-priority parameter can be adjusted to the target value to adjust the vacuum degree of the ground brush
  • the high-priority parameter can be selected as the target parameter
  • the low-priority parameter can be selected as the target parameter.
  • the priority of the parameters from high to low are: the rotation speed of the suction motor, the size of the suction port, the contact depth of the bristles and the cleaning object, and the rotation speed of the floor brush motor.
  • the parameters that affect the vacuum degree of the ground brush mouth are divided into several levels, each level corresponds to one parameter, or two parameters, etc.; when the vacuum degree of the ground brush mouth needs to be changed significantly, the influence degree can be selected. If you need to change the vacuum of the ground brush to a smaller extent, you can select the parameters in the low-influence level.
  • the degree of influence of each parameter on the vacuum degree of the floor brush is as follows: the rotation speed of the suction motor, the size of the suction port, the contact depth between the bristles and the cleaning object, and the rotation speed of the floor brush motor; the suction can be given priority
  • the rotation speed of the motor is used as the target parameter, that is, a parameter that preferably has a large influence on the vacuum degree of the ground brush opening; the rotation speed of the ground brush motor can also be preferentially selected as the target parameter, that is, a parameter that preferably has a small influence on the vacuum degree of the ground brush opening.
  • the target parameter can be selected according to the travel resistance value change.
  • the target parameter is the size of the suction port; the resistance change
  • the target parameter is the rotation speed of the floor brush motor, and when the resistance change is C, the target parameter is the rotation speed of the suction motor and the size of the suction port.
  • the amount of change in the travel resistance is large, a parameter that has a greater impact on the vacuum degree of the ground brush port can be selected as the target parameter, and vice versa.
  • target parameters are determined.
  • the target parameter is determined according to the preset correspondence between the category of the cleaning object and the parameter.
  • the types of cleaning objects include, but are not limited to: floor tiles, floors, carpets, cloth, walls, and so on.
  • the target parameter is the speed of the floor brush motor.
  • the category of the cleaning object can be determined by the cleaning device, or the category of the cleaning object can be determined by the user's input.
  • the method for determining the target parameter in this application according to the preset rules.
  • the method for determining the target parameter can be determined by using one of them, or by a combination of two or more.
  • the degree of influence of each parameter on the vacuum degree of the ground brush mouth can be completely the same, completely different or partly the same.
  • the adjustment range of each parameter on the vacuum degree of the floor brush is relatively consistent; when the degree of influence of each parameter on the vacuum degree of the floor brush is completely different, each parameter has a completely different effect on the vacuum degree of the floor brush.
  • the adjustment range of the vacuum degree of the mouth is relatively diversified, and different parameters to be adjusted can be flexibly selected according to actual needs; when the degree of influence of each parameter on the vacuum degree of the ground brush is partially the same, the adjustment range of the vacuum degree of the ground brush can be between Between diversity and consistency.
  • the degree of change in the vacuum of the ground brush port caused by the rotation of the suction motor is the degree of influence of the suction motor on the vacuum degree of the ground brush port
  • the degree of change in the vacuum degree of the ground brush port caused by the change in the suction port size is the suction port size. The degree of influence on the degree of vacuum, and so on.
  • S12 includes at least one of S121, S122 and S123.
  • the traveling resistance value can be determined based on one of them, or it can be combined to determine the traveling resistance value by combining two or three of them. .
  • FIG. 3 is a flowchart of an implementation manner for determining traveling resistance according to an embodiment of the present invention.
  • S121 includes: S1211 and S1212.
  • S1211 Obtain an electrical signal of a contact in the cleaning device, and the contact is used to contact the cleaning object.
  • the contact can be a rotatable part in the cleaning device, such as a roller brush or a traveling wheel.
  • the corresponding electrical signal is the driving electrical signal of the contact, and the driving electrical signal can be the output current of a rotating motor that drives the roller brush or traveling wheel to rotate. , Output voltage or output power.
  • the contact can also be a component that cannot be rotated, such as a diamond stylus or a floor brush.
  • the corresponding electrical signal is an electrical signal converted by a sensor that monitors the deformation or displacement of the contact.
  • the electrical signal can be an output Voltage, output current, or inductance or resistance, etc.
  • S1212 Determine the travel resistance value of the cleaning device according to the electrical signal.
  • the pre-divided current interval can be used to determine the cleaning device's impact when traveling.
  • the travel resistance value of, that is, the pre-divided current interval can be used to determine the surface roughness of the cleaning object and the concentration of foreign matter on the surface of the cleaning object.
  • the pre-divided electrical signal interval can be used to determine the travel resistance value of the cleaning device when it travels, that is, the pre-divided current interval can be used to determine the surface roughness and cleaning of the cleaning object The concentration of foreign objects on the surface of the object.
  • the surface roughness of the cleaning object and the density of the foreign matter on the surface of the cleaning object are determined according to the above-mentioned electrical signal, and then the cleaning is determined according to at least one of the surface roughness and the density of the foreign matter.
  • the travel resistance value of the device is determined according to the above-mentioned electrical signal, and then the cleaning is determined according to at least one of the surface roughness and the density of the foreign matter.
  • the travel resistance value of the cleaning device may not be determined based on the electrical signal of the contact, that is, the travel resistance value of the cleaning device may be determined by means of parts that do not contact the cleaning object.
  • S122 Use the image acquisition device to photograph the cleaning object, and confirm the travel resistance value of the cleaning device based on the photographed image.
  • the process of analyzing the image captured by the image acquisition device it is possible to analyze only the traveling resistance value caused by the surface roughness of the cleaning object, or only the traveling resistance value caused by the foreign matter on the surface of the cleaning object, or the difference between the surface roughness and the surface roughness of the cleaning object.
  • the travel resistance value caused by the concentration of foreign matter on the surface is analyzed.
  • S123 a sensor (such as a piezoelectric film) that detects the density of dust or foreign matter is set in the suction pipe to detect the density of foreign matter on the surface of the current cleaning object, so as to determine the current travel resistance value of the cleaning device.
  • a sensor such as a piezoelectric film
  • the travel resistance value of the cleaning equipment during the travel process is not only related to the surface roughness of the cleaning object, but also related to the density of foreign matter (garbage, dust and other foreign matter that needs to be inhaled) on the surface of the cleaning object.
  • the cleaning object may be a carpet or a floor. Obviously, since the surface roughness of the carpet is greater than that of the floor, the traveling resistance value of the cleaning device when traveling on the carpet is greater than the traveling resistance value on the floor.
  • the traveling resistance value in S12 includes at least one of the traveling resistance value determined according to the surface roughness of the cleaning object, or the traveling resistance value determined according to the concentration of foreign objects on the surface of the cleaning object.
  • the travel resistance value in S12 may also include other travel resistance forces that affect the travel of the cleaning device.
  • the embodiment of the present invention may further include S18: when the traveling resistance value is greater than or equal to the second threshold value and less than or equal to the first threshold value, run with the current value of the target parameter. That is, when the traveling resistance value is within the comfortable traveling resistance value range, the current value of the target parameter remains unchanged.
  • the first threshold and the second threshold are preset in the cleaning device.
  • the first threshold and the second threshold can be a range of comfortable travel resistance values that are suitable for most people based on ergonomics research, that is, they are set uniformly before the product leaves the factory; they can also be based on the differentiation of each user. Each user enters the settings according to their needs.
  • the target parameter is the rotation speed of the suction motor and the rotation speed of the floor brush motor, or the target parameter is the rotation speed of the suction motor as an example, to illustrate a control method of the cleaning device, as shown in FIG. 5, the control method includes :
  • the traveling resistance value is greater than the first threshold value, reduce the target parameter to the target value according to the traveling resistance value; wherein, the target parameter is the rotation speed of the suction motor and the rotation speed of the floor brush motor, Alternatively, the target parameter is the rotation speed of the suction motor. Since the higher the rotation speed of the suction motor and the floor brush motor, the greater the vacuum of the floor brush port, and the greater the travel resistance value of the cleaning device. Therefore, when the travel resistance value is greater than the first threshold, it indicates the current travel resistance If the value exceeds the comfortable traveling resistance value range, the traveling resistance value is reduced by reducing the target parameter to the target value.
  • S22 in the embodiment of the present invention reference may be made to S12 in Embodiment 1, which will not be repeated here. It should be understood that S24 is a specific implementation of S14 in the first embodiment.
  • S24 includes at least one of S241 or S242.
  • S241 Decrease the target parameter to the target value according to the preset correspondence between the traveling resistance value and the target value. According to the corresponding relationship between the target parameter and the traveling resistance value, in order to make the traveling resistance value within the preset comfortable traveling resistance value range, the target parameter is reduced to the target value.
  • the target parameter is the rotation speed of the suction motor
  • the current gear of the suction motor is a high-speed gear and the current travel resistance value is greater than the first threshold
  • the rotation speed of the suction motor needs to be reduced. Therefore, the low-speed gear or The medium-speed gear is used as the target gear; if the current gear of the suction motor is a medium-speed gear, and the current travel resistance value is greater than the first threshold, the low-speed gear is taken as the target gear; if the current gear of the suction motor is already low In gear, if the current travel resistance value is greater than the first threshold, the speed of the suction motor is directly reduced in proportion or the current speed is kept unchanged.
  • it further includes S26: when the traveling resistance value is less than a second threshold value, increase the target parameter to the target value according to the traveling resistance value; wherein, the target parameter is the suction motor Or the target parameter is the rotation speed of the suction motor. Since the rotation speed of the suction motor and the floor brush motor are smaller, the vacuum degree of the floor brush port is smaller, and the travel resistance value of the cleaning equipment will be smaller. Therefore, when the travel resistance value is less than the second threshold, it indicates the current travel resistance If the value exceeds the comfortable traveling resistance value range, the traveling resistance value can be increased by increasing the target parameter to the target value.
  • S26 is a specific implementation of S16 in the first embodiment.
  • S26 includes at least one of S261 or S262.
  • S261 Increase the target parameter to the target value according to the preset correspondence between the travel resistance value and the target value. According to the corresponding relationship between the target parameter and the traveling resistance value, in order to make the traveling resistance value within the preset comfortable traveling resistance value range, the target parameter is increased to the target value.
  • the target parameter is the rotation speed of the suction motor
  • the current gear of the suction motor is a low-speed gear and the current travel resistance value is less than the second threshold
  • the rotation speed of the suction motor needs to be increased. Therefore, the high-speed gear needs to be increased.
  • medium-speed gear as the target gear
  • the high-speed gear is used as the target gear
  • the current gear of the suction motor is already If it is a high-speed gear, and the current travel resistance value is less than the second threshold, the rotation speed of the suction motor is directly increased proportionally or the current rotation speed is kept unchanged.
  • the speed of the DC motor can be increased by adjusting at least one of the input voltage or the input current of the DC motor. Due to the numerous adjustment methods of the motor speed, this article will not go into details.
  • control method in the third embodiment of the present invention includes at least two working modes.
  • the relationship of resistance can also be different.
  • the control method of the third embodiment of the present invention includes the following steps:
  • the operating mode of the cleaning device may include a first mode, and at least one of a second mode or a third mode.
  • the working mode of the cleaning device of the embodiment of the present invention may also include other more working modes.
  • the vacuum degree and travel of the cleaning device's floor brush The relationship of resistance can vary.
  • S34 is a specific implementation of S14 in the first embodiment
  • S36 is a specific implementation of S16 in the first embodiment.
  • the control method in the first embodiment of the present invention assumes that the cleaning device is in the first mode, and the first mode can make the traveling resistance value of the cleaning device more stable and comfortable, so it can be called a steady mode. It is understandable that the target value of the parameter that affects the vacuum degree of the ground brush in the first mode can be determined based on the first embodiment, and will not be repeated here.
  • the control method further includes at least one of S37 and S38.
  • the vacuum degree of the ground brush port is positively correlated with the travel resistance value. Therefore, when the surface roughness of the cleaning object or the concentration of foreign matter is high, the vacuum degree of the ground brush port can be increased, and the suction power of the cleaning equipment can be improved. To achieve the purpose of deep cleaning, therefore, the second mode can be understood as the deep cleaning mode.
  • the determination of the target value of the target parameter in the second mode can refer to the first embodiment, but different from the specific implementation of the first embodiment, the target is that the vacuum degree of the ground brush is positively correlated with the travel resistance value.
  • the target value of the target parameter is completely controlled by the user.
  • the relationship between the vacuum degree of the floor brush opening of the cleaning equipment and the travel resistance value is related to the current working mode.
  • the current working mode is the first mode, determine the target value of the target parameter according to the method in the first implementation, so that the vacuum degree of the ground brush mouth is negatively correlated with the traveling resistance value, so that the traveling resistance is in a relatively stable and comfortable range;
  • the current working mode is the second mode, the vacuum degree of the ground brush port is positively correlated with the travel resistance value to achieve the purpose of deep cleaning;
  • the current working mode is the third mode, the target parameters of the cleaning equipment can be determined according to the user input Target value.
  • FIG. 9 is a schematic diagram of modules of a cleaning device provided by an embodiment of the present invention.
  • the cleaning device 400 includes:
  • the traveling resistance value obtaining module 410 is configured to obtain the traveling resistance value of the cleaning equipment
  • the target value determining module 420 is configured to adjust a target parameter to a target value according to the traveling resistance value when the traveling resistance value is greater than a first threshold, so that the traveling resistance value is within a comfortable traveling resistance value range;
  • the first threshold is the maximum value in the comfortable travel resistance value range
  • the target parameter is at least one of the parameters that affect the vacuum degree of the floor brush
  • the target value corresponds to the vacuum degree of the floor brush It is negatively correlated with the travel resistance value
  • the target value determining module 420 is further configured to:
  • traveling resistance value is less than a second threshold, adjusting the target parameter to the target value according to the traveling resistance value, so that the traveling resistance value is within the comfortable traveling resistance value range;
  • the second threshold value is the minimum value in the comfortable traveling resistance value range.
  • the parameters affecting the vacuum degree of the floor brush port include at least one of the following: the rotation speed of the suction motor, the size of the suction port, the contact depth between the bristles and the cleaning object, and the rotation speed of the floor brush motor.
  • target value determining module 420 is specifically configured to:
  • the target parameter is adjusted to the target value.
  • target value determining module 420 is specifically used for at least one of the following:
  • the target parameter is determined.
  • the degree of influence of each parameter on the vacuum degree of the floor brush mouth is completely the same, completely different, or partially the same.
  • the traveling resistance value obtaining module 410 is specifically used for at least one of the following:
  • a sensor for detecting the density of dust or foreign matter is set in the suction pipe to detect the density of foreign matter on the surface of the current cleaning object, and determine the travel resistance value of the cleaning device.
  • the target parameter is the rotation speed of the suction motor and the rotation speed of the floor brush motor, or the target parameter is the rotation speed of the suction motor;
  • the target value determining module 420 is specifically used for:
  • the target value determining module 420 is specifically configured to:
  • the target parameter is the rotation speed of the suction motor and the rotation speed of the floor brush motor, or the target parameter is the rotation speed of the suction motor;
  • the target value determining module 420 is specifically used for:
  • the target parameter is increased to the target value according to the traveling resistance value.
  • the target value determining module 420 is specifically configured to:
  • it can also include:
  • the working mode determining module is used to determine the current working mode of the cleaning device
  • the target value determining module 420 is specifically used for:
  • the traveling resistance value is greater than the first threshold value, adjusting the target parameter to the target value according to the traveling resistance value;
  • the target parameter is adjusted to the target value according to the traveling resistance value.
  • the target value determining module 420 is further configured to:
  • the target value of the target parameter is determined according to the instruction input by the user.
  • the target value determining module 420 is further configured to:
  • traveling resistance value is greater than or equal to the second threshold value and less than or equal to the first threshold value, operation is performed with the current value of the target parameter.
  • the cleaning device of the embodiment of the present invention can realize each process in FIG. 1 to FIG. 8, and can achieve the same technical effect.
  • the present invention also provides a cleaning device that includes a memory and a processor, and a control program of the cleaning device that is stored in the memory and can be run on the processor.
  • a control program of the cleaning device that is stored in the memory and can be run on the processor.
  • the present invention also provides a computer-readable storage medium.
  • the computer-readable storage medium stores a control program of a cleaning device.
  • the control program of the cleaning device is executed by a processor, the process of the above-mentioned control method is realized, and the same can be achieved.
  • the computer-readable storage medium such as read-only memory (Read-Only Memory, ROM for short), random access memory (Random Access Memory, RAM for short), magnetic disk, or optical disk, etc.

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Abstract

一种清洁设备的控制方法、清洁设备及存储介质，属于清洁技术领域。清洁设备的控制方法包括：获取清洁设备的行进阻力值（S12）；在行进阻力值大于第一阈值时，根据行进阻力值，调整目标参数至目标值，以使得行进阻力值位于舒适行进阻力值范围内（S14）。清洁设备的控制方法能够避免由于行进阻力值过大而导致清洁设备难以行进。其中，第一阈值是舒适行进阻力值范围内的最大值，目标参数是影响地刷口真空度的参数中的至少一种，目标值对应的地刷口真空度与行进阻力负相关，由此在行进阻力值大于第一阈值时，通过调整目标参数至目标值来降低地刷口的真空度，以使得清洁设备的行进阻力值位于舒适行进阻力值范围内。

Description

一种清洁设备的控制方法、清洁设备以及存储介质 技术领域
本申请涉及清洁技术领域，尤其涉及一种清洁设备的控制方法、清洁设备以及存储介质。
背景技术
现有的清洁设备，比如吸尘器或扫地机器人，当清洁环境发生变化时，清洁设备在清洁对象表面行进过程中受到的行进阻力值也会发生变化。
例如，当清洁对象的表面粗糙度较大时或清洁对象的表面具有较密集的异物时，清洁设备需要克服较大的阻力值才能行进，从而导致清洁设备卡顿而无法顺利行进，导致用户体验差。
发明内容
本发明公开了一种清洁设备的控制方法、清洁设备以及存储介质，以解决现有技术中清洁设备由于清洁环境的变化而导致行进阻力大的问题。
为解决上述问题，本发明采用下述技术方案：
第一方面，本发明提供了一种清洁设备的控制方法，所述控制方法包括：
获取所述清洁设备的行进阻力值；
在所述行进阻力值大于第一阈值时，根据所述行进阻力值，调整目标参数至目标值，使得所述行进阻力值位于舒适行进阻力值范围内；
其中，所述第一阈值是所述舒适行进阻力值范围中的最大值，所述目标参数是影响地刷口真空度的参数中的至少一种，所述目标值对应的地刷口真空度与所述行进阻力值负相关。
第二方面，本发明提供一种清洁设备，包括：
行进阻力值获取模块，用于获取所述清洁设备的行进阻力值；
目标值确定模块，用于在所述行进阻力值大于第一阈值时，根据所述行进阻力值，调整目标参数至目标值，使得所述行进阻力值位于舒适行进阻力值范围内；
其中，所述第一阈值是所述舒适行进阻力值范围中的最大值，所述目标参数是影响地刷口真空度的参数中的至少一种，所述目标值对应的地刷口真空度与所述行进阻力值负相关。
第三方面，本发明提供一种计算机可读存储介质，所述计算机存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现上述述的控制方法的步骤。
与现有技术相比，本发明的有益效果如下：
本发明公开的清洁设备的控制方法中，通过获取清洁设备的行进阻力值，在行进阻力值大于第一阈值时，根据行进阻力值，调整目标参数至目标值，以使得行进阻力值位于舒适行进阻力值范围内，以避免由于行进阻力值过大而导致清洁设备难以行进。其中，第一阈值是舒适行进阻力值范围内的最大值，目标参数是影响地刷口真空度的参数中的至少一种，目标值对应的地刷口真空度与行进阻力负相关，由此在第一行进阻力值大于第一阈值时，通过调整目标参数至目标值来降低地刷口的真空度，以使得行进阻力值位于舒适行进阻力值范围内。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对本发明实施例的描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例一提供的一种清洁设备的控制方法的流程图；
图2为图1中S14的一种实施方式的流程图；
图3为图1中中S12的一种实施方式的流程图；
图4为本发明实施例一提供的又一种清洁设备的控制方法的流程图；
图5为本发明实施例二提供的一种清洁设备的控制方法的流程图；
图6为图5中S24的一种实施方式的流程图；
图7为图5中S26的一种实施方式的流程图；
图8为本发明实施例三提供的一种清洁设备的控制方法的流程图；
图9为本发明实施例四提供的一种清洁设备的模块示意图。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请具体实施例及相应的附图对本申请技术方案进行清楚、完整地描述。显然，所描述的实施例仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
按类型划分，本发明实施例的清洁设备包括但不限于吸尘器或扫地机器人。清洁设备可以是任何具有吸入电机、吸入口，且能够在清洁对象的表面产生吸力以达到清洁目的的设备。清洁设备可以是带有地刷电机、地刷口的设备，或者具有与清洁对象接触的刷毛的设备。
本发明实施例中的正相关、负相关均是对整体数据而言的，代表了数据关系的大致趋势，而不是限定于数据的某一特定区间。正相关包括正比这种特殊情况，负相关包括反比这种特殊情况。下面结合附图，详细说明本发明各个实施例公开的技术方案。
本发明实施例的清洁设置，清洁设备的地刷口真空度越大，清洁设备内的负压越强，吸力也就越大。
实施例一：
现有的清洁设备，比如吸尘器或扫地机器人，当清洁环境发生变化时，清洁设备在清洁对象表面行进过程中受到的行进阻力值也会发生变化。例如，当 清洁对象的表面粗糙度较大时或清洁对象的表面具有较密集的异物时，清洁设备需要克服较大的阻力值才能行进，从而导致清洁设备卡顿而无法顺利行进，导致用户体验差。在手持式清洁设备上具体体现为，用户需要对清洁设备施加较大的推拉力以驱使其行进，导致用户体验差。
为了解决现有技术中清洁设备由于清洁环境的变化而导致行进阻力值大的问题，或者是导致用户需要施加于清洁设备的推拉力大的问题，本发明实施例提供一种清洁设备的控制方法。
本发明实施例以清洁设备为用户手持的清洁设备为例，当然清洁设备也可以不是用户手持的清洁设备。图1是本发明实施例提供的一种清洁设备的控制方法的流程图，本发明实施例提供的清洁设备的控制方法中，执行主体包括但不限于清洁设备或移动终端。
本实施例的控制方法包括以下步骤：
S12：获取清洁设备的行进阻力值。
S14：在行进阻力值大于第一阈值时，根据行进阻力值，调整目标参数至目标值，使得行进阻力值位于舒适行进阻力值范围内；其中，第一阈值是舒适行进阻力值范围中的最大值，目标参数是影响地刷口真空度的参数中的至少一种，目标值对应的地刷口真空度与行进阻力值负相关。
本发明实施例中，通过获取清洁设备的行进阻力值，在行进阻力值大于第一阈值时，根据行进阻力值，调整目标参数至目标值，以使得行进阻力值位于舒适行进阻力值范围内，以避免由于行进阻力值过大而导致清洁设备难以行进。其中，第一阈值是舒适行进阻力值范围内的最大值，目标参数是影响地刷口真空度的参数中的至少一种，目标值对应的地刷口真空度与行进阻力负相关，由此在第一行进阻力值大于第一阈值时，通过调整目标参数至目标值来降低地刷口的真空度，以使得清洁设备位于舒适行进阻力值范围内。对于手持式清洁设备而言，清洁设备位于舒适行进阻力范围内，则手持清洁设备的用户感知到的推拉力也处于稳定且舒适的范围内，提高用户的使用体验。
具体的，在地刷口的真空度保持不变的情况下，清洁设备的行进阻力值随清洁环境的改变而改变，正如本申请背景技术所描述，清洁对象的表面粗糙度越大或表面异物越密集，行进阻力值就越大。而在清洁环境保持不变的情况下，清洁设备的行进阻力值随地刷口真空度的改变而改变，地刷口真空度越大，行进阻力值也就越大。其中，清洁环境指清洁对象的表面粗糙度，以及清洁对象表面的异物密集程度等无法由清洁设备主动调节的相关参数。因此，本申请为了使得清洁设备的行进阻力值处于一个舒适行进阻力值范围内，通过调节清洁设备上能够调控的目标参数来调整地刷口的真空度。
如图1所示，本发明实施例的控制方法，还可以包括：
S16：在行进阻力值小于第二阈值时，根据行进阻力值，调整目标参数至目标值，使得行进阻力值位于舒适行进阻力值范围内；其中，第二阈值是舒适行进阻力值范围中的最小值，目标值对应的地刷口真空度与行进阻力值负相关。
在行进阻力值小于第二阈值时，由于行进阻力值偏小，清洁设备行进中容易冲撞到周侧的物体，因此，需要调整目标参数至目标值，以增大地刷口真空度，从而使得行进阻力值位于舒适行进阻力值范围内，且能够增强吸尘效果。
对于手持式清洁设备而言，若清洁设备的行进阻力值较小，即用户对清洁设备的推拉力较小就能够驱使其行进，容易导致清洁设备与周围物体碰撞，而清洁设备位于舒适行进阻力范围内，则手持清洁设备的用户感知到的推拉力也处于稳定且舒适的范围内，提高用户的使用体验外，还增强吸尘效果。
其中，影响清洁设备地刷口真空度的参数至少包括以下一种：吸入电机的转速，吸入口的尺寸，刷毛与清洁对象的接触深度，地刷电机的转速。具体的，吸入电机的转速与清洁设备地刷口的真空度正相关，吸入电机的转速越大，清洁设备的吸力也越大，对应的地刷口真空度也越大。吸入口的尺寸与地刷口真空度负相关，吸入口的尺寸越大，地刷口真空度就越小，吸入口的尺寸可以主 动调整，也可以被动调整。吸入口的尺寸被动调整是由于清洁对象不同引起的，例如从地砖转移至地毯上时，由于地砖表面较为平整而地毯表面较为凹凸不同，因此在不进行主动调整时，在地毯上的吸入口的尺寸小于在地砖上的吸入口尺寸。刷毛与清洁对象的接触深度与地刷口真空度正相关，刷毛伸出与清洁对象的接触深度越大，表示地刷与清洁对象之间的间隙越小，地刷口真空度也就越大；地刷电机的转速与地刷口真空度正相关。在清洁设备中，为了调整地刷口真空度，除通过上述吸入电机的转速，吸入口的尺寸，刷毛与清洁对象的接触深度，地刷电机的转速这四种参数外，还可以包括其他的参数，此处不再赘述。
本发明实施例中，由于影响地刷口真空度的参数众多，因此需要从众多能够影响地刷口真空度的参数中筛选目标参数，即从众多备选参数中确定目标参数。例如，部分参数位于极限值时，无法通过这些参数实现改变地刷口真空度的目的，例如吸入电机的转速已经处于最小值，此时要降低地刷口真空度，则无法通过调节吸入电机的转速降低真空度；又例如，需要较大幅度地改变地刷口真空度，而部分参数只能小幅度地改变地刷口真空度；又例如，需要较精细的改变地刷口真空度，而部分参数只能大幅度地改变地刷口真空度。
因此，如图2所示，在S14或S16中包括S141：根据预设规则，确定目标参数；以及S142：根据所述行进阻力值，调整所述目标参数至所述目标值。
具体的，S141包括以下至少一种：
根据预先设定，确定目标参数。例如，根据清洁设备预先在出厂的设定，或在接通电源时默认的设定，或根据清洁设备所处的经纬度，或根据清洁设备启动的时间等，将吸入电机的转速，吸入口的尺寸，刷毛与清洁对象的接触深度，地刷电机的转速中的一项、两项、三项或四项作为目标参数。
根据用户的输入指令，确定目标参数。在清洁设备启动后根据用户的选择指令，确定目标参数。
根据预先设置的参数优先级和优先级规则，确定目标参数。具体的，可以 在高优先级参数可调至目标值以调节地刷口真空度时，选择高优先级参数为目标参数，否则，选择低优先级参数为目标参数。例如，参数优先级从高到低依次为：吸入电机的转速，吸入口的尺寸，刷毛与清洁对象的接触深度，地刷电机的转速。在吸入电机的转速能够调整以驱使地刷口真空度与行进阻力值负相关时，优先调节吸入电机的转速，否则，调节吸入口的尺寸。
根据各参数对地刷口真空度的影响程度，确定目标参数。根据影响程度大小将影响地刷口真空度的参数为若干级别，每个级别对应一种参数，或两种参数等；在需要较大幅度的改变地刷口真空度时，可以选择影响程度大的级别中的参数，在需要较小幅度地改变地刷口真空度时，可以选择影响程度小的级别中的参数。又例如，各参数对地刷口真空度的影响程度从大到小依次为：吸入电机的转速，吸入口的尺寸，刷毛与清洁对象的接触深度，地刷电机的转速；则可以优先将吸入电机的转速作为目标参数，即优选对地刷口真空度的影响程度大的参数；也可以优先选择地刷电机的转速作为目标参数，即优选对地刷口真空度的影响程度小的参数。
根据当前周期的行进阻力值相对之前至少一个周期的行进阻力值的变化量，确定目标参数。例如，清洁设备中预先设置的行进阻力值变化量与参数的对应关系，则可以根据行进阻力值的变化量选择目标参数，如阻力变化量为A时，目标参数为吸入口的尺寸；阻力变化量为B时，目标参数为地刷电机的转速，阻力变化量为C时，目标参数为吸入电机的转速和吸入口的尺寸。又例如，行进阻力的变化量较大时，可以选择对地刷口真空度影响程度较大的参数作为目标参数，反之亦然。
根据清洁对象的类别，确定目标参数。例如，在判断出清洁对象的类别后，根据预先设置的清洁对象的类别与参数的对应关系，确定目标参数。例如，清洁对象的类别包括但不限于：地砖、地板、地毯、布、墙体等。比如，清洁对象为地砖时，目标参数为地刷电机的转速。其中，清洁对象的类别可以由清洁设备判断，也可以由用户的输入确定清洁对象的类别。
以上介绍了本申请中根据预设规则，确定目标参数的方法，实际应用中，确定目标参数的方法可以是利用其中的一种确定，或两种及两种以上综合确定。
如上所提，由于影响地刷口真空度的参数众多，在各参数的数值可调范围内，各参数对地刷口真空度的影响程度可以完全相同、完全不同或部分相同。各参数对地刷口真空度的影响程度完全相同时，各参数对地刷口真空度的调节幅度较为一致；各参数对地刷口真空度的影响程度完全不相同时，各参数对地刷口真空度的调节幅度较为多样化，可以根据实际需求灵活地选择不同的待调节参数；各参数对地刷口真空度的影响程度部分相同时，对地刷口真空度的调节幅度能够介于多样化和一致性之间。
在可调范围内，吸入电机的转速变化引起地刷口真空度的变化程度为吸入电机对地刷口真空度的影响程度，吸入口尺寸变化引起地刷口真空度的变化程度为吸入口尺寸对真空度的影响程度，以此类推。
为了检测清洁设备行进过程中受到的行进阻力值，S12包括S121、S122和S123中的至少一种，可以基于其中一种确定行进阻力值，也可以结合其中两种或三种综合确定行进阻力值。
具体的，图3为本发明实施例确定行进阻力的一种实施方式的流程图，S121包括：S1211和S1212。
S1211：获取清洁设备中接触件的电信号，接触件用于接触清洁对象。
该接触件可以是清洁设备中能够转动的部件，如滚刷或行进轮，对应的电信号为接触件的驱动电信号，驱动电信号可以是驱动滚刷或行进轮转动的转动电机的输出电流、输出电压或输出功率。
该接触件也可以是无法发生转动的部件，如金钢石触针或地刷，对应的电信号则为由监测接触件形变或位移的传感器转换而来的电信号，该电信号可以是输出电压、输出电流或电感或电阻等。
S1212：根据电信号确定清洁设备的行进阻力值。
当接触件是滚刷或行进轮时，且选用用于驱动滚刷或行进轮转动的转动电机的输出电流作为滚刷的驱动电信号时，可以利用预先划分的电流区间确定清洁设备行进时受到的行进阻力值，即可以利用预先划分的电流区间确定清洁对象的表面粗糙度和清洁对象表面上的异物密集度。
当接触件是金钢石触针或地刷时，可以利用预先划分的电信号区间确定清洁设备行进时受到的行进阻力值，即可以利用预先划分的电流区间确定清洁对象的表面粗糙度和清洁对象表面上的异物密集度。
需要说明的是，本发明实施例中是根据上述电信号确定清洁对象的表面粗糙度，以及清洁对象表面上的异物密集程度的，进而根据该表面粗糙度和异物密集程度中至少之一确定清洁设备行进的行进阻力值。
当然，也可以不是基于接触件的电信号确定清洁设备的行进阻力值，即可以借助不接触清洁对象的部件确定清洁设备的行进阻力值。
如S122：利用图像获取装置对清洁对象进行拍摄，基于拍摄得到的图像确认该清洁设备的行进阻力值。在分析由图像获取装置拍摄得到的图像过程中，可以只分析清洁对象的表面粗糙度引起的行进阻力值，也可以只分析清洁对象表面异物引起的行进阻力值，或者对清洁对象表面粗糙度和表面异物密集度引起的行进阻力值均进行分析。
如S123：基于在吸入管道内设置检测粉尘或异物密度的传感器(如压电片)来检测当前清洁对象表面的异物密集度，以此确定清洁设备当前的行进阻力值。
应当清楚的是，由于清洁设备在行进过程中受到的行进阻力值不仅与清洁对象的表面粗糙度相关，还会与清洁对象表面的异物(垃圾、粉尘等需要被吸入的异物)密集度有关。例如，清洁对象可以是地毯或地板，显然，由于地毯的表面粗糙度大于地板，清洁设备在地毯上行进时的行进阻力值大于在地板上的行进阻力值。
因此，为了获取清洁设备的行进阻力值，需要检测清洁对象表面粗糙度和 表面异物的密集度。换言之，上述S12中的行进阻力值包括：根据清洁对象的表面粗糙度确定的行进阻力值，或根据清洁对象表面上的异物密集度确定的行进阻力值中至少之一。此外，S12中的行进阻力值还可以包括其他影响清洁设备行进的行进阻值力。
如图4所示，本发明实施例还可以包括S18：在行进阻力值大于等于第二阈值且小于等于第一阈值时，以目标参数的当前值运行。即在行进阻力值在舒适行进阻力值范围内时，目标参数的当前值保持不变。
本发明实施例中，第一阈值和第二阈值是预先设置于清洁设备中的。具体的，第一阈值和第二阈值可以是基于人体工程学研究得出适合大部分人群的舒适行进阻力值范围，即在产品出厂前统一设置；也可以是考虑到各用户的差异化，由各用户根据各自需求输入设置。
实施例二
本发明实施例以目标参数是吸入电机的转速和地刷电机的转速，或者目标参数是吸入电机的转速为例，说明清洁设备的一种控制方法，如图5所示，所述控制方法包括：
S22：获取清洁设备的行进阻力值。
S24：在所述行进阻力值大于第一阈值时，根据所述行进阻力值，降低所述目标参数至所述目标值；其中，所述目标参数是吸入电机的转速和地刷电机的转速，或者，所述目标参数是吸入电机的转速。由于吸入电机的转速和地刷电机的转速越大，地刷口的真空度越大，清洁设备的行进阻力值也会越大，因此，在行进阻力值大于第一阈值时，表明当前行进阻力值超出舒适行进阻力值范围，通过降低目标参数至所述目标值，以降低行进阻力值。
本发明实施例的S22可以参照实施一的S12，此处不再赘述。应当理解，S24是实施例一的S14中的一种具体实施方式。
具体的，参图6，S24包括S241或S242中至少一种。
S241：根据预设的行进阻力值与目标值的对应关系，降低目标参数至目标值。根据目标参数与行进阻力值的对应关系，为了使得行进阻力值处在预设的舒适行进阻力值范围内，降低目标参数至目标值。
S242：在存在降低当前地刷口真空度的目标档位时，降低所述目标参数至所述目标档位对应的数值；在不存在降低当前地刷口真空度的目标档位时，按预设比例降低所述目标参数的当前数值。实际应用中，吸入电机的转速和地刷电机的转速都可以具有若干档位，可以通过调节档位实现电机转速的调节，因此，存在降低电机转速的目标档位时，降低目标参数至目标档位对应的数值。若不存在降低电机转速的目标档位，则可以按预设比例降低电机的数值，预设比例为50％、70％或90％等；当然，也可以保持电机的转速不变。
实际应用中，当目标参数是吸入电机的转速时，若吸入电机当前档位为高速档位，且当前行进阻力值大于第一阈值，则需要降低吸入电机的转速，因此，将低速档位或中速档位作为目标档位；若吸入电机当前档位为中速档位，且当前行进阻力值大于第一阈值，则将低速档位作为目标档位；若吸入电机当前档位已经为低速档位，当前行进阻力值大于第一阈值，则直接按比例降低吸入电机的转速或保持当前转速不变。
本发明实施例中，还包括S26:在所述行进阻力值小于第二阈值时，根据所述行进阻力值，增大所述目标参数至所述目标值；其中，所述目标参数是吸入电机的转速和地刷电机的转速，或者，所述目标参数是吸入电机的转速。由于吸入电机的转速和地刷电机的转速越小，地刷口的真空度越小，清洁设备的行进阻力值也会越小，因此，在行进阻力值小于第二阈值时，表明当前行进阻力值超出舒适行进阻力值范围，通过增大目标参数至所述目标值，以增大行进阻力值。
应当理解，S26是实施例一的S16中的一种具体实施方式。
具体的，参图7，S26包括S261或S262中至少一种。
S261：根据预设的行进阻力值与目标值的对应关系，增大目标参数至目标 值。根据目标参数与行进阻力值的对应关系，为了使得行进阻力值处在预设的舒适行进阻力值范围内，增大目标参数至目标值。
S262：在存在增大当前地刷口真空度的目标档位时，增大所述目标参数至所述目标档位对应的数值；在不存在增大当前地刷口真空度的目标档位时，按预设比例增大所述目标参数的当前数值。实际应用中，吸入电机的转速和地刷电机的转速都可以具有若干档位，可以通过调节档位实现电机转速的调节，因此，存在增大电机转速的目标档位时，增大目标参数至目标档位对应的数值。若不存在增大电机转速的目标档位，则可以按预设比例增大电机的数值，预设比例为150％、130％或110％等；当然，也可以保持电机的转速不变。
实际应用中，当目标参数是吸入电机的转速时，若吸入电机当前档位为低速档位，且当前行进阻力值小于第二阈值，则需要增大吸入电机的转速，因此，将高速档位或中速档位作为目标档位；若吸入电机当前档位为中速档位，且当当前行进阻力值小于第二阈值，则将高速档位作为目标档位；若吸入电机当前档位已经为高速档位，且当前行进阻力值小于第二阈值，则直接按比例增大吸入电机的转速或保持当前转速不变。
本发明实施例中，为了实现吸入电机或地刷电机的转速调节，根据不同类型的电机可以采用不同的调节方式。例如，若电机为直流电机，可以通过调节直流电机的输入电压或输入电流中至少一项，以此来提高直流电机的转速。由于现有中电机转速的调节方法众多，本文不再赘述。
实施例三
本发明实施例三的控制方法与实施例一中控制方法的区别在于，本发明实施例中清洁设备包括至少两种工作模式，在不同的工作模式下，清洁设备的地刷口真空度与行进阻力的关系也可以不同。如图8所示，本发明实施例三的控制方法包括以下步骤：
S31：确定清洁设备的当前工作模式。
S32：获取清洁设备的行进阻力值。
S34：当所述当前工作模式为第一模式时，在所述行进阻力值大于第一阈值时，根据所述行进阻力值，调整目标参数至目标值。
S36：当所述当前工作模式为第一模式时，在所述行进阻力值小于第二阈值时，根据所述行进阻力值，调整所述目标参数至所述目标值。
清洁设备的工作模式可以包括第一模式，以及第二模式或第三模式中的至少之一。本发明实施例的清洁设备的工作模式除了第一模式，第二模式或第三模式外，还可以包括其他更多的工作模式，不同的工作模式下，清洁设备的地刷口真空度与行进阻力的关系可以各不相同。
应当理解，S34是实施例一中S14的一种具体实施方式，S36是实施例一中S16的一种具体实施方式。显然，本发明实施一中的控制方法默认清洁设备处于第一模式下，该第一模式能够使得清洁设备的行进阻力值较为稳定且舒适，因此可以称之为平稳模式。可以理解的是，第一模式下的影响地刷口真空度的参数的目标值可以基于实施例一确定，此处不在赘述。
所述控制方法还包括S37和S38中至少之一。
S37：当所述当前工作模式为第二模式时，根据所述行进阻力值，调整目标参数至目标值，所述目标值对应的地刷口真空度与所述行进阻力值正相关。
S38：当所述当前工作模式为第三模式时，根据用户输入的指令确定目标参数的目标值。
在第二模式中，地刷口真空度与行进阻力值正相关，由此在清洁对象表面粗糙度或异物密集度较高时，可以提高地刷口真空度，也就提高清洁设备的吸力，达到深度清洁的目的，因此，第二模式可以理解为深度清洁模式。
可以理解，第二模式下目标参数中目标值的确定可以参照实施例一，但是与实施例一的具体实施方式不同，以地刷口真空度与行进阻力值正相关为目标。
在第三模式下，目标参数的目标值完全由用户进行控制。
本发明实施例三提供的清洁设备的控制方法，清洁设备的地刷口真空度与行进阻力值的关系与当前工作模式有关。在当前工作模式为第一模式时，按实施一中的方法确定目标参数的目标值，使地刷口真空度与行进阻力值负相关，使得行进阻力处于一个较为稳定且舒适的范围内；在当前工作模式为第二模式时，地刷口真空度与行进阻力值正相关，以实现深度清洁的目的；在当前工作模式为第三模式下，可以根据用户输入的确定清洁设备的目标参数的目标值。由于具有多种工作模式，用户可以根据实际需求选择不同的工作模式，灵活地满足不同用户的使用需求。
实施例四
图9为本发明实施例提供的清洁设备的模块示意图，所述清洁设备400包括：
行进阻力值获取模块410，用于获取所述清洁设备的行进阻力值；
目标值确定模块420，用于在所述行进阻力值大于第一阈值时，根据所述行进阻力值，调整目标参数至目标值，使得所述行进阻力值位于舒适行进阻力值范围内；
其中，所述第一阈值是所述舒适行进阻力值范围中的最大值，所述目标参数是影响地刷口真空度的参数中的至少一种，所述目标值对应的地刷口真空度与所述行进阻力值负相关。
可选地，所述目标值确定模块420，还用于：
在所述行进阻力值小于第二阈值时，根据所述行进阻力值，调整所述目标参数至所述目标值，使得所述行进阻力值位于所述舒适行进阻力值范围内；
其中，所述第二阈值是所述舒适行进阻力值范围中的最小值。
可选地，所述影响地刷口真空度的参数至少包括以下一种：吸入电机的转速，吸入口的尺寸，刷毛与清洁对象的接触深度，地刷电机的转速。
进一步，所述目标值确定模块420，具体用于：
根据预设规则，确定所述目标参数；
根据所述行进阻力值，调整所述目标参数至所述目标值。
更进一步，所述目标值确定模块420，具体用于以下至少一种：
根据预先设定，确定所述目标参数；
根据用户的输入指令，确定所述目标参数；
根据预先设置的参数优先级和优先级规则，确定所述目标参数；
根据各参数对所述地刷口真空度的影响程度，确定所述目标参数；
根据当前周期的行进阻力值相对之前至少一个周期的行进阻力值的变化量，确定所述目标参数；
根据清洁对象的类别，确定所述目标参数。
可选地，当所述目标参数包括至少两种时，各参数对所述地刷口真空度的影响程度完全相同、完全不同或部分相同。
可选地，行进阻力值获取模块410，具体用于以下至少一种：
获取清洁设备中接触件的电信号，所述接触件用于接触清洁对象，根据所述电信号确定所述清洁设备的所述行进阻力值；
利用图像获取装置对清洁对象进行拍摄，基于拍摄得到的图像确认该清洁设备的行进阻力值；
基于在吸入管道内设置检测粉尘或异物密度的传感器来检测当前清洁对象表面的异物密集度，确定清洁设备的行进阻力值。
可选地，所述目标参数是吸入电机的转速和地刷电机的转速，或者，所述目标参数是吸入电机的转速；
目标值确定模块420，具体用于：
在所述行进阻力值大于所述第一阈值时，根据所述行进阻力值，降低所述目标参数至所述目标值。
可选地，目标值确定模块420，具体用于：
根据预设的行进阻力值与目标值的对应关系，降低目标参数至目标值；或 者，
在存在降低当前地刷口真空度的目标档位时，降低所述目标参数至所述目标档位对应的数值；在不存在降低当前地刷口真空度的目标档位时，按预设比例降低所述目标参数的当前数值。
可选地，所述目标参数是吸入电机的转速和地刷电机的转速，或者，所述目标参数是吸入电机的转速；
目标值确定模块420，具体用于：
在所述行进阻力值小于所述第二阈值时，根据所述行进阻力值，增大所述目标参数至所述目标值。
可选地，目标值确定模块420，具体用于：
根据预设的行进阻力值与目标值的对应关系，增大目标参数至目标值；或者，
在存在增大当前地刷口真空度的目标档位时，增大所述目标参数至所述目标档位对应的数值；在不存在增大当前地刷口真空度的目标档位时，按预设比例增大所述目标参数的当前数值。
可选地，还可以包括：
工作模式确定模块，用于确定所述清洁设备的当前工作模式；
目标值确定模块420，具体用于：
当所述当前工作模式为第一模式时，在所述行进阻力值大于所述第一阈值时，根据所述行进阻力值，调整所述目标参数至所述目标值；
当所述当前工作模式为第一模式时，在所述行进阻力值小于所述第二阈值时，根据所述行进阻力值，调整所述目标参数至所述目标值。
可选地，目标值确定模块420，还用于：
当所述当前工作模式为第二模式时，根据所述行进阻力值，调整目标参数至目标值，所述目标值对应的地刷口真空度与所述行进阻力值正相关；
和/或
当所述当前工作模式为第三模式时，根据用户输入的指令确定目标参数的目标值。
可选地，目标值确定模块420，还用于：
在所述行进阻力值大于等于所述第二阈值且小于等于所述第一阈值时，以目标参数的当前值运行。
本发明实施例的清洁设备能够实现图1-图8中的各个过程，且能达到相同的技术效果。
本发明还提供一种清洁设备，所述清洁设备包括存储器和处理器，存储在存储器上并可在所述处理器上运行的清洁设备的控制程序，该清洁设备的控制程序被处理器执行时实现上述清洁设备的控制方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
本发明还提供一种计算机可读存储介质，计算机可读存储介质上存储有清洁设备的控制程序，该清洁设备的控制程序被处理器执行时实现如上述控制方法的过程，且能达到相同的技术效果，为避免重复，这里不再赘述。其中，所述的计算机可读存储介质，如只读存储器(Read-Only Memory，简称ROM)、随机存取存储器(Random Access Memory，简称RAM)、磁碟或者光盘等。
以上所述仅为本申请的实施例而已，并不用于限制本申请。对于本领域技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。

Claims (16)

  1. 一种清洁设备的控制方法，其特征在于，所述控制方法包括：
    获取所述清洁设备的行进阻力值；
    在所述行进阻力值大于第一阈值时，根据所述行进阻力值，调整目标参数至目标值，使得所述行进阻力值位于舒适行进阻力值范围内；
    其中，所述第一阈值是所述舒适行进阻力值范围中的最大值，所述目标参数是影响地刷口真空度的参数中的至少一种，所述目标值对应的地刷口真空度与所述行进阻力值负相关。
  2. 根据权利要求1所述的清洁设备的控制方法，其特征在于，还包括：
    在所述行进阻力值小于第二阈值时，根据所述行进阻力值，调整所述目标参数至所述目标值，使得所述行进阻力值位于所述舒适行进阻力值范围内；
    其中，所述第二阈值是所述舒适行进阻力值范围中的最小值。
  3. 根据权利要求1或2所述的清洁设备的控制方法，其特征在于，所述影响地刷口真空度的参数至少包括以下一种：吸入电机的转速，吸入口的尺寸，刷毛与清洁对象的接触深度，地刷电机的转速。
  4. 根据权利要求1或2所述的清洁设备的控制方法，其特征在于，所述根据所述行进阻力值，调整目标参数至目标值，包括：
    根据预设规则，确定所述目标参数；
    根据所述行进阻力值，调整所述目标参数至所述目标值。
  5. 根据权利要求4所述的清洁设备的控制方法，其特征在于，所述根据预设规则，确定所述目标参数，包括以下至少一种：
    根据预先设定，确定所述目标参数；
    根据用户的输入指令，确定所述目标参数；
    根据预先设置的参数优先级和优先级规则，确定所述目标参数；
    根据各参数对所述地刷口真空度的影响程度，确定所述目标参数；
    根据当前周期的行进阻力值相对之前至少一个周期的行进阻力值的变化 量，确定所述目标参数；
    根据清洁对象的类别，确定所述目标参数。
  6. 根据权利要求1所述的清洁设备的控制方法，其特征在于，
    当所述目标参数包括至少两种时，各参数对所述地刷口真空度的影响程度完全相同、完全不同或部分相同。
  7. 根据权利要求1所述的清洁设备的控制方法，其特征在于，所述获取清洁设备的行进阻力值，包括以下至少一种：
    获取清洁设备中接触件的电信号，所述接触件用于接触清洁对象，根据所述电信号确定所述清洁设备的所述行进阻力值；
    利用图像获取装置对清洁对象进行拍摄，基于拍摄得到的图像确认该清洁设备的行进阻力值；
    基于在吸入管道内设置检测粉尘或异物密度的传感器来检测当前清洁对象表面的异物密集度，确定清洁设备的行进阻力值。
  8. 根据权利要求1所述的清洁设备的控制方法，其特征在于，所述目标参数是吸入电机的转速和地刷电机的转速，或者，所述目标参数是吸入电机的转速；
    在所述行进阻力值大于第一阈值时，根据所述行进阻力值，调整目标参数至目标值，包括：
    在所述行进阻力值大于所述第一阈值时，根据所述行进阻力值，降低所述目标参数至所述目标值。
  9. 根据权利要求8所述的清洁设备的控制方法，其特征在于，所述降低所述目标参数至所述目标值，包括：
    根据预设的行进阻力值与目标值的对应关系，降低目标参数至目标值；或者，
    在存在降低当前地刷口真空度的目标档位时，降低所述目标参数至所述目标档位对应的数值；在不存在降低当前地刷口真空度的目标档位时，按预设比 例降低所述目标参数的当前数值。
  10. 根据权利要求2所述的清洁设备的控制方法，其特征在于，所述目标参数是吸入电机的转速和地刷电机的转速，或者，所述目标参数是吸入电机的转速；
    在所述行进阻力值小于第二阈值时，根据所述行进阻力值，调整所述目标参数至所述目标值，包括：
    在所述行进阻力值小于所述第二阈值时，根据所述行进阻力值，增大所述目标参数至所述目标值。
  11. 根据权利要求10所述的清洁设备的控制方法，其特征在于，所述增大所述目标参数至所述目标值，包括：
    根据预设的行进阻力值与目标值的对应关系，增大目标参数至目标值；或者，
    在存在增大当前地刷口真空度的目标档位时，增大所述目标参数至所述目标档位对应的数值；在不存在增大当前地刷口真空度的目标档位时，按预设比例增大所述目标参数的当前数值。
  12. 根据权利要求2所述的清洁设备的控制方法，其特征在于，所述在所述行进阻力值大于第一阈值时，根据所述行进阻力值，调整目标参数至目标值的步骤之前，还包括：
    确定所述清洁设备的当前工作模式；
    在所述行进阻力值大于第一阈值时，根据所述行进阻力值，调整目标参数至目标值，包括：
    当所述当前工作模式为第一模式时，在所述行进阻力值大于所述第一阈值时，根据所述行进阻力值，调整所述目标参数至所述目标值；
    在所述行进阻力值小于第二阈值时，根据所述行进阻力值，调整所述目标参数至所述目标值，包括：
    当所述当前工作模式为第一模式时，在所述行进阻力值小于所述第二阈值 时，根据所述行进阻力值，调整所述目标参数至所述目标值。
  13. 根据权利要求12所述的清洁设备的控制方法，其特征在于，所述控制方法还包括：
    当所述当前工作模式为第二模式时，根据所述行进阻力值，调整目标参数至目标值，所述目标值对应的地刷口真空度与所述行进阻力值正相关；
    和/或
    当所述当前工作模式为第三模式时，根据用户输入的指令确定目标参数的目标值。
  14. 根据权利要求2所述的清洁设备的控制方法，其特征在于，还包括：
    在所述行进阻力值大于等于所述第二阈值且小于等于所述第一阈值时，以目标参数的当前值运行。
  15. 一种清洁设备，其特征在于，包括：
    行进阻力值获取模块，用于获取所述清洁设备的行进阻力值；
    目标值确定模块，用于在所述行进阻力值大于第一阈值时，根据所述行进阻力值，调整目标参数至目标值，使得所述行进阻力值位于舒适行进阻力值范围内；
    其中，所述第一阈值是所述舒适行进阻力值范围中的最大值，所述目标参数是影响地刷口真空度的参数中的至少一种，所述目标值对应的地刷口真空度与所述行进阻力值负相关。
  16. 一种计算机可读存储介质，其特征在于，所述计算机存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现如权利要求1至14任一项所述的控制方法的步骤。
PCT/CN2020/135670 2020-05-27 2020-12-11 一种清洁设备的控制方法、清洁设备以及存储介质 WO2021238154A1 (zh)

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