WO2022188211A1 - Procédé, dispositif et appareil de commande de dispositif de nettoyage basée sur une station de base, et support de stockage - Google Patents

Procédé, dispositif et appareil de commande de dispositif de nettoyage basée sur une station de base, et support de stockage Download PDF

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Publication number
WO2022188211A1
WO2022188211A1 PCT/CN2021/083628 CN2021083628W WO2022188211A1 WO 2022188211 A1 WO2022188211 A1 WO 2022188211A1 CN 2021083628 W CN2021083628 W CN 2021083628W WO 2022188211 A1 WO2022188211 A1 WO 2022188211A1
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WO
WIPO (PCT)
Prior art keywords
base station
cleaning device
cleaning
control
perform
Prior art date
Application number
PCT/CN2021/083628
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English (en)
Chinese (zh)
Inventor
王继鑫
杨永斌
韦绥均
Original Assignee
苏州三六零机器人科技有限公司
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.)
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Application filed by 苏州三六零机器人科技有限公司 filed Critical 苏州三六零机器人科技有限公司
Publication of WO2022188211A1 publication Critical patent/WO2022188211A1/fr

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/2803—Home automation networks
    • H04L12/2807—Exchanging configuration information on appliance services in a home automation network
    • H04L12/2814—Exchanging control software or macros for controlling appliance services in a home automation network
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L15/00—Speech recognition
    • G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/2803—Home automation networks
    • H04L12/283—Processing of data at an internetworking point of a home automation network
    • H04L12/2834—Switching of information between an external network and a home network
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L15/00—Speech recognition
    • G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
    • G10L2015/223—Execution procedure of a spoken command

Definitions

  • the present application relates to the field of sweeping, and in particular, to a base station-based cleaning device control method, device, device, and storage medium.
  • cleaning equipment can automatically complete the floor cleaning and other tasks in the room with certain artificial intelligence.
  • the cleaning equipment moves around in the process of handling housework.
  • users need to also Correspondingly moved to the position of the cleaning device, it is inconvenient for the user to control it accordingly, that is, the existing cleaning device has the technical problem of inconvenient control.
  • the main purpose of the present application is to provide a base station-based cleaning equipment control method, device, device and storage medium, aiming to solve the technical problem of inconvenient control of existing cleaning equipment in the process of handling housework.
  • the present application provides a method for controlling cleaning equipment based on a base station, which is applied to a base station, where the base station is communicatively connected to the cleaning equipment, and the method for controlling cleaning equipment based on the base station includes the following steps:
  • the cleaning device is controlled to perform a corresponding target operation.
  • the step of controlling the cleaning device to perform a corresponding target operation based on the control instruction includes:
  • feedback information from the cleaning device is received to control the cleaning device to perform a corresponding target operation based on the feedback information.
  • the step of controlling the cleaning device to perform a corresponding target operation based on the control instruction includes:
  • the working state of the base station includes the preparation state of the base station, the resting state of the base station, and the execution state of the base station.
  • the step of controlling the cleaning device to perform a corresponding target operation based on the control instruction and the working state of the base station includes:
  • the self-judgment result is to execute the control command, establish an internal communication connection with the cleaning device based on the control command, so as to control the cleaning device to perform the corresponding target operation;
  • the self-judgment result is that the control instruction is not executed, an internal communication connection is established with the cleaning device, and prompt information for not executing the control command is generated, and the prompt information is fed back to the cleaning device and the corresponding user terminal.
  • the step of controlling the cleaning device in communication with the base station to perform a corresponding target operation based on the control instruction includes:
  • the cleaning device in communication with the base station is controlled to perform a corresponding target operation.
  • the step of controlling the cleaning device in communication with the base station to perform a corresponding target operation based on the working state of the cleaning device and the control instruction includes:
  • the step of controlling the cleaning equipment in communication with the base station to perform a corresponding target preparation operation when the cleaning equipment is in the ready state includes:
  • the preparation state of the cleaning device is the self-cleaning state of the cleaning device
  • control the adsorption port of the base station to descend based on the self-cleaning state and the control command, and control the communication with the base station based on the adsorption port
  • the communicating cleaning device performs a corresponding dirt discharge operation.
  • the step of controlling the cleaning equipment in communication with the base station to perform a corresponding target preparation operation when the cleaning equipment is in the ready state includes:
  • the cleaning device in communication with the base station is controlled to perform a corresponding water-adding operation based on the water-adding preparation state and the control command.
  • the step of controlling the cleaning device that communicates with the base station to perform a corresponding target preparation operation when the cleaning device is in the ready state further includes:
  • the cleaning device in communication with the base station is controlled to perform a corresponding charging operation based on the charging state and the control command.
  • the method includes:
  • the cleaning device in communication with the base station is controlled to perform a corresponding target operation.
  • the step of controlling the cleaning device in communication with the base station to perform a corresponding target operation based on the sweeping mode includes:
  • the cleaning device in communication with the base station is controlled to perform a corresponding brushing operation based on the first sweeping mode.
  • the method includes: :
  • the sweeping operation is performed based on the changed sweeping mode.
  • the step of controlling the cleaning device in communication with the base station to perform a corresponding target operation based on the sweeping mode includes:
  • the cleaning device in communication with the base station is controlled to perform a corresponding sweeping operation based on the second sweeping mode.
  • the cleaning device is a washing machine, a sweeping machine, or a washing and drying device.
  • the present application also provides a base station-based cleaning equipment control method, which is applied to cleaning equipment, the cleaning equipment is communicatively connected to the base station, and the base station-based cleaning equipment control method includes the following steps:
  • the base station when receiving the voice information, extracts the control instruction in the voice information and sends it to the cleaning device.
  • the present application also provides a base station-based cleaning equipment control device, which is applied to a base station, where the base station is communicatively connected to the cleaning equipment, and the base station-based cleaning equipment control device:
  • an extraction module configured to extract the control instructions in the voice information when the voice information is received
  • a control module configured to control the cleaning device to perform a corresponding target operation based on the control instruction.
  • control module :
  • an internal communication connection unit configured to establish an internal communication connection with the cleaning device based on the control instruction
  • a receiving unit configured to receive feedback information of the cleaning device based on the internal communication connection, so as to control the cleaning device to perform a corresponding target operation based on the feedback information.
  • control module further includes:
  • a collection unit used for collecting the working state of the base station through a preset sensor
  • a first control unit configured to control the cleaning device to perform a corresponding target operation based on the control instruction and the working state of the base station;
  • the working state of the base station includes the preparation state of the base station, the resting state of the base station, and the execution state of the base station.
  • the first control unit includes:
  • an acquisition subunit configured to perform a self-judgment process of whether to execute the control instruction based on the working state of the base station, and obtain a self-judgment result
  • a first control subunit configured to establish an internal communication connection with the cleaning device based on the control command if the self-judgment result is to execute the control command, so as to control the cleaning device to perform a corresponding target operation
  • the generating subunit is used to establish an internal communication connection with the cleaning equipment if the self-judgment result is that the control instruction is not executed, and generate prompt information for not executing the control instruction, and feed back the prompt information to the cleaning device.
  • the cleaning device and the corresponding user terminal are used to establish an internal communication connection with the cleaning equipment if the self-judgment result is that the control instruction is not executed, and generate prompt information for not executing the control instruction, and feed back the prompt information to the cleaning device.
  • control module includes:
  • a first determining unit for determining the working state of the cleaning device
  • a second control unit configured to control the cleaning device in communication with the base station to perform a corresponding target operation based on the working state of the cleaning device and the control instruction.
  • the second control unit includes:
  • a first determination subunit configured to determine whether the working state of the cleaning device is the ready state of the cleaning device
  • the second control sub-unit is configured to control the cleaning equipment in communication with the base station to perform a corresponding target preparation operation if the cleaning equipment is in a ready state.
  • the second control subunit is used to realize:
  • the preparation state of the cleaning device is the self-cleaning state of the cleaning device
  • control the adsorption port of the base station to descend based on the self-cleaning state and the control command, and control the communication with the base station based on the adsorption port
  • the communicating cleaning device performs a corresponding dirt discharge operation.
  • the second control unit further includes:
  • a second determination subunit configured to determine whether the preparation state of the cleaning device is the preparation state for adding water
  • a third control subunit configured to control the cleaning device in communication with the base station to perform a corresponding water addition operation based on the water preparation state and the control command if the cleaning device is in a water preparation state.
  • the second control unit further includes:
  • a third determination subunit configured to determine whether the preparation state of the cleaning device is a charging state
  • the fourth control sub-unit is configured to control the cleaning device in communication with the base station to perform a corresponding charging operation based on the charging state and the control instruction if the preparation state of the cleaning device is a charging state.
  • control module further includes:
  • a second determining unit configured to determine the sweeping mode of the cleaning device if the working state of the cleaning device is not in the ready state
  • a third control unit configured to control the cleaning device in communication with the base station to perform a corresponding target operation based on the sweeping mode.
  • the third control unit includes:
  • a fifth control subunit configured to control the cleaning device in communication with the base station to perform a corresponding brushing operation based on the first sweeping mode if the sweeping mode of the cleaning device is the first sweeping mode.
  • control module further includes:
  • the detection unit is configured to perform a sweeping operation based on the changed sweeping mode if it is detected that the sweeping mode of the cleaning device is changed.
  • the third control unit includes:
  • a sixth control subunit configured to control the cleaning device in communication with the base station to perform a corresponding sweeping operation based on the second sweeping mode if the sweeping mode of the cleaning device is the second sweeping mode.
  • the cleaning device is a washing machine, a sweeping machine, or a washing and drying device.
  • the present application also provides a base station-based cleaning equipment control device for cleaning equipment, the cleaning equipment is communicatively connected to the base station, and the base station-based cleaning equipment control device includes:
  • an execution module configured to execute the target operation corresponding to the control instruction when receiving the control instruction sent by the base station
  • the base station when receiving the voice information, extracts the control instruction in the voice information and sends it to the cleaning device.
  • the present application also provides a base station-based cleaning equipment control system
  • the base station-based cleaning equipment control system includes a base station and a cleaning equipment
  • the base station is communicatively connected to the cleaning equipment
  • the base station-based cleaning equipment control system includes the above The base station and the cleaning device, wherein the cleaning device executes the target operation corresponding to the control command when receiving the control command sent by the base station, and the base station extracts the voice information when receiving the voice information. and send the control instructions to the cleaning equipment.
  • the present application also provides a base station-based cleaning device control device, the base station-based cleaning device control device is an entity device, and the base station-based cleaning device control device includes: a memory, a processor, and a device stored on the memory and A program of the base station-based cleaning equipment control method that can be run on the processor, and when the program of the base station-based cleaning equipment control method is executed by the processor, can realize the above-mentioned base station-based cleaning equipment control method. step.
  • the present application also provides a readable storage medium, where a program for implementing a base station-based cleaning device control method is stored on the readable storage medium, and when the program of the base station-based cleaning device control method is executed by a processor, the above-mentioned The steps of the base station-based cleaning equipment control method.
  • the base station of the present application is connected by communication with the cleaning equipment, and when the base station receives the voice information, the base station extracts the control instructions in the voice information; based on the control instructions, controls the cleaning equipment to perform corresponding target operations. .
  • Fig. 1 is the terminal ⁇ device structure schematic diagram of the hardware operating environment involved in the solution of the embodiment of the present application;
  • FIG. 2 is a schematic flowchart of a first embodiment of a method for controlling a cleaning device based on a base station of the present application
  • FIG. 3 is a schematic diagram of the refinement process of step S20 in FIG. 2;
  • FIG. 4 is a schematic diagram of a first scenario of a base station of the application.
  • FIG. 5 is a schematic diagram of a second scenario of the base station of the present application.
  • the terminal, device or terminal device of the present application may be a PC, or may be a mobile terminal device with a display function, such as a smart phone, a tablet computer, and a portable computer.
  • the terminal may include: a processor 1001 , such as a CPU, a network interface 1004 , a user interface 1003 , a memory 1005 , and a communication bus 1002 .
  • the communication bus 1002 is used to realize the connection and communication between these components.
  • the user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface.
  • the network interface 1004 may include a standard wired interface and a wireless interface (eg, a WI-FI interface).
  • the memory 1005 may be high-speed RAM memory, or may be non-volatile memory, such as disk memory.
  • the memory 1005 may also be a storage device independent of the aforementioned processor 1001 .
  • the terminal may also include a camera, an RF (Radio Frequency, radio frequency) circuits, sensors, audio circuits, WiFi modules, etc.
  • sensors such as light sensors, motion sensors and other sensors.
  • the light sensor may include an ambient light sensor and a proximity sensor, wherein the ambient light sensor may adjust the brightness of the display screen according to the brightness of the ambient light, and the proximity sensor may turn off the display screen and/or turn off the display screen when the mobile terminal is moved to the ear.
  • the gravitational acceleration sensor can detect the magnitude of acceleration in all directions (generally three axes), and can detect the magnitude and direction of gravity when it is stationary.
  • the mobile terminal can also be equipped with other sensors such as gyroscope, barometer, hygrometer, thermometer, infrared sensor, etc. No longer.
  • terminal structure shown in FIG. 1 does not constitute a limitation on the terminal, and may include more or less components than the one shown, or combine some components, or arrange different components.
  • the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and computer-readable instructions for a base station-based cleaning device control method.
  • the network interface 1004 is mainly used to connect to the background server and perform data communication with the background server;
  • the user interface 1003 is mainly used to connect to the client (client) and perform data communication with the client;
  • the processor 1001 can be used to call the computer-readable instructions of the base station-based cleaning equipment control method stored in the memory 1005, and the computer-readable instructions of the base station-based cleaning equipment control method are executed by the processor to implement the following embodiments. Operations in a cleaning device control method of a base station.
  • This embodiment of the present invention provides an embodiment of a method for controlling a cleaning device based on a base station. It should be noted that, although a logical sequence is shown in the flowchart, in some cases, all steps may be performed in a sequence different from that here. steps shown or described.
  • a first embodiment of the present application provides a method for controlling cleaning equipment based on a base station, which is applied to a base station, where the base station is communicatively connected to the cleaning equipment, and the method for controlling cleaning equipment based on the base station includes the following steps:
  • Step S10 extracting the control instruction in the voice information when the voice information is received
  • Step S20 controlling the cleaning device to perform a corresponding target operation based on the control instruction.
  • Step S10 extracting the control instruction in the voice information when the voice information is received
  • the base station may have a structure as shown in FIG. 4 , that is, the base station 100 includes a first collection box 10, a second collection box 30, a cyclone separator 50 and a fan; wherein The first collection box 10 is provided with a dust inlet 10a, a liquid outlet 10b and an air outlet 10c; the second collection box 30 is connected to the liquid outlet 10b; the cyclone separator 50 is connected to the air outlet 10c; the fan is connected to the cyclone separator 50.
  • the dust inlet 10a of the first collection box 10 can be used to communicate with the dust collection box (sewage tank) of the cleaning equipment, so that the first collection box 10 can be used to collect the cleaning equipment at the base station 100 During the dust extraction, the garbage and sewage entering through the dust inlet 10a are preliminarily collected and accommodated, so as to transfer the garbage in the dust collecting box of the cleaning device to the base station 100 .
  • the first collection box 10 may have a square structure, so that its shape is relatively regular and it is convenient for forming and manufacturing.
  • the second collection box 30 can be used to separate and collect the sewage entering the first collection box 10 , that is, the sewage in the first collection box 10 can enter the second collection box 30 through the liquid passage 10b.
  • the second collection box 30 can also be substantially square, so that its shape is relatively regular and is convenient for forming and manufacturing.
  • the cyclone separator 50 can be used for entering the air flow through the air extraction port 10c, because the cyclone separator 50 can make the incoming air flow make a high-speed rotational motion to generate a centrifugal force, through which the water vapor in the air flow can be thrown to the cyclone separator 50.
  • On the side wall or bottom wall of the air flow channel in order to realize the separation of the water vapor contained in the air flow.
  • the cyclone separation principle of the cyclone separator 50 is in the prior art, so the specific structure of the cyclone separator 50 will not be described in detail here.
  • the fan can be used to provide airflow power, and the external airflow can be driven to pass through the dust inlet 10a, the first collection box 10, the air outlet 10c, the cyclone separator 50 and the fan in sequence, and finally be discharged to the outside by the fan, and make the dust inlet Negative pressure is generated at 10a to realize the suction of garbage and sewage in the dust collecting box of the cleaning equipment.
  • the base station 100 when the base station 100 collects dust and contaminates the cleaning equipment, the base station 100 starts the fan to exhaust air, so that a negative pressure is generated at the dust inlet of the first collection box 10 of the base station 100, and the dust collection box of the cleaning equipment can be cleaned. Waste and sewage are suctioned. After the mixture of garbage and sewage enters the first collection box 10 with the airflow, the garbage can stay in the first collection box 10 for collection under the action of gravity, and the sewage can enter through the liquid passage 10b on the first collection box 10 into the second collection box 30 for collection.
  • the air and water vapor mixture can enter into the cyclone separator 50 through the air suction port 10c, and the airflow rotates at a high speed in the cyclone separator 50 at this time to generate centrifugal force, and the water vapor can be thrown into the airflow channel in the cyclone separator 50 by this centrifugal force.
  • the base station 100 in this embodiment can collect garbage through the first collection box 10, collect sewage through the second collection box 30, and collect water vapor through the cyclone separator 50 during operation, so that the base station 100 can be collected.
  • the absorbed water vapor is effectively separated, so that the base station 100 only has air in the subsequent air ducts after the cyclone separator 50, thereby reducing the occurrence of mildew caused by mildew after the water vapor stays in the subsequent air ducts in the base station 100 for a long time.
  • the second collection box 30 is provided with a sewage collection cavity 30a
  • the first collection box 10 is arranged in the sewage collection cavity 30a and is connected to the bottom wall of the sewage collection cavity 30a There is a gap between them; the liquid passage 10b is communicated with the sewage collection chamber 30a, and the cavity wall of the sewage collection chamber 30a is provided with a passage port 30b communicating with the dust inlet 10a at the position corresponding to the dust inlet 10a.
  • first collection box 10 in the sewage collection cavity 30a of the second collection box 30 can make the distribution of the first collection box 10 and the second collection box 30 more compact, thereby helping to reduce the size of the base station 100 the overall volume and reduce its space occupation.
  • this arrangement also makes it possible to directly connect the first collection box 10 and the second collection box 30 only through the liquid passage 10b opened on the first collection box 10, and it is necessary to provide corresponding connecting pipelines, which is beneficial to
  • the structure of the base station 100 is simplified to reduce the manufacturing cost.
  • the gap between the first collection box 10 and the bottom wall of the sewage collection cavity 30a is used to form a space for accommodating sewage, and the gap between the two can be adaptively set as required.
  • the first collection box 10 When the bottom wall of the sewage collection chamber 30a is a plane, the first collection box 10 may have a gap with the entire bottom wall of the sewage collection chamber 30a. When the cavity bottom wall of the sewage collection cavity 30a is a stepped surface, the first collection box 10 may have a gap with the cavity bottom wall of the sewage collection cavity 30a located at the bottom.
  • the pass-through port 30b can be used for the garbage and sewage in the dust collecting box to pass through, so as to enter the first collecting box 10 through the dust inlet port 10a, and its shape can be set to match the shape of the dust intake. It is a square or a circle, etc., so that the shapes of the pass-through port 30b and the dust inlet port 10a are relatively regular, which is convenient for molding and manufacturing.
  • the first collection box 10 is located above the second collection box 30, and it is also possible to communicate the two through a connecting pipe, which can ensure that the first collection box is The sewage in the 10 can enter the second collection box 30 through the liquid passage 10b for collection.
  • the base station includes various sensors, a lifting mechanism, a charging device, a water purification tank, a water bucket, etc., wherein each sensor can be used to detect the status of the base station, and the lifting mechanism of the base station can adjust the sewage suction pipe. , the height or position of the water inlet pipe, etc.
  • each sensor can be used to detect the status of the base station
  • the lifting mechanism of the base station can adjust the sewage suction pipe.
  • the height or position of the water inlet pipe etc.
  • there are two pipes connected to the lifting mechanism of the base station one is the sewage suction pipe and the other is the water inlet pipe.
  • the sewage suction pipe can be used to suck sewage
  • the water inlet pipe can be used to add water.
  • the dirty port of the cleaning device can be connected to the sewage tank interface of the base station based on the sewage suction pipe, and then the base station starts to absorb the dirt of the cleaning device.
  • the sewage tank of the base station in addition, in this embodiment, the communication between the base station and the cleaning equipment can also determine whether the cleaning equipment needs to be filled with water or flushed.
  • the water inlet pipe of the base station itself is also Start to add water, if the sensor of the base station detects that the water is full, it informs the base station to stop adding water.
  • the cleaning device can be a sweeper, a washing machine, or a cleaning device that integrates water washing, drying and suction. It should be noted that the base station and the cleaning device are in communication connection.
  • the communication connection includes at least the following two aspects:
  • the base station sends control information to the cleaning equipment to control the cleaning equipment to perform operations such as moving and sweeping;
  • Aspect 2 The cleaning equipment sends feedback information to the base station, so that the base station can make preparations based on the requirements (feedback information) of the cleaning equipment.
  • two-way communication is performed between the base station and the cleaning device instead of only one-way communication. Since the base station and the cleaning device are connected by two-way communication, the efficiency of the cleaning device in doing housework can be improved. , and improve the user's operational convenience, that is, the user only needs voice remote control to complete the corresponding control of the cleaning equipment.
  • the base station when the base station receives the voice information, it extracts the control instructions in the voice information, wherein the subject of the voice information is not limited, for example, the subject of the voice information can be a person, or
  • the voice information output by the terminal after recording for example, the voice information sent by a mobile phone or a tool such as Tmall Genie after recording, in this embodiment, it should be noted that the output voice information is specifically described for the user.
  • the base station receives the voice information, and extracts the control instructions in the voice information. Specifically, for example, after returning home, the person says “sweep the floor” , the base station receives the voice information of "sweeping the floor” and extracts the control instructions that need to control the cleaning equipment to sweep the floor, or when the person says “add water” after returning home, the base station receives the voice information of "adding water”, extracts the A control command is required to control the addition of water to cleaning equipment.
  • the method of extracting the control instructions in the voice information may be:
  • Voice information is recognized, control logic is extracted, and control instructions are generated based on the control logic.
  • Step S20 controlling the cleaning device to perform a corresponding target operation based on the control instruction.
  • the base station after the base station obtains the control instruction or generates the control instruction, it controls the cleaning device to perform the corresponding target operation, specifically, controls the cleaning device to perform the target operation corresponding to the control instruction, based on the control instruction , and controlling the cleaning device to perform the corresponding target operation may specifically include:
  • the cleaning device is controlled to perform a corresponding preparation operation, the preparation operation including but not limited to charging, adding water, or adsorbing dirt and the like.
  • the cleaning device can be controlled by the base station to perform corresponding operations, therefore, the user does not need to operate on the terminal, which saves the user's operation process and improves the user experience.
  • the step of controlling the cleaning device to perform a corresponding target operation based on the control instruction includes:
  • Step S21 based on the control instruction, establish an internal communication connection with the cleaning device.
  • Step S22 Receive feedback information from the cleaning device based on the internal communication connection, so as to control the cleaning device to perform a corresponding target operation based on the feedback information.
  • a fixed base station that can interact with the cleaning equipment in two directions and connected based on internal radio frequency communication can be set, so that the cleaning robot can be controlled accordingly through the fixed base station;
  • a fixed base station based on internal Bluetooth communication connection that can interact with the cleaning device in two directions can be set, so that the cleaning robot can be controlled accordingly through the fixed base station;
  • a fixed base station based on internal wifi or mobile communication connection that can interact with the cleaning device in two directions can be set, so that the cleaning robot can be controlled accordingly through the fixed base station.
  • the communication connection manner between the base station and the cleaning device is not specifically limited.
  • the fixed base station is set in the room or at the door of the room, and the specific location is not limited.
  • the cleaning device after receiving the control instruction, it communicates with the cleaning device, and if feedback information from the cleaning device is received, the cleaning device is controlled to perform a corresponding target operation based on the feedback information.
  • the feedback information may include that there is an execution obstacle, it is difficult to perform the operation at present, or the water for scrubbing is not enough and water needs to be added, or the current need to be charged before the operation command can be executed.
  • the information determines its own state, and then prepares for the cleaning of the cleaning equipment.
  • the base station checks whether the water stored in its own water tank is sufficient, or whether the water inlet pipe is complete, When the water stored in the water tank is sufficient and the water inlet pipe is complete, it will further send a control command that can add water to the cleaning equipment, so that the cleaning equipment can go to the base station to add water, or when it receives that the cleaning equipment needs to be charged, the base station checks its own charging device Whether it is available or not, when the self-charging device is available, it is further sent that it can be charged to the cleaning device, so that the cleaning device can go to the base station for charging.
  • the step of controlling the cleaning device to perform a corresponding target operation based on the control instruction includes:
  • Step S23 collecting the working state of the base station through a preset sensor
  • Step S24 controlling the cleaning device to perform a corresponding target operation based on the control instruction and the working state of the base station;
  • the working state of the base station includes the preparation state of the base station, the resting state of the base station, and the execution state of the base station.
  • the preparation state of the base station includes that the water inlet pipe of the base station is in the water inlet state, the charging device is in the charging state, or the sewage tank is in the charging state. In the state of sewage discharge, etc., no specific restrictions are made here, and the rest state of the base station refers to the base station not working during the corresponding time period.
  • the execution state of the base station means that the base station is charging the cleaning equipment, adding water, or absorbing dirt.
  • the base station can communicate with multiple cleaning equipment, and one of the multiple cleaning equipment Communication can also be performed between the two devices to avoid collision with each other. Further, in this embodiment, since there are multiple cleaning devices, when receiving the voice information, the base station determines the position of each cleaning device, and according to the The location of the cleaning equipment, and the voice information, generate control instructions to make the cleaning equipment clean with the least energy consumption, or the shortest path, or the least time consuming.
  • the step of controlling the cleaning device to perform a corresponding target operation based on the control instruction and the working state of the base station includes:
  • Step M1 based on the working state of the base station, perform a self-judgment process of whether to execute the control command, and obtain a self-judgment result;
  • Step M2 if the self-judgment result is to execute the control command, establish an internal communication connection with the cleaning device based on the control command, so as to control the cleaning device to perform the corresponding target operation;
  • Step M3 if the self-judgment result is that the control instruction is not executed, establish an internal communication connection with the cleaning equipment, and generate prompt information for not executing the control instruction, and feed back the prompt information to the cleaning device. equipment and corresponding user terminals.
  • the base station after obtaining the working state of the base station, performs a self-judgment process of whether to execute the control command based on its own working state, and obtains a self-judgment result.
  • Working status executing the self-judgment process of whether to execute the control instruction, and obtaining the self-judgment result, a program segment needs to be set in the built-in processor, and the program segment represents the processing logic of the self-judgment process.
  • the self-judgment result is that the control command is executed, an internal communication connection is established with the cleaning device based on the control command, so as to control the cleaning device to perform a corresponding target operation, such as sweeping, brushing or cleaning etc.
  • the self-judgment result is that the control instruction is not executed, establish an internal communication connection with the cleaning device, generate a prompt message for not executing the control command, and feed back the prompt message to the cleaning device and the corresponding user terminal.
  • the prompt information may be that it is currently in a rest period or currently in a preparation state, and cannot be executed temporarily.
  • the prompt information is also fed back to the cleaning device and the corresponding user terminal.
  • the purpose of sending the prompt information to the user terminal is: the user terminal can set the rest period of the base station to meet the user's needs.
  • the step of controlling the cleaning equipment in communication with the base station to perform the corresponding target operation based on the control instruction includes:
  • Step S25 determining the working state of the cleaning device
  • the cleaning device executes The process or flow corresponding to the target operation may be different. For example, if the control command is to control the sweeper to clean the floor, if the cleaning device is in a charging state and a dirt-absorbing state, the corresponding working states are obviously different.
  • control command is to control the sweeper to clean the floor
  • the cleaning device needs to exit the charging mode and then clean the floor.
  • the control command is to control the sweeper to clean the floor
  • the cleaning device if the cleaning device is in In the state of adding water, at this time, the cleaning device needs to add water to meet the preset water level, and then clean the ground. That is, it is obvious that the process through which the cleaning device performs the corresponding target operation is different.
  • the way of determining the working state of the cleaning device may be:
  • the working status of the cleaning equipment can be estimated.
  • Step S26 based on the working state of the cleaning device and the control instruction, control the cleaning device in communication with the base station to perform a corresponding target operation.
  • the cleaning device in communication with the base station is jointly controlled to perform the corresponding target operation.
  • the step of controlling the cleaning device in communication with the base station to perform a corresponding target operation based on the working state of the cleaning device and the control instruction includes:
  • Step S27 determining whether the working state of the cleaning device is the preparation state of the cleaning device
  • the working state of the cleaning device after the working state of the cleaning device is obtained, it is further determined whether the working state is in a preparation state, wherein the preparation state means that the sweeper or the cleaning device is not in sweeping or cleaning Mode, but for the preparation of water, electricity, and dirt treatment before sweeping or cleaning. processing.
  • Step S28 if the cleaning equipment is in a ready state, control the cleaning equipment in communication with the base station to perform a corresponding target preparation operation.
  • the cleaning device in communication with the base station is controlled to perform a corresponding target preparation operation.
  • the cleaning device in communication with the base station is controlled to perform a corresponding target non-ready operation, such as a cleaning operation or a cleaning operation.
  • a target non-ready operation such as a cleaning operation or a cleaning operation.
  • the cleaning device can perform various preparation operations.
  • the step of controlling the cleaning device in communication with the base station to perform the corresponding target preparation operation when the cleaning device is in the ready state includes:
  • Step A1 determine whether the preparation state of the cleaning equipment is a self-cleaning state
  • the cleaning device determines whether the preparation state is a self-cleaning preparation state
  • Step A2 if the preparation state of the cleaning device is the self-cleaning state of the cleaning device, control the adsorption port of the base station to descend based on the self-cleaning state and the control instruction, and control and control the adsorption port based on the adsorption port.
  • the cleaning device communicated by the base station performs a corresponding dirt discharge operation.
  • the preparation state of the cleaning device is the self-cleaning state of the cleaning device
  • control the adsorption port of the base station to descend based on the self-cleaning state and the control command and control the communication with the base station based on the adsorption port
  • the communicating cleaning device performs a corresponding dirt discharge operation. Specifically, when it is detected that the cleaning equipment is within the preset range of the base station, and each sensor of the base station determines that the cleaning equipment is parked, the base station controls the lifting mechanism to descend, and controls the suction port (suction port) on the lifting mechanism to connect to the cleaning equipment. , start to absorb dirt, whether dry dirt or wet dirt is adsorbed, that is, control the cleaning device in communication with the base station to perform the corresponding dirt discharge operation.
  • the step of controlling the cleaning device in communication with the base station to perform the corresponding target preparation operation when the cleaning device is in the ready state includes:
  • Step B1 determine whether the preparation state of the cleaning equipment is the preparation state for adding water
  • the ready state may also be a water-adding ready state, in which a sensor can detect whether the cleaning device is in a water-adding ready state.
  • Step B2 if the preparation state of the cleaning device is a water addition preparation state, control the cleaning device in communication with the base station to perform a corresponding water addition operation based on the water addition preparation state and the control instruction.
  • the cleaning device in communication with the base station is controlled to perform a corresponding water-adding operation based on the water-adding preparation state and the control command. Specifically, when it is detected that the cleaning equipment is within the preset range of the base station, and each sensor of the base station judges that the cleaning equipment is stopped, the base station controls the lifting mechanism to descend, and controls the water outlet on the lifting mechanism to be connected to the cleaning equipment, and water starts to flow, no matter what Either dry dirt or wet dirt is adsorbed, that is, the cleaning device in communication with the base station is controlled to perform a corresponding water adding operation.
  • the base station of the present application is connected by communication with the cleaning equipment, and when the base station receives the voice information, the base station extracts the control instructions in the voice information; based on the control instructions, controls the cleaning equipment to perform corresponding target operations. .
  • the present application provides a method for controlling a cleaning device based on a base station.
  • a cleaning device based on a base station.
  • the step of controlling the cleaning equipment in communication with the base station to perform the corresponding target preparation operation when the cleaning equipment is in the ready state further includes:
  • Step C1 determining whether the preparation state of the cleaning device is a charging state
  • the cleaning device if the cleaning device is in the ready state, it is further determined whether the ready state of the cleaning device is the charging state through communication with the cleaning device.
  • Step C2 if the preparation state of the cleaning device is a charging state, control the cleaning device in communication with the base station to perform a corresponding charging operation based on the charging state and the control instruction.
  • the preparation state of the cleaning device is a charging state
  • control the cleaning device in communication with the base station to perform a corresponding charging operation based on the charging state and the control instruction, specifically, based on the charging state and the control
  • the instruction controls the cleaning device to approach the charging device, and after approaching the charging device, controls the cleaning device to align and insert into the charging device for charging.
  • the preparation state of the cleaning device is the charging state; if the preparation state of the cleaning device is the charging state, the communication with the base station is controlled based on the charging state and the control instruction The cleaning device of the device performs the corresponding charging operation.
  • the cleaning equipment is charged accurately through the internal communication between the base station and the cleaning equipment.
  • the present application provides a method for controlling a cleaning device based on a base station.
  • the cleaning device that communicates with the base station is controlled based on the sweeping mode.
  • the steps to perform the corresponding target operation including:
  • Step D1 if the sweeping mode of the cleaning device is the first sweeping mode, control the cleaning device in communication with the base station to perform a corresponding brushing operation based on the first sweeping mode.
  • the cleaning device in communication with the base station is controlled to perform a corresponding brushing operation based on the first sweeping mode.
  • the method includes:
  • Step D2 if it is detected that the sweeping mode of the cleaning device is changed, a sweeping operation is performed based on the changed sweeping mode.
  • the cleaning device in communication with the base station is controlled to perform a corresponding brushing operation based on the first sweeping mode.
  • the first sweeping mode is a brushing operation
  • the second sweeping mode such as the no water spray mode
  • the step of controlling the cleaning device in communication with the base station to perform a corresponding target operation based on the sweeping mode includes:
  • Step E1 if the sweeping mode of the cleaning device is the second sweeping mode, control the cleaning device in communication with the base station to perform a corresponding sweeping operation based on the second sweeping mode.
  • the cleaning device in communication with the base station is controlled to perform a corresponding sweeping operation based on the second sweeping mode.
  • the cleaning device in communication with the base station is controlled to perform a corresponding brushing operation.
  • the cleaning device communicating with the base station is controlled to perform the corresponding sweeping operation, that is, in this embodiment, the cleaning device implements various sweeping operations based on communication with the base station. Function.
  • a first embodiment of the present application provides a base station-based cleaning device control device, which is applied to a base station, where the base station is communicatively connected to the cleaning device, and the base station-based cleaning device control device:
  • an extraction module configured to extract the control instructions in the voice information when the voice information is received
  • a control module configured to control the cleaning device to perform a corresponding target operation based on the control instruction.
  • control module :
  • an internal communication connection unit configured to establish an internal communication connection with the cleaning device based on the control instruction
  • a receiving unit configured to receive feedback information of the cleaning device based on the internal communication connection, so as to control the cleaning device to perform a corresponding target operation based on the feedback information.
  • control module further includes:
  • a collection unit used for collecting the working state of the base station through a preset sensor
  • a first control unit configured to control the cleaning device to perform a corresponding target operation based on the control instruction and the working state of the base station;
  • the working state of the base station includes the preparation state of the base station, the resting state of the base station, and the execution state of the base station.
  • the first control unit includes:
  • an acquisition subunit configured to perform a self-judgment process of whether to execute the control instruction based on the working state of the base station, and obtain a self-judgment result
  • a first control subunit configured to establish an internal communication connection with the cleaning device based on the control command if the self-judgment result is to execute the control command, so as to control the cleaning device to perform a corresponding target operation
  • the generating subunit is used to establish an internal communication connection with the cleaning equipment if the self-judgment result is that the control instruction is not executed, and generate prompt information for not executing the control instruction, and feed back the prompt information to the cleaning device.
  • the cleaning device and the corresponding user terminal are used to establish an internal communication connection with the cleaning equipment if the self-judgment result is that the control instruction is not executed, and generate prompt information for not executing the control instruction, and feed back the prompt information to the cleaning device.
  • control module includes:
  • a first determining unit for determining the working state of the cleaning device
  • a second control unit configured to control the cleaning device in communication with the base station to perform a corresponding target operation based on the working state of the cleaning device and the control instruction.
  • the second control unit includes:
  • a first determination subunit configured to determine whether the working state of the cleaning device is the ready state of the cleaning device
  • the second control sub-unit is configured to control the cleaning equipment in communication with the base station to perform a corresponding target preparation operation if the cleaning equipment is in a ready state.
  • the second control subunit is used to realize:
  • the preparation state of the cleaning device is the self-cleaning state of the cleaning device
  • control the adsorption port of the base station to descend based on the self-cleaning state and the control command, and control the communication with the base station based on the adsorption port
  • the communicating cleaning device performs a corresponding dirt discharge operation.
  • the second control unit further includes:
  • a second determination subunit configured to determine whether the preparation state of the cleaning device is the preparation state for adding water
  • a third control subunit configured to control the cleaning device in communication with the base station to perform a corresponding water adding operation based on the water-adding ready state and the control instruction if the cleaning device's ready state is a water-adding ready state.
  • the second control unit further includes:
  • a third determination subunit configured to determine whether the preparation state of the cleaning device is a charging state
  • the fourth control sub-unit is configured to control the cleaning device in communication with the base station to perform a corresponding charging operation based on the charging state and the control instruction if the preparation state of the cleaning device is a charging state.
  • control module further includes:
  • a second determining unit configured to determine the sweeping mode of the cleaning device if the working state of the cleaning device is not in the ready state
  • a third control unit configured to control the cleaning device in communication with the base station to perform a corresponding target operation based on the sweeping mode.
  • the third control unit includes:
  • a fifth control subunit configured to control the cleaning device in communication with the base station to perform a corresponding brushing operation based on the first sweeping mode if the sweeping mode of the cleaning device is the first sweeping mode.
  • control module further includes:
  • the detection unit is configured to perform a sweeping operation based on the changed sweeping mode if it is detected that the sweeping mode of the cleaning device is changed.
  • the third control unit includes:
  • a sixth control subunit configured to control the cleaning device in communication with the base station to perform a corresponding sweeping operation based on the second sweeping mode if the sweeping mode of the cleaning device is the second sweeping mode.
  • the cleaning device is a washing machine, a sweeping machine, or a washing and drying device.
  • the present application also provides a base station-based cleaning equipment control device for cleaning equipment, the cleaning equipment is communicatively connected to the base station, and the base station-based cleaning equipment control device includes:
  • an execution module configured to execute the target operation corresponding to the control instruction when receiving the control instruction sent by the base station
  • the base station when receiving the voice information, extracts the control instruction in the voice information and sends it to the cleaning device.
  • the present application also provides a base station-based cleaning equipment control system
  • the base station-based cleaning equipment control system includes a base station and a cleaning equipment
  • the base station is communicatively connected to the cleaning equipment
  • the base station-based cleaning equipment control system includes the above-mentioned The base station and the cleaning device, wherein the cleaning device executes the target operation corresponding to the control command when receiving the control command sent by the base station, and the base station extracts the voice information when receiving the voice information. and send the control instructions to the cleaning equipment.
  • the specific implementation manner of the base station-based cleaning equipment control system of the present application is basically the same as that of the above-mentioned embodiments of the cleaning method for the sweeper, and will not be repeated here.
  • the present application further provides a readable storage medium, where a program for implementing the base station-based cleaning device control method is stored on the readable storage medium, and when the program of the base station-based cleaning device control method is executed by a processor, the above-mentioned The steps of the base station-based cleaning equipment control method.
  • the specific implementation manner of the readable storage medium of the present application is basically the same as that of the above-mentioned embodiments of the cleaning method for a sweeper, and details are not described herein again.
  • the method of the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is better implementation.
  • the technical solutions of the present application can be embodied in the form of software products in essence or the parts that make contributions to the prior art.
  • the computer software products are stored in a storage medium (such as ROM/RAM) as described above. , magnetic disk, optical disc), including several instructions to make a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in the various embodiments of the present application.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Signal Processing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Health & Medical Sciences (AREA)
  • Computational Linguistics (AREA)
  • Computing Systems (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Multimedia (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

La présente invention concerne un procédé, un dispositif et un appareil de commande de dispositif de nettoyage basée sur une station de base, et un support de stockage. Dans la présente demande, à réception d'informations vocales, une instruction de commande dans les informations vocales est extraite ; sur la base de l'instruction de commande, un dispositif de nettoyage est commandé pour exécuter une opération cible correspondante.
PCT/CN2021/083628 2021-03-11 2021-03-29 Procédé, dispositif et appareil de commande de dispositif de nettoyage basée sur une station de base, et support de stockage WO2022188211A1 (fr)

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CN202110262440.4 2021-03-11
CN202110262440.4A CN112953798A (zh) 2021-03-11 2021-03-11 基于基站的清洁设备控制方法、设备、装置及存储介质

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CN116798419A (zh) * 2022-03-14 2023-09-22 追觅创新科技(苏州)有限公司 设备的语音控制方法和装置、存储介质及电子装置
WO2023236849A1 (fr) * 2022-06-07 2023-12-14 安克创新科技股份有限公司 Station de base et système de nettoyage
CN115808014A (zh) * 2022-12-08 2023-03-17 宁波奥克斯电气股份有限公司 一种空调器控制方法、装置、空调器和可读存储介质

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