WO2023197796A1 - 边刷转动的控制方法、装置、存储介质及电子装置 - Google Patents

边刷转动的控制方法、装置、存储介质及电子装置 Download PDF

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Publication number
WO2023197796A1
WO2023197796A1 PCT/CN2023/080581 CN2023080581W WO2023197796A1 WO 2023197796 A1 WO2023197796 A1 WO 2023197796A1 CN 2023080581 W CN2023080581 W CN 2023080581W WO 2023197796 A1 WO2023197796 A1 WO 2023197796A1
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WO
WIPO (PCT)
Prior art keywords
rotation speed
cleaning
side brush
cleaning equipment
cleaning device
Prior art date
Application number
PCT/CN2023/080581
Other languages
English (en)
French (fr)
Inventor
王元超
耿文峰
徐银波
Original Assignee
追觅创新科技(苏州)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.)
Filing date
Publication date
Application filed by 追觅创新科技(苏州)有限公司 filed Critical 追觅创新科技(苏州)有限公司
Priority to AU2023252102A priority Critical patent/AU2023252102A1/en
Publication of WO2023197796A1 publication Critical patent/WO2023197796A1/zh
Priority to US18/672,503 priority patent/US20240315515A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—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
    • 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
    • A47L11/4002—Installations of electric equipment
    • 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
    • A47L11/4036—Parts or details of the surface treating tools
    • 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
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0466—Rotating tools
    • A47L9/0477—Rolls
    • 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
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/2826—Parameters or conditions being sensed the condition of the floor
    • 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
    • A47L9/2847—Surface treating elements
    • 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
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • Embodiments of the present invention relate to the field of communications, and specifically, to a method, a device, a storage medium, and an electronic device for controlling the rotation of a side brush.
  • the side brush is one of the core components. Taking a sweeping robot as an example, the side brush is mostly located at the edge of the sweeping robot. Its function is to sweep out dust so that the vacuum cleaner at the bottom of the sweeping robot can suck up the dust. .
  • Embodiments of the present invention provide a method, device, storage medium, and electronic device for controlling the rotation of a side brush, so as to at least solve the problem of low accuracy in controlling the rotation speed of the side brush by cleaning equipment in related technologies.
  • a method for controlling the rotation of a side brush which includes: obtaining the working mode of the cleaning device when the cleaning device is working; and according to the working mode of the cleaning device and the position of the cleaning device. Information about obstacles detected in the currently cleaned area is used to determine the target rotation speed of the side brush of the cleaning device; and the side brush of the cleaning device is controlled to rotate according to the target rotation speed.
  • the target of the side brush of the cleaning device is determined based on the working mode of the cleaning device and information on obstacles detected by the cleaning device in the area currently being cleaned.
  • Rotation speed including: when the cleaning equipment is in the first working mode In this case, the target rotation speed of the side brush is determined according to the size information of the obstacle detected by the cleaning equipment in the currently cleaned area, wherein the obstacle information includes the size of the obstacle.
  • Information when the cleaning device is in the second working mode, determine the target rotation speed of the side brush according to the type information of the obstacles detected by the cleaning device in the currently cleaned area, wherein, The obstacle information includes type information of the obstacle.
  • the cleaning device determines the size of the obstacle detected by the cleaning device in the area currently being cleaned.
  • the target rotation speed of the side brush includes: determining the target rotation speed of the side brush to be the first rotation speed when it is determined based on the size information that the size of the obstacle is greater than or equal to a preset size threshold; in If it is determined based on the size information that the size of the obstacle is smaller than the preset size threshold, the target rotation speed of the side brush is determined to be a second rotation speed, wherein the first rotation speed is greater than the second rotation speed.
  • the cleaning device determines the type of obstacles detected by the cleaning device in the area currently being cleaned.
  • the target rotation speed of the side brush includes: when it is determined that the obstacle has a sharp angle based on the type information, determining the target rotation speed of the side brush to be a third rotation speed, wherein the sharp angle The angle is less than or equal to the preset angle threshold; when it is determined that the obstacle does not have the sharp angle based on the type information, the target rotation speed of the side brush is determined to be the fourth rotation speed, wherein the third rotation speed is The third speed is greater than the fourth speed.
  • the method further includes: when the cleaning device is in the first working mode, and when it is determined that the cleaning device does not detect the obstacle, determining that the obstacle is not detected by the cleaning device.
  • the target rotation speed of the side brush is the first rotation speed.
  • the first working mode includes arcuate path cleaning
  • the second working mode includes edge sweeping
  • a control device for side brush rotation including: an acquisition module, configured to acquire the working mode of the cleaning device when the cleaning device is working; and a determining module, configured to determine according to the The working mode of the cleaning equipment and information on obstacles detected by the cleaning equipment in the currently cleaned area determine the target rotation speed of the side brush of the cleaning equipment; a control module for controlling the side brush of the cleaning equipment Rotate at the stated target speed.
  • a computer-readable storage medium is also provided.
  • a computer program is stored in the computer-readable storage medium, wherein when the computer program is executed by a processor, any one of the above items is implemented. steps of the method.
  • an electronic device including a memory and a processor.
  • a computer program is stored in the memory, and the processor is configured to run the computer program to perform any of the above. Steps in method embodiments.
  • the target of the side brush of the cleaning equipment is determined by obtaining the working mode when the cleaning equipment is in working state, and based on the obtained working mode and information on obstacles detected by the cleaning equipment in the cleaning area where it is currently located. speed, and controls the side brush to rotate according to the currently determined target speed.
  • the cleaning equipment can flexibly adjust the speed of the side brushes according to different situations, thereby improving the efficiency of the cleaning equipment.
  • the cleaning effect can solve the problem of low accuracy of the cleaning equipment in controlling the speed of the side brush, and achieve the effect of improving the accuracy of the cleaning equipment in controlling the speed of the side brush.
  • Figure 1 is a hardware structural block diagram of a mobile terminal according to a method for controlling side brush rotation according to an embodiment of the present invention
  • Figure 2 is a flow chart of a method for controlling side brush rotation according to an embodiment of the present invention
  • Figure 3 is a structural block diagram of a method and device for controlling side brush rotation according to an embodiment of the present invention.
  • FIG. 1 is a hardware structural block diagram of a method for controlling side brush rotation according to an embodiment of the present invention.
  • the mobile robot may include one or more (only one is shown in Figure 1) processors 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data.
  • the above-mentioned mobile robot may also include a transmission device 106 for communication functions and an input and output device 108.
  • the structure shown in Figure 1 is only illustrative, and it does not limit the structure of the above-mentioned mobile robot.
  • the mobile robot may also include more or fewer components than shown in FIG. 1 , or have a different configuration with equivalent functions or more functions than shown in FIG. 1 .
  • the memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the cleaning control method in the embodiment of the present invention.
  • the processor 102 executes various operations by running the computer program stored in the memory 104.
  • a functional application and data processing that is, to implement the above method.
  • Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory.
  • the memory 104 may further include memory located remotely relative to the processor 102, and these remote memories may be connected to the mobile robot via a network. Examples of the above-mentioned networks include but are not limited to the Internet, intranets, local area networks, mobile communication networks and combinations thereof.
  • the transmission device 106 is used to receive or send data via a network.
  • Specific examples of the above-mentioned network may include a wireless network provided by the communication provider of the mobile robot.
  • the transmission device 106 includes a network adapter (Network Interface Controller, NIC for short), which can be connected to other network devices through a base station to communicate with the Internet.
  • the transmission device 106 may be a radio frequency (Radio Frequency, RF for short) module, which is used to communicate with the Internet wirelessly.
  • NIC Network Interface Controller
  • an embodiment of the present invention proposes a method for controlling the side brush rotation, which can ensure the effective control of the side brush rotation speed by the cleaning equipment and avoid flying obstacles or incomplete cleaning.
  • the cleaning equipment involved in the embodiment of the present invention may be a sweeping robot, or other equipment with cleaning capabilities and automatic driving capabilities.
  • a method for controlling side brush rotation is provided, as shown in Figure 2.
  • the method includes the following steps:
  • Step S202 when the cleaning equipment is working, obtain the working mode of the cleaning equipment
  • the cleaning equipment can be a sweeping robot equipment, a vacuum cleaner equipment, etc.
  • the type of cleaning equipment is not limited here.
  • the working mode of the cleaning equipment can be spiral cleaning, circular route cleaning, arcuate route cleaning, or edge cleaning, etc. etc., the working mode of the cleaning equipment can be specifically determined according to the type and working scenario of the cleaning equipment, and there is no restriction on the working mode of the cleaning equipment.
  • Step S204 determine the target rotation speed of the side brush of the cleaning device based on the working mode of the cleaning device and information on obstacles detected by the cleaning device in the currently cleaned area;
  • the current cleaning area of the cleaning equipment can be a closed cleaning space where the cleaning equipment is located, or it can be a specific cleaning area determined by the cleaning equipment based on the path planning map.
  • the cleaning area There is no restriction on the cleaning area here, and the detected obstacles It can be walls, tables and chairs in the cleaning area, or it can be slippers, paper boxes, etc. on the ground.
  • the obstacles detected here It can be based on the current working mode of the cleaning equipment and the information about the obstacles. , determine the target speed of the side brush of the cleaning equipment;
  • Step S206 Control the side brush of the cleaning device to rotate according to the target rotation speed.
  • the target speed is determined based on the current working mode of the cleaning equipment and information about obstacles, and the side brush of the cleaning equipment can be controlled to rotate according to the target speed.
  • the execution subject that performs the above operations may be a cleaning device (for example, an intelligent robot, or other devices with cleaning capabilities and automatic driving capabilities, etc.), or a processor provided in the cleaning device, or other devices with similar processing capabilities. device of.
  • a cleaning device for example, an intelligent robot, or other devices with cleaning capabilities and automatic driving capabilities, etc.
  • a processor provided in the cleaning device, or other devices with similar processing capabilities. device of.
  • the execution subject of the above steps may be a background processor, or other equipment with similar processing capabilities, or may be at least an integrated data processing device.
  • Equipment machines where the data processing equipment can include computers, mobile phones and other terminals, but is not limited to this.
  • the target of the side brush of the cleaning equipment is determined. speed, and controls the side brush to rotate according to the currently determined target speed.
  • the cleaning equipment can flexibly adjust the speed of the side brushes according to different situations, thereby improving the efficiency of the cleaning equipment.
  • the cleaning effect can solve the problem of low accuracy of the cleaning equipment in controlling the speed of the side brush, and achieve the effect of improving the accuracy of the cleaning equipment in controlling the speed of the side brush.
  • the distance of the side brush of the cleaning device is determined based on the working mode of the cleaning device and information on obstacles detected by the cleaning device in the area currently being cleaned.
  • the target rotation speed includes: when the cleaning equipment is in the first working mode, determining the speed of the side brush according to the size information of obstacles detected by the cleaning equipment in the currently cleaned area. Target rotation speed, wherein the information about the obstacle includes size information of the obstacle; when the cleaning equipment is in the second working mode, based on the obstacles detected by the cleaning equipment in the currently cleaned area
  • the object type information is used to determine the target rotation speed of the side brush, wherein the obstacle information includes the obstacle type information.
  • the working modes of the cleaning equipment may include arcuate route cleaning mode, circular route cleaning mode, spiral route cleaning mode and edge cleaning mode.
  • the first working mode is arcuate route cleaning mode.
  • the route cleaning mode after the cleaning equipment is turned on, the positioning can be achieved based on the laser radar on the cleaning equipment and a cleaning map can be established. After the cleaning map is established, the area currently being cleaned by the sweeping robot can be determined and the sweeping robot can be controlled to enter the first place.
  • the working mode is the arcuate route cleaning mode. At this time, the sweeping robot starts cleaning according to the preset arcuate route.
  • the side brush can be determined based on the size information of obstacles detected in the currently cleaned area. target speed.
  • the second working mode is edge cleaning mode.
  • the cleaning equipment is a sweeping robot
  • positioning can be achieved based on the laser radar on the cleaning equipment, and the system can be constructed.
  • Establish a cleaning map After the cleaning map is established, you can determine the area currently being cleaned by the sweeping robot and control the sweeping robot to enter the first working mode. After the first working mode ends, control the sweeping robot to enter the second working mode and clean along the edges. mode, at this time, the sweeping robot starts cleaning according to the edge route in the cleaning map.
  • the target speed of the side brush can be determined based on the types of obstacles detected in the currently cleaned area.
  • the cleaning device determines the size of the obstacle detected by the cleaning device in the area currently being cleaned.
  • the target rotation speed of the side brush of the cleaning equipment includes: when it is determined based on the size information that the size of the obstacle is greater than or equal to a preset size threshold, determining the target rotation speed of the side brush to be the first Rotation speed; when it is determined that the size of the obstacle is smaller than the preset size threshold based on the size information, determine the target rotation speed of the side brush to be a second rotation speed, wherein the first rotation speed is greater than the first rotation speed. Two speeds.
  • the first working mode is the arcuate route cleaning mode
  • the rotation speed of the side brush can be further adjusted according to the size information of obstacles detected in the currently cleaned area.
  • the preset size threshold can be 0.5 cm, 1 cm, or 1.4 cm, etc. There is no limit on the size of the preset size threshold.
  • the preset size threshold can be determined according to the size of the side brush. Assume that the preset size threshold is is 1 cm, and the first rotation speed is 100 r/min. When the cleaning equipment is in the direction of travel and the size of the detected obstacle is greater than 1 cm, at this time, because the size of the obstacle is large enough, the current rotation of the side brush The speed will not knock obstacles away. Therefore, the first speed during normal travel can be used to give priority to ensuring the cleaning strength of the side brush of the cleaning equipment. At this time, the first speed of 100r/min is used as the target speed.
  • the preset size threshold is 1 cm and the second rotation speed is 60 r/min.
  • the speed of the side brush of the cleaning equipment can be reduced, for example, to a second speed of 60r/min, while ensuring the cleaning strength of the side brush of the cleaning equipment. , you can reduce the speed of the side brush so that smaller obstacles will not be blown away.
  • Size determine the speed of the side brush of the cleaning equipment, which can improve the accuracy of controlling the speed of the side brush, thereby improving the cleaning effect of the cleaning equipment.
  • the cleaning device determines the type of obstacles detected by the cleaning device in the area currently being cleaned.
  • the target rotation speed of the side brush of the cleaning equipment includes: when it is determined that the obstacle has a sharp angle based on the type information, determining the target rotation speed of the side brush to be a third rotation speed, wherein, the The angle of the sharp corner is less than or equal to the preset angle threshold; when it is determined that the obstacle does not have the sharp corner based on the type information, the target rotation speed of the side brush is determined to be the fourth rotation speed, wherein, The third rotation speed is greater than the fourth rotation speed.
  • the rotation speed of the side brush can be further adjusted according to the type information of obstacles detected in the currently cleaned area.
  • the types of obstacles include walls and corners without sharp corners, and corners with sharp corners.
  • the preset angle threshold can be 150 degrees, 120 degrees, or 100 degrees. Here is the value of the preset angle threshold. There is no restriction. It can be determined according to the size of the side brush or the size of the cleaning equipment. Assuming that the preset angle threshold is 120 degrees, the sharp angle represents an angle that is less than or equal to the preset angle threshold of 120 degrees.
  • the third rotation speed is 200r.
  • the fourth rotation speed is 300r/min.
  • the speed of the side brush of the cleaning equipment can be further increased, for example, it can be increased to the fourth speed of 300r/min to further increase the cleaning intensity.
  • the second speed will be The rotation speed is 300r/min as the target rotation.
  • the method further includes: when the cleaning device is in the first working mode, and when it is determined that the cleaning device does not detect the obstacle. , determine the target rotation speed of the side brush as the first rotation speed.
  • the first working mode is a circular route cleaning mode
  • the speed of the side brush can be determined based on whether obstacles are detected in the currently cleaned area. Assume that the first speed is 100r/min.
  • the first rotation speed during normal travel can be used to ensure the cleaning of the side brushes of the cleaning equipment.
  • the first speed of 100r/min is used as the target speed.
  • the first working mode includes arcuate route cleaning
  • the second working mode includes edge cleaning
  • the first working mode includes arcuate route cleaning, and can also be convoluted route cleaning, meandering route cleaning, etc. There is no limit to the first working mode here, and it can be based on the specific support of the cleaning equipment. Cleaning mode confirmed.
  • the second working mode includes edge cleaning.
  • the method according to the above embodiments can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is Better implementation.
  • the technical solution of the present invention can be embodied in the form of a software product in essence or the part that contributes to the existing technology.
  • the computer software product is stored in a storage medium (such as ROM/RAM, disk, CD), including several instructions to cause a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in various embodiments of the present invention.
  • This embodiment also provides a control device for side brush rotation.
  • This device is used to implement the above embodiments and preferred implementations. What has already been described will not be described again.
  • the term "module” may be a combination of software and/or hardware that implements a predetermined function.
  • the apparatus described in the following embodiments is preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
  • FIG 3 is a structural block diagram of a side brush rotation control device according to an embodiment of the present invention. As shown in Figure 3, the device includes:
  • the acquisition module 32 is used to acquire the working mode of the cleaning equipment when the cleaning equipment is working;
  • Determining module 34 configured to determine the target rotation speed of the side brush of the cleaning device according to the working mode of the cleaning device and information about obstacles detected by the cleaning device in the currently cleaned area;
  • the control module 36 is used to control the side brush of the cleaning device to rotate according to the target rotation speed.
  • the above-mentioned determination module 34 can implement the step of determining the location of the obstacle according to the working mode of the cleaning device and the information about the obstacles detected by the cleaning device in the currently cleaned area in the following manner.
  • the target rotation speed of the side brush of the cleaning device when the cleaning device is in the first working mode, the target rotation speed is determined based on the size information of the obstacles detected by the cleaning device in the currently cleaned area.
  • the target rotation speed of the side brush, wherein the obstacle information includes the size information of the obstacle; when the cleaning device is in the second working mode, according to the current cleaning area of the cleaning device
  • the detected obstacle type information determines the target rotation speed of the side brush, wherein the obstacle information includes the obstacle type information.
  • the above-mentioned determination module 34 can implement in the following manner, when the cleaning equipment is in the first working mode, based on the obstacles detected by the cleaning equipment in the currently cleaned area. Size information to determine the target rotation speed of the side brush of the cleaning device: when it is determined based on the size information that the size of the obstacle is greater than or equal to a preset size threshold, determine the target rotation speed of the side brush is the first rotational speed; when it is determined that the size of the obstacle is smaller than the preset size threshold based on the size information, the target rotational speed of the side brush is determined to be the second rotational speed, wherein the first The rotation speed is greater than the second rotation speed.
  • the above-mentioned determination module 34 may implement the step of determining, when the cleaning device is in the second working mode, the obstacle detected by the cleaning device in the currently cleaned area in the following manner:
  • the target rotation speed of the side brush of the cleaning device is determined based on the type information of the object: when it is determined that the obstacle has a sharp angle based on the type information, the target rotation speed of the side brush is determined to be a third rotation speed. , where the angle of the sharp corner is less than or equal to Preset angle threshold; when it is determined that the obstacle does not have the sharp angle based on the type information, determine the target rotation speed of the side brush to be the fourth rotation speed, wherein the third rotation speed is greater than the third rotation speed.
  • the above device is also used to determine that the cleaning device is in the first working mode and determines that the cleaning device has not detected the obstacle.
  • the target rotation speed of the side brush is the first rotation speed.
  • the first working mode includes arcuate route cleaning
  • the second working mode includes edge cleaning
  • This embodiment also provides a cleaning device, which may include any one of the control devices for side brush rotation described above.
  • each of the above modules can be implemented through software or hardware.
  • it can be implemented in the following ways, but is not limited to this: the above modules are all located in the same processor; or the above modules can be implemented in any combination.
  • the forms are located in different processors.
  • Embodiments of the present invention also provide a computer-readable storage medium that stores a computer program, wherein the computer program is configured to execute the steps in any of the above method embodiments when running.
  • the above-mentioned computer-readable storage medium may be configured to store a computer program for performing the following steps:
  • the computer-readable storage medium may include but is not limited to: U disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM) , mobile hard disk, magnetic disk or optical disk and other media that can store computer programs.
  • ROM read-only memory
  • RAM Random Access Memory
  • An embodiment of the present invention also provides an electronic device, including a memory and a processor, the memory stores a computer program, and the processor is configured to run the computer program to perform the above-mentioned The steps in any method embodiment.
  • the above-mentioned electronic device may further include a transmission device and an input-output device, wherein the transmission device is connected to the above-mentioned processor, and the input-output device is connected to the above-mentioned processor.
  • the above-mentioned processor may be configured to perform the following steps through a computer program:
  • modules or steps of the present invention can be implemented using general-purpose computing devices. They can be concentrated on a single computing device, or distributed across a network composed of multiple computing devices. They may be implemented in program code executable by a computing device, such that they may be stored in a storage device for execution by the computing device, and in some cases may be executed in a sequence different from that shown herein. Or the described steps can be implemented by making them into individual integrated circuit modules respectively, or by making multiple modules or steps among them into a single integrated circuit module. As such, the invention is not limited to any specific combination of hardware and software.

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Abstract

一种边刷转动的控制方法、装置、存储介质及电子装置。控制方法包括：在清洁设备工作时，获取清洁设备的工作模式（S202）；根据清洁设备的工作模式以及清洁设备在当前清洁的区域中所检测到的障碍物的信息，确定清洁设备的边刷的目标转速（S204）；控制清洁设备的边刷按照目标转速转动（S206）。解决了相关技术中清洁设备对边刷转速控制的准确度较低问题，进而达到了提高清洁设备对边刷转速控制的准确度的效果。

Description

边刷转动的控制方法、装置、存储介质及电子装置
本公开要求如下专利申请的优先权：于2022年04月12日提交中国专利局、申请号为：202210379862.4、发明名称为“边刷转动的控制方法、装置、存储介质及电子装置”的中国专利申请；上述专利申请的全部内容通过引用结合在本公开中。
【技术领域】
本发明实施例涉及通信领域，具体而言，涉及边刷转动的控制方法、装置、存储介质及电子装置。
【背景技术】
随着科技的进步，清洁类智能家居的普及程度越来越高，逐渐进入越来越多的家庭。在清洁类智能设备领域中，边刷是核心部件之一，以扫地机器人为例，边刷多处于扫地机器人的边缘位置，其作用是将灰尘清扫出来，以便扫地机器人底部的吸尘器将灰尘吸干净。
现有技术中，清洁设备在执行整个清扫任务的过程中，边刷都维持相同的转速工作，在转速过高的情况下会打飞较小的障碍物，转速过低的情况下会清扫不干净，这会导致清洁设备对边刷转速控制的准确度较低。
针对相关技术中清洁设备对边刷转速控制的准确度较低的问题，目前尚未提出有效的解决方案。
【发明内容】
本发明实施例提供了边刷转动的控制方法、装置、存储介质及电子装置，以至少解决相关技术中清洁设备对边刷转速控制的准确度较低问题。
根据本发明的一个实施例，提供了一种边刷转动的控制方法，包括：在清洁设备工作时，获取所述清洁设备的工作模式；根据所述清洁设备的工作模式以及所述清洁设备在当前清洁的区域中所检测到的障碍物的信息，确定所述清洁设备的边刷的目标转速；控制所述清洁设备的边刷按照所述目标转速转动。
在一个示例性实施例中，所述根据所述清洁设备的工作模式以及所述清洁设备在当前清洁的区域中所检测到的障碍物的信息，确定所述清洁设备的边刷的所述目标转速，包括：在所述清洁设备处于第一工作模式的情 况下，根据所述清洁设备在当前清扫的区域中所检测到的障碍物的尺寸信息，确定所述边刷的所述目标转速，其中，所述障碍物的信息包括所述障碍物的尺寸信息；在所述清洁设备处于第二工作模式的情况下，根据所述清洁设备在当前清扫的区域中所检测到的障碍物的类型信息，确定所述边刷的所述目标转速，其中，所述障碍物的信息包括所述障碍物的类型信息。
在一个示例性实施例中，所述在所述清洁设备处于第一工作模式的情况下，根据所述清洁设备在当前清扫的区域中所检测到的障碍物的尺寸信息，确定所述清洁设备边刷的所述目标转速，包括：在基于所述尺寸信息确定所述障碍物的尺寸大于或等于预设尺寸阈值的情况下，确定所述边刷的所述目标转速为第一转速；在基于所述尺寸信息确定所述障碍物的尺寸小于所述预设尺寸阈值的情况下，确定所述边刷的所述目标转速为第二转速，其中，所述第一转速大于第二转速。
在一个示例性实施例中，所述在所述清洁设备处于第二工作模式的情况下，根据所述清洁设备在当前清扫的区域中所检测到的障碍物的类型信息，确定所述清洁设备边刷的所述目标转速，包括：在基于所述类型信息确定所述障碍物存在尖角的情况下，确定所述边刷的所述目标转速为第三转速，其中，所述尖角的角度小于或等于预设角度阈值；在基于所述类型信息确定所述障碍物不存在所述尖角的情况下，确定所述边刷的所述目标转速为第四转速，其中，所述第三转速大于第四转速。
在一个示例性实施例中，所述方法还包括：在所述清洁设备处于所述第一工作模式的情况下，且在确定所述清洁设备未检测到所述障碍物的情况下，确定所述边刷的所述目标转速为第一转速。
在一个示例性实施例中，所述第一工作模式包括弓形路线清扫，所述第二工作模式包括沿边清扫。
根据本发明的另一个实施例，提供了一种边刷转动的控制装置，包括：获取模块，用于在清洁设备工作时，获取所述清洁设备的工作模式；确定模块，用于根据所述清洁设备的工作模式以及所述清洁设备在当前清洁的区域中所检测到的障碍物的信息，确定所述清洁设备的边刷的目标转速；控制模块，用于控制所述清洁设备的边刷按照所述目标转速转动。
根据本发明的又一个实施例，还提供了一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机程序，其中，所述计算机程序被处理器执行时实现上述任一项中所述的方法的步骤。
根据本发明的又一个实施例，还提供了一种电子装置，包括存储器和处理器，所述存储器中存储有计算机程序，所述处理器被设置为运行所述计算机程序以执行上述任一项方法实施例中的步骤。
通过本发明，通过获取清洁设备处于工作状态时的工作模式，根据获取到的工作模式，以及清洁设备在当前处于的清洁区域中所检测到的障碍物的信息，确定清洁设备的边刷的目标转速，并控制边刷按照当前确定的目标转速转动。通过清洁设备在不同工作模式下、以及检测到的不同障碍物信息，控制清洁设备的边刷按照不同的转速转动，能够使清洁设备根据不同情况灵活调整边刷的转速，进而可以提高清洁设备的清洁效果，可以解决清洁设备对边刷转速控制的准确度较低的问题，达到了提高清洁设备对边刷转速控制的准确度的效果。
【附图说明】
此处所说明的附图用来提供对本发明的进一步理解，构成本申请的一部分，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1是根据本发明实施例的一种边刷转动的控制方法的移动终端硬件结构框图；
图2是根据本发明实施例的边刷转动的控制方法流程图；
图3是根据本发明实施例的边刷转动的控制方法装置的结构框图。
【具体实施方式】
下文中将参考附图并结合实施例来详细说明本发明。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。
需要说明的是，本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。
本申请实施例所提供的方法实施例可以在移动机器人，或者类似的运 算装置中执行。以运行在移动机器人上为例，图1是本发明实施例的一种边刷转动的控制方法的硬件结构框图。如图1所示，移动机器人可以包括一个或多个(图1中仅示出一个)处理器102(处理器102可以包括但不限于微处理器MCU或可编程逻辑器件FPGA等的处理装置)和用于存储数据的存储器104，在一个示例性实施例中，上述移动机器人还可以包括用于通信功能的传输设备106以及输入输出设备108。本领域普通技术人员可以理解，图1所示的结构仅为示意，其并不对上述移动机器人的结构造成限定。例如，移动机器人还可包括比图1中所示更多或者更少的组件，或者具有与图1所示等同功能或比图1所示功能更多的不同的配置。
存储器104可用于存储计算机程序，例如，应用软件的软件程序以及模块，如本发明实施例中的清扫控制方法对应的计算机程序，处理器102通过运行存储在存储器104内的计算机程序，从而执行各种功能应用以及数据处理，即实现上述的方法。存储器104可包括高速随机存储器，还可包括非易失性存储器，如一个或者多个磁性存储装置、闪存、或者其他非易失性固态存储器。在一些实例中，存储器104可进一步包括相对于处理器102远程设置的存储器，这些远程存储器可以通过网络连接至移动机器人。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
传输装置106用于经由一个网络接收或者发送数据。上述的网络具体实例可包括移动机器人的通信供应商提供的无线网络。在一个实例中，传输装置106包括一个网络适配器(Network Interface Controller，简称为NIC)，其可通过基站与其他网络设备相连从而可与互联网进行通讯。在一个实例中，传输装置106可以为射频(Radio Frequency，简称为RF)模块，其用于通过无线方式与互联网进行通讯。
首先对本发明的应用场景进行说明：
清洁设备在工作的过程中，会按照预先建立的区域地图执行清扫操作，其中，清洁设备在不同的工作模式下，会使用相同的边刷转速进行清扫，会使得清洁设备在边刷的转速过高的情况下会打飞较小的障碍物，边刷转速过低的情况下会清扫不干净，由此会导致清洁设备对边刷转速的控制准确度 较低的问题，针对该问题，本发明实施例中提出了一种边刷转动的控制方法，可以保证清洁设备对边刷转速的有效控制，避免打飞障碍物或清扫不干净的情况。本发明实施例中所涉及的清洁设备可以是扫地机器人，或者其他的具备清扫能力以及自动行驶能力的设备。
下面结合实施例对本发明进行说明：
在本实施例中提供了一种边刷转动的控制方法，如图2所示，该方法包括如下步骤：
步骤S202，在清洁设备工作时，获取所述清洁设备的工作模式；
其中，清洁设备可以是扫地机器人设备、吸尘器设备等，此处对清洁设备的类型不做限制，清洁设备的工作模式可以是螺旋式清扫，回形路线清扫，弓形路线清扫，或者是沿边清扫等等，可以根据清洁设备的类型和工作场景具体确定清洁设备的工作模式，对清洁设备工作模式不做限制。
步骤S204，根据所述清洁设备的工作模式以及所述清洁设备在当前清洁的区域中所检测到的障碍物的信息，确定所述清洁设备的边刷的目标转速；
其中，清洁设备当前的清洁区域可以是清洁设备所在的封闭的清洁空间，也可以是清洁设备根据路径规划地图确定的具体的清洁区域，此处对清洁区域不做限制，所检测到的障碍物可以是清洁区域中的墙壁、桌子和椅子，也可以是地面上的拖鞋、纸盒等等，此处对检测到的障碍物不做限制，可以根据清洁设备当前的工作模式和障碍物的信息，确定清洁设备的边刷的目标转速；
步骤S206，控制所述清洁设备的边刷按照所述目标转速转动。
其中，目标转速是根据清洁设备当前的工作模式和障碍物的信息确定的，可以控制清洁设备的边刷按照目标转速转动。
其中，执行上述操作的执行主体可以是清洁设备(例如，智能机器人，或其他的具备清扫能力和自动行驶能力的设备等)，或者是清洁设备内设置的处理器，或者其他的具备类似处理能力的设备。
可选地在一个示例性实施例中，上述步骤的执行主体可以是后台处理器，或者其他的具备类似处理能力的设备，还可以是至少集成数据处理设 备的机器，其中，数据处理设备可以包括计算机、手机等终端，但不限于此。
通过上述步骤，通过获取清洁设备处于工作状态时的工作模式，根据获取到的工作模式，以及清洁设备在当前处于的清洁区域中所检测到的障碍物的信息，确定清洁设备的边刷的目标转速，并控制边刷按照当前确定的目标转速转动。通过清洁设备在不同工作模式下、以及检测到的不同障碍物信息，控制清洁设备的边刷按照不同的转速转动，能够使清洁设备根据不同情况灵活调整边刷的转速，进而可以提高清洁设备的清洁效果，可以解决清洁设备对边刷转速控制的准确度较低的问题，达到了提高清洁设备对边刷转速控制的准确度的效果。
可选地在一个示例性实施例中，所述根据所述清洁设备的工作模式以及所述清洁设备在当前清洁的区域中所检测到的障碍物的信息，确定所述清洁设备的边刷的所述目标转速，包括：在所述清洁设备处于第一工作模式的情况下，根据所述清洁设备在当前清扫的区域中所检测到的障碍物的尺寸信息，确定所述边刷的所述目标转速，其中，所述障碍物的信息包括所述障碍物的尺寸信息；在所述清洁设备处于第二工作模式的情况下，根据所述清洁设备在当前清扫的区域中所检测到的障碍物的类型信息，确定所述边刷的所述目标转速，其中，所述障碍物的信息包括所述障碍物的类型信息。
作为一个可选的实施方式，清洁设备的工作模式可以包括弓形路线清扫模式，回形路线清扫模式，螺旋式路线清扫模式和沿边清扫模式，假设清扫设备为扫地机器人设备，第一工作模式是弓形路线清扫模式，在清洁设备开机启动之后，可以根据清洁设备上的激光雷达实现定位，并建立清扫地图，在清扫地图建立完成之后，可以确定扫地机器人当前清洁的区域，并控制扫地机器人进入第一工作模式，即，弓形路线清扫模式，此时，扫地机器人按照预设的弓形路线开始清扫，在清扫过程中，可以根据在当前清扫的区域中所检测到的障碍物的尺寸信息，确定边刷的目标转速。
假设清扫设备为扫地机器人设备，第二工作模式是沿边清扫模式，在清洁设备开机启动之后，可以根据清洁设备上的激光雷达实现定位，并建 立清扫地图，在清扫地图建立完成之后，可以确定扫地机器人当前清洁的区域，并控制扫地机器人进入第一工作模式，在第一工作模式结束之后，控制扫地机器人进入第二工作模式，及沿边清扫模式，此时，扫地机器人按照清扫地图中的沿边路线开始清扫，在清扫过程中，可以根据在当前清扫的区域中所检测到的障碍物的类型，确定边刷的目标转速。
可选地在一个示例性实施例中，所述在所述清洁设备处于第一工作模式的情况下，根据所述清洁设备在当前清扫的区域中所检测到的障碍物的尺寸信息，确定所述清洁设备边刷的所述目标转速，包括：在基于所述尺寸信息确定所述障碍物的尺寸大于或等于预设尺寸阈值的情况下，确定所述边刷的所述目标转速为第一转速；在基于所述尺寸信息确定所述障碍物的尺寸小于所述预设尺寸阈值的情况下，确定所述边刷的所述目标转速为第二转速，其中，所述第一转速大于第二转速。
作为一个可选的实施方式，假设清洁设备是扫地机器人设备，第一工作模式是弓形路线清扫模式，可以根据当前清扫的区域中所检测到的障碍物的尺寸信息，进一步调整边刷的转速，预设尺寸阈值可以是0.5厘米，1厘米，或者是1.4厘米等等，此处对预设尺寸阈值的大小不做限制，可以根据边刷的尺寸大小确定预设尺寸阈值，假设预设尺寸阈值为1厘米，第一转速为100r/min，当清洁设备在行进方向上，检测到的障碍物尺寸大于1厘米的情况下，此时因为障碍物的尺寸足够大，使得边刷的当前转动的速度不会将障碍物打飞，因此，可以使用正常行进时的第一转速，优先保证清洁设备边刷的清扫力度，此时将第一转速100r/min作为目标转速。
假设预设尺寸阈值为1厘米，第二转速为60r/min，当清洁设备在行进方向上，检测到的障碍物尺寸大于或等于1厘米的情况下，此时因为障碍物的尺寸较小，可能会使得边刷的当前转动的速度将障碍物打飞，因此，可以降低清洁设备边刷的转速，比如可以较低到第二转速60r/min，在保证清洁设备边刷的清扫力度的同时，可以通过降低边刷的转速使得不会将较小的障碍物打飞，此时将第二转速60r/min作为目标转通过上述方式，在第一工作模式的情况下，根据障碍物尺寸的大小，确定清扫设备边刷的转速，可以提高对边刷转速控制的准确率，进而提高清洁设备的清洁效果。
可选地在一个示例性实施例中，所述在所述清洁设备处于第二工作模式的情况下，根据所述清洁设备在当前清扫的区域中所检测到的障碍物的类型信息，确定所述清洁设备边刷的所述目标转速，包括：在基于所述类型信息确定所述障碍物存在尖角的情况下，确定所述边刷的所述目标转速为第三转速，其中，所述尖角的角度小于或等于预设角度阈值；在基于所述类型信息确定所述障碍物不存在所述尖角的情况下，确定所述边刷的所述目标转速为第四转速，其中，所述第三转速大于第四转速。
作为一个可选的实施方式，假设清洁设备是扫地机器人设备，第二工作模式是沿边清扫模式，可以根据当前清扫的区域中所检测到的障碍物的类型信息，进一步调整边刷的转速，假设障碍物的类型包括不存在尖角的墙边和角落，以及存在尖角的角落，其中，预设角度阈值可以是150度、120度或者是100度，此处对预设角度阈值的取值不做限制，可以根据边刷的尺寸大小或者清洁设备的尺寸大小确定，假设预设角度阈值是120度，则尖角表示角度小于或等于预设角度阈值120度的角，第三转速为200r/min，当清洁设备在沿边清扫时，检测到的障碍物的类型为不存在尖角的情况下，此时因为清扫的位置是在墙边或者是角度较大的角落，因此会积存较多的灰尘和颗粒物体，因此需要使用较高的边刷转速，以加强清洁设备的清扫力度，可以使用第三转速200r/min，此时将第三转速200r/min作为目标转速。
假设第四转速为300r/min，当清洁设备检测到的障碍物的类型为存在尖角的情况下，此时因为清洁的位置属于角度比较小的角落，相较于墙边和角度角大的角落，容易积存更多的灰尘且清扫难度变大，因此，可以进一步提高清洁设备边刷的转速，比如可以提高到第四转速300r/min，达到进一步提高清洁力度的效果，此时将第二转速300r/min作为目标转。通过上述方式，在第二工作模式的情况下，根据障碍物是否存在尖角，确定清扫设备边刷的转速，可以进一步提高对边刷转速控制的准确率，进而提高清洁设备的清洁效果。
可选地在一个示例性实施例中，所述方法还包括：在所述清洁设备处于所述第一工作模式的情况下，且在确定所述清洁设备未检测到所述障碍物的情况下，确定所述边刷的所述目标转速为第一转速。
作为一个可选的实施方式，假设清洁设备是扫地机器人设备，第一工作模式是回形路线清扫模式，可以根据当前清扫的区域中是否检测到障碍物，确定边刷的转速，假设第一转速为100r/min，当清洁设备在行进方向上，未检测到的障碍物的情况下，此时处于正常清扫状态，因此，可以使用正常行进时的第一转速，在保证清洁设备边刷的清扫力度的同时节省电量和损耗，此时将第一转速100r/min作为目标转速。
可选地在一个示例性实施例中，所述第一工作模式包括弓形路线清扫，所述第二工作模式包括沿边清扫。
作为一个可选的实施方式，第一工作模式包括弓形路线清扫，还可以是回旋式路线清扫，回形路线清扫等等，此处对第一工作模式不做限制，可以根据清洁设备具体支持的清洁模式确定。第二工作模式包括沿边清扫，通过控制清洁设备在不同工作模式下的边刷转速，可以灵活调整清洁设备在不同工作场景下的边刷转速，可以达到提高清洁设备对边刷转速控制的准确率的效果。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到根据上述实施例的方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端设备(可以是手机，计算机，服务器，或者网络设备等)执行本发明各个实施例所述的方法。
在本实施例中还提供了一种边刷转动的控制装置，该装置用于实现上述实施例及优选实施方式，已经进行过说明的不再赘述。如以下所使用的，术语“模块”可以实现预定功能的软件和/或硬件的组合。尽管以下实施例所描述的装置较佳地以软件来实现，但是硬件，或者软件和硬件的组合的实现也是可能并被构想的。
图3是根据本发明实施例的边刷转动的控制装置的结构框图，如图3所示，该装置包括：
获取模块32，用于在清洁设备工作时，获取所述清洁设备的工作模式；
确定模块34，用于根据所述清洁设备的工作模式以及所述清洁设备在当前清洁的区域中所检测到的障碍物的信息，确定所述清洁设备的边刷的目标转速；
控制模块36，用于控制所述清洁设备的边刷按照所述目标转速转动。
在一个可选的实施例中，上述确定模块34可以通过以下方式实现所述根据所述清洁设备的工作模式以及所述清洁设备在当前清洁的区域中所检测到的障碍物的信息，确定所述清洁设备的边刷的所述目标转速：在所述清洁设备处于第一工作模式的情况下，根据所述清洁设备在当前清扫的区域中所检测到的障碍物的尺寸信息，确定所述边刷的所述目标转速，其中，所述障碍物的信息包括所述障碍物的尺寸信息；在所述清洁设备处于第二工作模式的情况下，根据所述清洁设备在当前清扫的区域中所检测到的障碍物的类型信息，确定所述边刷的所述目标转速，其中，所述障碍物的信息包括所述障碍物的类型信息。
在一个可选的实施例中，上述确定模块34可以通过以下方式实现在所述清洁设备处于第一工作模式的情况下，根据所述清洁设备在当前清扫的区域中所检测到的障碍物的尺寸信息，确定所述清洁设备边刷的所述目标转速：在基于所述尺寸信息确定所述障碍物的尺寸大于或等于预设尺寸阈值的情况下，确定所述边刷的所述目标转速为第一转速；在基于所述尺寸信息确定所述障碍物的尺寸小于所述预设尺寸阈值的情况下，确定所述边刷的所述目标转速为第二转速，其中，所述第一转速大于第二转速。
在一个可选的实施例中，上述确定模块34可以通过以下方式实现所述在所述清洁设备处于第二工作模式的情况下，根据所述清洁设备在当前清扫的区域中所检测到的障碍物的类型信息，确定所述清洁设备边刷的所述目标转速：在基于所述类型信息确定所述障碍物存在尖角的情况下，确定所述边刷的所述目标转速为第三转速，其中，所述尖角的角度小于或等于 预设角度阈值；在基于所述类型信息确定所述障碍物不存在所述尖角的情况下，确定所述边刷的所述目标转速为第四转速，其中，所述第三转速大于第四转速。
在一个可选的实施例中，上述装置还用于在所述清洁设备处于所述第一工作模式的情况下，且在确定所述清洁设备未检测到所述障碍物的情况下，确定所述边刷的所述目标转速为第一转速。
在一个可选的实施例中，所述第一工作模式包括弓形路线清扫，所述第二工作模式包括沿边清扫。
在本实施例中还提供了一种清洁设备，该清洁设备可以包括上述任一项所述的边刷转动的控制装置。
需要说明的是，上述各个模块是可以通过软件或硬件来实现的，对于后者，可以通过以下方式实现，但不限于此：上述模块均位于同一处理器中；或者，上述各个模块以任意组合的形式分别位于不同的处理器中。
本发明的实施例还提供了一种计算机可读存储介质，该计算机可读存储介质中存储有计算机程序，其中，该计算机程序被设置为运行时执行上述任一项方法实施例中的步骤。
在本实施例中，上述计算机可读存储介质可以被设置为存储用于执行以下步骤的计算机程序：
S1，在清洁设备工作时，获取所述清洁设备的工作模式；
S2，根据所述清洁设备的工作模式以及所述清洁设备在当前清洁的区域中所检测到的障碍物的信息，确定所述清洁设备的边刷的目标转速；
S3，控制所述清洁设备的边刷按照所述目标转速转动。在一个示例性实施例中，上述计算机可读存储介质可以包括但不限于：U盘、只读存储器(Read-Only Memory，简称为ROM)、随机存取存储器(Random Access Memory，简称为RAM)、移动硬盘、磁碟或者光盘等各种可以存储计算机程序的介质。
本发明的实施例还提供了一种电子装置，包括存储器和处理器，该存储器中存储有计算机程序，该处理器被设置为运行计算机程序以执行上述 任一项方法实施例中的步骤。
在一个示例性实施例中，上述电子装置还可以包括传输设备以及输入输出设备，其中，该传输设备和上述处理器连接，该输入输出设备和上述处理器连接。
在一个示例性实施例中，上述处理器可以被设置为通过计算机程序执行以下步骤：
S1，在清洁设备工作时，获取所述清洁设备的工作模式；
S2，根据所述清洁设备的工作模式以及所述清洁设备在当前清洁的区域中所检测到的障碍物的信息，确定所述清洁设备的边刷的目标转速；
S3，控制所述清洁设备的边刷按照所述目标转速转动。
显然，本领域的技术人员应该明白，上述的本发明的各模块或各步骤可以用通用的计算装置来实现，它们可以集中在单个的计算装置上，或者分布在多个计算装置所组成的网络上，它们可以用计算装置可执行的程序代码来实现，从而，可以将它们存储在存储装置中由计算装置来执行，并且在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤，或者将它们分别制作成各个集成电路模块，或者将它们中的多个模块或步骤制作成单个集成电路模块来实现。这样，本发明不限制于任何特定的硬件和软件结合。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (17)

  1. 一种边刷转动的控制方法，其特征在于，包括：
    在清洁设备工作时，获取所述清洁设备的工作模式；
    根据所述清洁设备的工作模式以及所述清洁设备在当前清洁的区域中所检测到的障碍物的信息，确定所述清洁设备的边刷的目标转速；
    控制所述清洁设备的边刷按照所述目标转速转动。
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述清洁设备的工作模式以及所述清洁设备在当前清洁的区域中所检测到的障碍物的信息，确定所述清洁设备的边刷的所述目标转速，包括：
    在所述清洁设备处于第一工作模式的情况下，根据所述清洁设备在当前清扫的区域中所检测到的障碍物的尺寸信息，确定所述边刷的所述目标转速，其中，所述障碍物的信息包括所述障碍物的尺寸信息。
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述清洁设备的工作模式以及所述清洁设备在当前清洁的区域中所检测到的障碍物的信息，确定所述清洁设备的边刷的所述目标转速，包括：
    在所述清洁设备处于第二工作模式的情况下，根据所述清洁设备在当前清扫的区域中所检测到的障碍物的类型信息，确定所述边刷的所述目标转速，其中，所述障碍物的信息包括所述障碍物的类型信息。
  4. 根据权利要求1所述的方法，其特征在于，所述根据所述清洁设备的工作模式以及所述清洁设备在当前清洁的区域中所检测到的障碍物的信息，确定所述清洁设备的边刷的所述目标转速，包括：
    在所述清洁设备处于第二工作模式的情况下，根据所述清洁设备在当前清扫的区域中所检测到的障碍物的类型信息，确定所述边刷的所述目标转速，其中，所述障碍物的信息包括所述障碍物的类型信息。
  5. 根据权利要求2所述的方法，其特征在于，所述在所述清洁设备处于第一工作模式的情况下，根据所述清洁设备在当前清扫的区域中所检测到的障碍物的尺寸信息，确定所述清洁设备边刷的所述目标转速，包括：
    在基于所述尺寸信息确定所述障碍物的尺寸大于或等于预设尺寸阈值的情况下，确定所述边刷的所述目标转速为第一转速；
    在基于所述尺寸信息确定所述障碍物的尺寸小于所述预设尺寸阈值的 情况下，确定所述边刷的所述目标转速为第二转速，其中，所述第一转速大于第二转速。
  6. 根据权利要求3所述的方法，其特征在于，所述在所述清洁设备处于第二工作模式的情况下，根据所述清洁设备在当前清扫的区域中所检测到的障碍物的类型信息，确定所述清洁设备边刷的所述目标转速，包括：
    在基于所述类型信息确定所述障碍物存在尖角的情况下，确定所述边刷的所述目标转速为第三转速，其中，所述尖角的角度小于或等于预设角度阈值；
    在基于所述类型信息确定所述障碍物不存在所述尖角的情况下，确定所述边刷的所述目标转速为第四转速，其中，所述第三转速大于第四转速。
  7. 根据权利要求4所述的方法，其特征在于，所述在所述清洁设备处于第二工作模式的情况下，根据所述清洁设备在当前清扫的区域中所检测到的障碍物的类型信息，确定所述清洁设备边刷的所述目标转速，包括：
    在基于所述类型信息确定所述障碍物存在尖角的情况下，确定所述边刷的所述目标转速为第三转速，其中，所述尖角的角度小于或等于预设角度阈值；
    在基于所述类型信息确定所述障碍物不存在所述尖角的情况下，确定所述边刷的所述目标转速为第四转速，其中，所述第三转速大于第四转速。
  8. 根据权利要求2所述的方法，其特征在于，所述方法还包括：
    在所述清洁设备处于所述第一工作模式的情况下，且在确定所述清洁设备未检测到所述障碍物的情况下，确定所述边刷的所述目标转速为第一转速。
  9. 根据权利要求2、5或8所述的方法，其特征在于，包括：
    所述第一工作模式包括弓形路线清扫。
  10. 根据权利要求2、5或8所述的方法，其特征在于，包括：
    所述第一工作模式包括回旋式路线清扫。
  11. 根据权利要求2、5或8所述的方法，其特征在于，包括：
    所述第一工作模式包括回形路线清扫。
  12. 根据权利要求3或4所述的方法，其特征在于，包括：
    所述第二工作模式包括沿边清扫。
  13. 根据权利要求6或7所述的方法，其特征在于，包括：
    所述第二工作模式包括沿边清扫。
  14. 一种边刷转动的控制装置，其特征在于，包括：
    获取模块，用于在清洁设备工作时，获取所述清洁设备的工作模式；
    确定模块，用于根据所述清洁设备的工作模式以及所述清洁设备在当前清洁的区域中所检测到的障碍物的信息，确定所述清洁设备的边刷的目标转速；
    控制模块，用于控制所述清洁设备的边刷按照所述目标转速转动。
  15. 一种清洁装置，其特征在于，包括权利要求14中所述的装置。
  16. 一种存储介质，其特征在于，所述存储介质中存储有计算机程序，其中，所述程序可被终端设备或计算机运行时执行所述权利要求1至13任一项中所述的方法。
  17. 一种电子装置，包括存储器和处理器，其特征在于，所述存储器中存储有计算机程序，所述处理器被设置为运行所述计算机程序以执行所述权利要求1至13任一项中所述的方法。
PCT/CN2023/080581 2022-04-12 2023-03-09 边刷转动的控制方法、装置、存储介质及电子装置 WO2023197796A1 (zh)

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