Control method and device for a surface cleaning apparatus

Abstract

The present disclosure relates to the technical field of intelligent device control, and provides a control method and device for a surface cleaning device. The method comprises: acquiring an obstacle detection signal on a current travel route of the surface cleaning device; determining an obstacle type of an obstacle corresponding to the obstacle detection signal according to the obstacle detection signal and a reference detection signal; and controlling a cleaning component of the surface cleaning device according to the obstacle type of the obstacle corresponding to the obstacle detection signal.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent device control technology, and in particular to a control method and apparatus for a surface cleaning device. Background Technology

[0002] With the development of science and technology, more and more intelligent devices are being applied to daily life. These intelligent devices can greatly improve people's sense of well-being, so their application prospects remain broad, such as cleaning equipment. Cleaning equipment includes cleaning robots and handheld cleaning devices. Cleaning robots usually have deceleration schemes for obstacle avoidance, while handheld cleaning devices do not have corresponding safety deceleration schemes. Therefore, when using power assist, they often cannot stop in time and collide with obstacles (such as furniture, walls, or carpets), which can easily lead to damage to the obstacles or the equipment itself.

[0003] In realizing the present invention, the inventors discovered at least the following technical problem in the related technology: the handheld surface cleaning device cannot adopt different obstacle avoidance strategies for different types of obstacles. Summary of the Invention

[0004] In view of this, the present disclosure provides a control method and apparatus for a surface cleaning device to solve the problem in the prior art that handheld surface cleaning devices cannot adopt different obstacle avoidance strategies for different types of obstacles.

[0005] A first aspect of this disclosure provides a control method for a surface cleaning device, comprising: acquiring an obstacle detection signal on the current travel path of the surface cleaning device; determining the obstacle type of the obstacle corresponding to the obstacle detection signal based on the obstacle detection signal and a reference detection signal; and controlling the cleaning component of the surface cleaning device according to the obstacle type of the obstacle corresponding to the obstacle detection signal.

[0006] A second aspect of this disclosure provides a control device for a surface cleaning device, comprising: an acquisition module configured to acquire obstacle detection signals on the current travel path of the surface cleaning device; a comparison module configured to determine the obstacle type of the obstacle corresponding to the obstacle detection signal based on the obstacle detection signal and a reference detection signal; and a control module configured to control the cleaning components of the surface cleaning device based on the obstacle type of the obstacle corresponding to the obstacle detection signal.

[0007] A third aspect of this disclosure provides a surface cleaning device, including: a cleaning component, a waste collection system, a control system, and a data acquisition device; the cleaning component is used to clean waste from the surface of a target area, the waste collection system is used to collect the waste cleaned by the cleaning component, the data acquisition device is used to acquire obstacle detection signals, and the control system is used to control the cleaning component based on the obstacle detection signals.

[0008] A fourth aspect of this disclosure provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method described above.

[0009] A fifth aspect of this disclosure provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method.

[0010] The beneficial effects of this disclosed embodiment compared to the prior art are: acquiring obstacle detection signals on the current travel path of the surface cleaning device; determining the obstacle type corresponding to the obstacle detection signal based on the obstacle detection signal and a reference detection signal; and controlling the cleaning components of the surface cleaning device according to the obstacle type corresponding to the obstacle detection signal. By employing the above technical means, the problem in the prior art that handheld surface cleaning devices cannot adopt different obstacle avoidance strategies for different types of obstacles can be solved, thereby improving the obstacle avoidance efficiency of handheld surface cleaning devices and ensuring the safety of handheld surface cleaning devices. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram illustrating an application scenario of an embodiment of this disclosure;

[0013] Figure 2 This is a flowchart of a control method for a surface cleaning device provided in an embodiment of this disclosure;

[0014] Figure 3 This is a schematic diagram of an application scenario where the obstacle is a wall, as provided in this embodiment of the disclosure.

[0015] Figure 4 This is a schematic diagram of an application scenario of barrier-free access provided in the embodiments of this disclosure;

[0016] Figure 5 This is a schematic diagram of an application scenario where the obstacle is a carpet, as provided in this embodiment of the disclosure.

[0017] Figure 6 This is a schematic diagram of a reference detection signal provided in an embodiment of the present disclosure where the obstacle is a wall;

[0018] Figure 7 This is a schematic diagram of the reference detection signal for obstacles provided in an embodiment of this disclosure;

[0019] Figure 8 This is a schematic diagram of a reference detection signal when the obstacle is a carpet, as provided in an embodiment of this disclosure;

[0020] Figure 9 This is a schematic diagram of a reference detection signal for an obstacle being furniture, provided in an embodiment of this disclosure;

[0021] Figure 10 This is a schematic flowchart of a control method for a surface cleaning device provided in an embodiment of this disclosure;

[0022] Figure 11 This is a schematic diagram of the structure of a control device for a surface cleaning equipment provided in an embodiment of this disclosure. Detailed Implementation

[0023] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, so as to provide a thorough understanding of the embodiments of this disclosure. However, those skilled in the art will understand that this disclosure may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this disclosure with unnecessary detail.

[0024] The control method and apparatus of a surface cleaning device according to an embodiment of the present disclosure will now be described in detail with reference to the accompanying drawings.

[0025] Figure 1 This is a schematic diagram illustrating an application scenario of an embodiment of this disclosure. The application scenario may include a surface cleaning device and an obstacle. The surface cleaning device includes cleaning components (e.g., a roller brush). Figure 1 Examples in the diagram include front and rear roller brushes, a waste collection system, a control system, and data acquisition equipment. The cleaning components clean debris from the target area's surface, and their rotation provides power to the surface cleaning equipment. The waste collection system collects the debris cleaned by the cleaning components. The data acquisition equipment acquires obstacle detection signals (e.g., the data acquisition equipment emits a linear laser beam, which reflects off an obstacle; the data acquisition equipment receives the reflected laser beam, which is the obstacle detection signal). The control system controls the cleaning components based on the obstacle detection signals. When an obstacle exists in the current path of the surface cleaning equipment, the data acquisition equipment acquires the obstacle detection signal and sends it to the control system. The control system then uses the obstacle detection signal to safely control the surface cleaning equipment.

[0026] Surface cleaning equipment may also include: an equipment support and a liquid supply system. The equipment support is used to provide support for the entire surface cleaning equipment, and the liquid supply system is used to distribute cleaning liquid to the surface of the target area.

[0027] Figure 2 This is a flowchart of a control method for a surface cleaning device provided in an embodiment of this disclosure. Figure 2 The control method for surface cleaning equipment can be provided by Figure 1 The control system executes this. For example... Figure 2 As shown, the control method of this surface cleaning equipment includes:

[0028] S201, Obtain obstacle detection signals on the current travel path of the surface cleaning equipment;

[0029] S202, determine the obstacle type of the obstacle corresponding to the obstacle detection signal based on the obstacle detection signal and the reference detection signal;

[0030] S203, based on the obstacle type corresponding to the obstacle detection signal, controls the cleaning components of the surface cleaning equipment.

[0031] Surface cleaning equipment can be handheld floor scrubbers or handheld sweepers, etc., used for cleaning debris. Data acquisition equipment can include various types of sensors, such as LDS (Laser Docking Sensor), line laser obstacle avoidance sensors, vision sensors, and radar sensors. The data acquisition equipment can be mounted on the surface cleaning equipment's body. Along the current path of the surface cleaning equipment, the data acquisition equipment sends signals to collect obstacle data, acquiring obstacle detection signals. Controlling the cleaning components of the surface cleaning equipment can be achieved by adjusting the rotation speed of the cleaning components (adjusting the rotation speed of the cleaning components is equivalent to using the cleaning components as assistive components, providing assistance to the surface cleaning equipment), to achieve safe control and efficient obstacle avoidance of the surface cleaning equipment.

[0032] According to the technical solution provided in this disclosure, obstacle detection signals on the current travel path of the surface cleaning equipment are acquired; the obstacle type corresponding to the obstacle detection signal is determined based on the obstacle detection signal and a reference detection signal; and the cleaning components of the surface cleaning equipment are controlled according to the obstacle type corresponding to the obstacle detection signal, so as to achieve safe control of the surface cleaning equipment. By employing the above technical means, the problem in the prior art that cleaning equipment cannot adopt different obstacle avoidance strategies for different types of obstacles can be solved, thereby improving the obstacle avoidance efficiency of the cleaning equipment and ensuring the safety of the cleaning equipment.

[0033] The obstacle type corresponding to the reference detection signal can include, for example, furniture, carpets, and walls.

[0034] In S202, determining the obstacle type of the obstacle corresponding to the obstacle detection signal based on the obstacle detection signal and the reference detection signal includes: comparing the obstacle detection signal and the reference detection signal to determine the obstacle type of the obstacle corresponding to the obstacle detection signal.

[0035] In S202, the obstacle detection signal and the reference detection signal are compared to determine the obstacle type of the obstacle corresponding to the obstacle detection signal. This includes comparing the obstacle detection signal with multiple reference detection signals to determine the reference detection signal corresponding to the obstacle detection signal from multiple preset reference detection signals, and determining the obstacle type of the obstacle corresponding to the reference detection signal as the obstacle type of the obstacle corresponding to the obstacle detection signal. Each reference detection signal corresponds to an obstacle of one obstacle type.

[0036] In S202, the obstacle type of the obstacle corresponding to the obstacle detection signal is determined based on the obstacle detection signal and the reference detection signal, including: when the reference detection signal corresponding to the obstacle detection signal is determined to be the first reference detection signal from multiple reference detection signals, the obstacle corresponding to the obstacle detection signal is determined to be furniture; when the reference detection signal corresponding to the obstacle detection signal is determined to be the second reference detection signal from multiple reference detection signals, the obstacle corresponding to the obstacle detection signal is determined to be carpet; when the reference detection signal corresponding to the obstacle detection signal is determined to be the third reference detection signal from multiple reference detection signals, the obstacle corresponding to the obstacle detection signal is determined to be wall.

[0037] The first reference detection signal is shown in Figure 9, and the second reference detection signal is shown in Figure 2. Figure 8 As shown, the third reference detection signal is as follows Figure 6 As shown. When the obstacle detection signal and Figure 9 Similarly, the obstacle detection signal corresponds to furniture as the obstacle; when the obstacle detection signal is... Figure 8 Similarly, the obstacle detection signal corresponds to the carpet as the obstacle; when the obstacle detection signal is... Figure 6 Similarly, the obstacle detection signal corresponds to a wall.

[0038] Figure 3 This is a schematic diagram of an application scenario where the obstacle is a wall, as provided in this embodiment of the disclosure. The application scenario may include a surface cleaning device and a wall. The surface cleaning device is equipped with a data acquisition device, a front roller brush, and a rear roller brush. When a wall exists in the current path of the surface cleaning device, the data acquisition device can acquire obstacle detection signals related to the wall, and then perform safety control on the surface cleaning device based on the obstacle detection signals.

[0039] Figure 4This is a schematic diagram of an obstacle-free application scenario provided in this embodiment of the disclosure. The application scenario may include a surface cleaning device and a ground (where there are no obstacles). The surface cleaning device is equipped with a data acquisition device, a front roller brush, and a rear roller brush. The data acquisition device is used to acquire obstacle detection signals (indicating that there is a ground ahead and no obstacles), and then to perform safety control on the surface cleaning device based on the obstacle detection signals.

[0040] Figure 5 This is a schematic diagram of an application scenario where the obstacle is a carpet, as provided in this embodiment of the disclosure. The application scenario may include a surface cleaning device and a carpet. The surface cleaning device is equipped with a data acquisition device, a front roller brush, and a rear roller brush. When a carpet is present in the current path of the surface cleaning device, the data acquisition device can acquire obstacle detection signals related to the carpet, and then perform safety control on the surface cleaning device based on the obstacle detection signals.

[0041] Figure 6 This is a schematic diagram of a reference detection signal provided in an embodiment of the present disclosure where the obstacle is a wall; Figure 7 This is a schematic diagram of the reference detection signal for obstacles provided in an embodiment of this disclosure; Figure 8 This is a schematic diagram of a reference detection signal when the obstacle is a carpet, as provided in an embodiment of this disclosure; Figure 9 This is a schematic diagram of a reference detection signal for an obstacle, furniture, provided in an embodiment of this disclosure (the reference point is the position of the surface cleaning equipment or the position of the data acquisition equipment).

[0042] Figure 6 , 8 -9 illustrates the reference detection signals for different obstacle types obtained based on the projected distance of the clean surface. For example, the data acquisition device uses a line lidar to detect obstacles ahead. In the absence of obstacles, the area ahead is the ground (i.e., the surface to be cleaned). The line lidar detector emits a detection signal along the current path of the surface cleaning device. When the detection signal hits an object, it is reflected back as an obstacle detection signal, thus obtaining the projected distance of the reflection point on the ground. Based on the projected distances of multiple reflection points, different types of reference detection signals can be obtained. The farthest projected distance on the ground that the surface cleaning device can detect in the current path direction when there are no obstacles is the preset detection range. The detection signal will hit the ground at the farthest position within the preset detection range, obtaining the projection line farthest from the reference point, such as... Figure 7 As shown, since the ground is usually flat, it is roughly linear. Similarly, obstacles within the preset detection range project their distances into reference detection signals of different shapes due to their surface characteristics. For example, since walls are usually also flat, their reference detection signal is a projection line that is closer to the reference point than an obstacle-free object, such as... Figure 6As shown; the carpet surface is usually composed of undulating pile, so the projection line of its reference detection signal has a wave-like shape, such as... Figure 8 As shown; furniture typically has staggered sections, and the surfaces of each section are generally flat. Therefore, the reference detection signal usually presents as a multi-segment line at different distances, such as... Figure 9 As shown.

[0043] The above is just one example of how to determine the type of obstacle. The data acquisition device can use not only line lidar, but also other types of sensors, and the appropriate determination method can be adopted according to the working principle of different sensors.

[0044] In some embodiments, a vision sensor is used as a data acquisition device to acquire images of obstacles on the current travel route of the surface cleaning device; the obstacle type is determined by comparing the obstacle images with reference images of different obstacle types.

[0045] Optionally, the similarity between an obstacle image and a reference image can be determined by extracting image features from the obstacle image and the reference image, and then determining the similarity between the obstacle image and the reference image based on these image features. Specifically, for example, if the similarity between the obstacle image and the reference image is greater than a preset threshold, the obstacle image and the reference image are determined to be similar.

[0046] From multiple reference detection signals, the reference detection signal corresponding to the obstacle detection signal is determined as the third reference detection signal, and the obstacle corresponding to the obstacle detection signal is determined to be a wall.

[0047] When the cleaning component is a dual roller brush, including a front roller brush and a rear roller brush, and the front roller brush and the rear roller brush rotate in opposite directions, S203 is executed. S203 includes the following operations:

[0048] S2031, When the obstacle type is furniture, control the rotation speed of the front roller brush to zero, and control the rotation speed of the rear roller brush to remain unchanged or increase.

[0049] S2032, when the obstacle type is carpet, control the rotation speed of the front roller brush to remain unchanged, and control the rotation speed of the rear roller brush to decrease or become zero.

[0050] S2033, when the obstacle type is a wall, control the rotation speed of the front roller brush to zero or decrease the rotation speed, and control the rotation speed of the rear roller brush to remain unchanged or increase the rotation speed.

[0051] The direction of travel of the surface cleaning equipment during operation (e.g.) Figure 3 or Figure 4 or Figure 5The arrow (indicated by the middle arrow) is defined as "front." As shown in the arrow direction in the diagram, the opposite direction is "back." The front roller brush rotates in the direction the surface cleaning device is moving (forward rotation); the rear roller brush rotates in the opposite direction (backward rotation). The higher the rotation speed of the front roller brush, the greater the forward assist the surface cleaning device receives; the higher the rotation speed of the rear roller brush, the greater the backward resistance the surface cleaning device experiences. Generally speaking, furniture is more easily damaged than walls and has a higher protection priority. Therefore, obstacle avoidance requirements for furniture-type obstacles are more stringent, while obstacle avoidance requirements for wall-type obstacles are lower. Carpets are laid on the floor, so surface cleaning devices typically do not collide with carpets; therefore, obstacle avoidance requirements for carpet-type obstacles are lower than those for wall-type obstacles. Based on the priority of different obstacle types, corresponding control strategies are formulated. Generally speaking, the higher the priority, the less assistance is provided for forward movement, and the greater the resistance. For example, when the obstacle type is furniture, the speed of the front roller brush is controlled to zero, and the speed of the rear roller brush is kept constant or increased to ensure that the surface cleaning equipment stops at the fastest speed. When the obstacle type is a wall, the speed of the front roller brush is controlled to zero or decreased, and the speed of the rear roller brush is kept constant or increased, which allows the surface cleaning equipment to stop at a slower speed. When the obstacle type is carpet, the speed of the front roller brush is kept constant, and the speed of the rear roller brush is decreased or zero, which allows the surface cleaning equipment to stop at a slower speed.

[0052] When the cleaning component is a single roller brush, the single roller brush of the cleaning component rotates forward, that is, it only provides forward assistance. The control strategy only involves reducing the assistance. Therefore, rotation is executed in step S203, which includes the following operations:

[0053] S2034, When the obstacle type is furniture, control the rotation speed of the single roller brush to zero;

[0054] S2035, when the obstacle type is carpet, control the rotation speed of the single roller brush to remain unchanged or decrease;

[0055] S2036, when the obstacle type is a wall, control the rotation speed of the single roller brush to zero or reduce the rotation speed.

[0056] Some handheld cleaning devices also include assistive components, such as wheels, which can be controlled using the same methods as the cleaning components.

[0057] Figure 10 This is a schematic flowchart of a control method for a surface cleaning device provided in an embodiment of the present disclosure, including the following steps:

[0058] S1001, Initialize the data acquisition device, and obtain the obstacle detection signal on the current travel path of the surface cleaning device through the initialized data acquisition device;

[0059] S1002 compares the obstacle detection signal with multiple reference detection signals to determine the obstacle type, which includes furniture, carpet, and wall.

[0060] The specific determination method involves identifying the reference detection signal corresponding to the obstacle detection signal from multiple reference detection signals, and then determining the obstacle type corresponding to the reference detection signal.

[0061] S1003, when the obstacle type is furniture, control the rotation speed of the front roller brush to zero, and control the rotation speed of the rear roller brush to remain unchanged or increase, so as to achieve safe control of the surface cleaning equipment.

[0062] S1004, when the obstacle type is carpet, the rotation speed of the front roller brush is kept constant, and the rotation speed of the rear roller brush is reduced or reduced to zero, so as to achieve safe control of the surface cleaning equipment.

[0063] S1005, when the obstacle type is a wall, control the rotation speed of the front roller brush to zero or decrease the rotation speed, and control the rotation speed of the rear roller brush to remain unchanged or increase the rotation speed, so as to achieve safe control of the surface cleaning equipment.

[0064] According to the technical solution provided in this disclosure, obstacle detection signals on the current travel path of the surface cleaning equipment are acquired; the obstacle type corresponding to the obstacle detection signal is determined based on the obstacle detection signal and a reference detection signal; and the cleaning components of the surface cleaning equipment are controlled according to the obstacle type corresponding to the obstacle detection signal. By employing the above technical means, the problem of the cleaning equipment adopting different obstacle avoidance strategies for different types of obstacles is solved, thereby improving the obstacle avoidance efficiency of the cleaning equipment and ensuring the safe operation of the cleaning equipment.

[0065] All of the above-mentioned optional technical solutions can be combined in any way to form the optional embodiments of this application, and will not be described in detail here.

[0066] The following are embodiments of the apparatus disclosed herein, which can be used to execute embodiments of the method disclosed herein. For details not disclosed in the apparatus embodiments of this disclosure, please refer to the embodiments of the method disclosed herein.

[0067] Figure 11 This is a schematic diagram of a control device for a surface cleaning apparatus provided in an embodiment of this disclosure. Figure 11 As shown, the control device of the surface cleaning equipment includes:

[0068] The acquisition module 1101 is configured to acquire obstacle detection signals on the current travel path of the surface cleaning equipment;

[0069] Comparison module 1102 is configured to determine the obstacle type of the obstacle corresponding to the obstacle detection signal based on the obstacle detection signal and the reference detection signal;

[0070] The control module 1103 is configured to control the cleaning components of the surface cleaning equipment based on the obstacle type corresponding to the obstacle detection signal.

[0071] According to the technical solution provided in this disclosure, obstacle detection signals on the current travel path of the surface cleaning equipment are acquired; the obstacle type corresponding to the obstacle detection signal is determined based on the obstacle detection signal and a reference detection signal; and the cleaning components of the surface cleaning equipment are controlled according to the obstacle type corresponding to the obstacle detection signal, so as to achieve safe control of the surface cleaning equipment. By employing the above technical means, the problem in the prior art that cleaning equipment cannot adopt different obstacle avoidance strategies for different types of obstacles can be solved, thereby improving the obstacle avoidance efficiency of the cleaning equipment and ensuring the safety of the cleaning equipment.

[0072] The obstacle type corresponding to the reference detection signal can include, for example, furniture, carpets, and walls.

[0073] Optionally, the comparison module 1102 is also configured to compare the obstacle detection signal with the reference detection signal to determine the obstacle type of the obstacle corresponding to the obstacle detection signal.

[0074] Optionally, the comparison module 1102 is further configured to compare the obstacle detection signal with multiple reference detection signals to determine the reference detection signal corresponding to the obstacle detection signal from multiple preset reference detection signals, and to determine the obstacle type of the obstacle corresponding to the reference detection signal as the obstacle type of the obstacle corresponding to the obstacle detection signal, wherein each reference detection signal corresponds to an obstacle of one obstacle type.

[0075] Optionally, the comparison module 1102 is further configured to determine that the obstacle corresponding to the obstacle detection signal is furniture when the reference detection signal corresponding to the obstacle detection signal is determined to be a first reference detection signal from multiple reference detection signals; to determine that the obstacle corresponding to the obstacle detection signal is a carpet when the reference detection signal corresponding to the obstacle detection signal is determined to be a second reference detection signal from multiple reference detection signals; and to determine that the obstacle corresponding to the obstacle detection signal is a wall when the reference detection signal corresponding to the obstacle detection signal is determined to be a third reference detection signal from multiple reference detection signals.

[0076] The first reference detection signal is shown in Figure 9, and the second reference detection signal is shown in Figure 2. Figure 8 As shown, the third reference detection signal is as follows Figure 6 As shown. When the obstacle detection signal and Figure 9 Similarly, the obstacle detection signal corresponds to furniture as the obstacle; when the obstacle detection signal is... Figure 8 Similarly, the obstacle detection signal corresponds to the carpet as the obstacle; when the obstacle detection signal is... Figure 6 Similarly, the obstacle detection signal corresponds to a wall.

[0077] Optionally, the control module 1103 is further configured to control the rotation speed of the front roller brush to zero and the rotation speed of the rear roller brush to remain unchanged or increase when the obstacle type is furniture; control the rotation speed of the front roller brush to remain unchanged and the rotation speed of the rear roller brush to decrease or zero when the obstacle type is carpet; and control the rotation speed of the front roller brush to be zero or decrease when the obstacle type is wall, and control the rotation speed of the rear roller brush to remain unchanged or increase.

[0078] Optionally, the control module 1103 is also configured to control the rotation speed of the single roller brush to zero when the obstacle type is furniture; to control the rotation speed of the single roller brush to remain unchanged or decrease when the obstacle type is carpet; and to control the rotation speed of the single roller brush to zero or decrease when the obstacle type is wall.

[0079] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this disclosure.

[0080] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0081] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0082] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this disclosure.

[0083] In the embodiments provided in this disclosure, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. Multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0084] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0085] Furthermore, the functional units in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0086] If an integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program may include computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. A computer-readable medium may include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in a computer-readable medium may be appropriately added to or subtracted according to the requirements of legislation and patent practice in a jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media may not include electrical carrier signals and telecommunication signals.

[0087] The above embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit it. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this disclosure, and should all be included within the protection scope of this disclosure.

Claims

1. A control method for a surface cleaning device, characterized in that, include: Obstacle detection signals on the current travel path of the surface cleaning equipment are acquired; The obstacle type corresponding to the obstacle detected by the obstacle detection signal is determined based on the obstacle detection signal and the reference detection signal; The cleaning components of the surface cleaning device are controlled according to the obstacle type corresponding to the obstacle detection signal; The types of obstacles include: furniture, carpets, and walls.

2. The method according to claim 1, characterized in that, Determining the obstacle type of the obstacle corresponding to the obstacle detection signal based on the obstacle detection signal and the reference detection signal includes: The obstacle detection signal is compared with the reference detection signal to determine the obstacle type corresponding to the obstacle detected by the obstacle detection signal.

3. The method according to claim 2, characterized in that, The obstacle detection signal is compared with the reference detection signal to determine the obstacle type corresponding to the obstacle detected by the obstacle detection signal, including: The obstacle detection signal is compared with multiple reference detection signals to determine the reference detection signal corresponding to the obstacle detection signal from multiple preset reference detection signals, and the obstacle type corresponding to the corresponding reference detection signal is determined as the obstacle type of the obstacle corresponding to the obstacle detection signal, wherein each reference detection signal corresponds to an obstacle of one obstacle type.

4. The method according to claim 1, characterized in that, Determining the obstacle type of the obstacle corresponding to the obstacle detection signal based on the obstacle detection signal and the reference detection signal includes: When the first reference detection signal is determined from multiple reference detection signals to be the reference detection signal corresponding to the obstacle detection signal, the obstacle corresponding to the obstacle detection signal is determined to be furniture. When the reference detection signal corresponding to the obstacle detection signal is determined as the second reference detection signal from multiple reference detection signals, the obstacle corresponding to the obstacle detection signal is determined to be a carpet. When the reference detection signal corresponding to the obstacle detection signal is determined to be the third reference detection signal from multiple reference detection signals, the obstacle corresponding to the obstacle detection signal is determined to be a wall.

5. The method according to claim 1, characterized in that, The cleaning component is a dual roller brush, including a front roller brush and a rear roller brush; Based on the obstacle type corresponding to the obstacle detection signal, the cleaning components of the surface cleaning device are controlled, including: When the obstacle type is furniture, the rotation speed of the front roller brush is controlled to be zero, and the rotation speed of the rear roller brush is controlled to remain unchanged or increase. When the obstacle type is carpet, the rotation speed of the front roller brush is kept constant, and the rotation speed of the rear roller brush is reduced or reduced to zero. When the obstacle type is a wall, the rotation speed of the front roller brush is controlled to be zero or reduced, and the rotation speed of the rear roller brush is controlled to remain unchanged or increase.

6. The method according to claim 1, characterized in that, The cleaning component is a single roller brush; Based on the obstacle type corresponding to the obstacle detection signal, the cleaning components of the surface cleaning device are controlled, including: When the obstacle type is furniture, the rotation speed of the single roller brush is controlled to be zero; When the obstacle type is carpet, the rotation speed of the single roller brush is kept constant or reduced. When the obstacle type is a wall, the rotation speed of the single roller brush is controlled to be zero or reduced.

7. A control device for a surface cleaning equipment, characterized in that, include: The acquisition module is configured to acquire obstacle detection signals on the current travel path of the surface cleaning equipment; The comparison module is configured to determine the obstacle type of the obstacle corresponding to the obstacle detection signal based on the obstacle detection signal and the reference detection signal; The control module is configured to control the cleaning components of the surface cleaning device based on the obstacle type corresponding to the obstacle detection signal; The types of obstacles include: furniture, carpets, and walls.

8. A surface cleaning apparatus for implementing the steps of the method as described in any one of claims 1 to 6, characterized in that, include: Cleaning components, waste collection systems, control systems, and data acquisition equipment; The cleaning component is used to clean the surface of the target area of ​​garbage, the garbage recycling system is used to recycle the garbage cleaned by the cleaning component, the data acquisition device is used to acquire obstacle detection signals, and the control system is used to control the cleaning component according to the obstacle detection signals.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 6.

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