Dust box compression control method, self-moving cleaning device, and storage medium

Abstract

In the dustbin compression control method, self-moving cleaning device, and storage medium disclosed in this invention, when the compression component in the dustbin rotates under the drive component, the operating state of the drive component is mainly affected by the resistance state set on the compression component. Based on the signal detected during the operation of the drive component to characterize the operating state of the drive component, the drive component is controlled to drive the paddle to rotate. Without adding additional hardware modules, the dustbin compression process can be precisely controlled according to the garbage collection state while ensuring the safe operation of the drive component. Each time the user cleans, the dustbin has contained as much garbage as possible, improving the utilization rate of the dustbin's storage space during the cleaning process and reducing the user's participation requirements.

Description

Technical Field

[0001] The present invention relates to the field of cleaning equipment technology, and in particular to a dust box compression control method, a self-moving cleaning device, and a storage medium. Background Technology

[0002] With the continuous development of electronic technology, various forms of smart homes have begun to appear in people's lives, providing convenience and improving the quality of life for users in many ways. For example, self-cleaning devices can free people up a significant portion of their time from housework, allowing them more time to experience other rich aspects of life.

[0003] Existing self-propelled cleaning equipment requires users to manually empty the dustbin after performing a certain cleaning task to ensure that the dustbin can properly hold the garbage collected during subsequent cleaning.

[0004] The inventors found that when using existing self-moving cleaning devices, the devices already reminded users to empty the dustbin, but the removed dustbin still had some space for holding trash. After each time the user emptied the dustbin, the self-moving cleaning device did not make full use of the dustbin's space during the cleaning process, requiring a high level of user involvement. Summary of the Invention

[0005] This invention provides a dust box compression control method, a self-moving cleaning device, and a storage medium to solve the technical problems of insufficient utilization of the dust box's storage space and high requirements for user participation in the cleaning process of self-moving cleaning devices.

[0006] In a first aspect, embodiments of the present invention provide a dustbin compression control method for a self-moving cleaning device. The self-moving cleaning device includes a drive assembly and a dustbin, with a compression assembly disposed within the dustbin. The drive assembly drives the compression assembly to rotate. The dustbin compression control method includes:

[0007] During the cleaning process, when the rotational speed of the compression component in the current compression direction drops to the preset lower speed limit, the drive component is controlled to rotate in the opposite direction of the current compression direction.

[0008] When the rotation angle in the opposite direction reaches the set rotation angle, the control drive component enters the stop state and remains in the stop state for a set time, so that the drive component drives the compression component to rotate alternately in the two compression directions for compression.

[0009] During the cleaning process, when the rotational speed of the compression component decreases to a preset lower speed limit, the drive component is controlled to rotate in the opposite direction of the current compression direction, including:

[0010] During the cleaning process, when the rotational speed of the compression component decreases to the preset lower speed limit when rotating in the current compression direction, the set duration corresponding to the next compression direction is determined.

[0011] The methods for determining the set duration include:

[0012] When the remaining compression space in the next compression direction is greater than the remaining compression space in the current compression direction, the set duration is determined to be the preset first duration;

[0013] When the remaining compression space in the next compression direction is less than the remaining compression space in the current compression direction, the set duration is determined to be the preset second duration, and the first duration is greater than the second duration.

[0014] The methods for determining the remaining compression space include:

[0015] The angle of deviation of the compression component relative to the nearest side of the dust box opening is determined when the rotation speed of the compression component drops to the preset lower speed limit; the remaining compression space determined in the previous compression direction is used as the remaining compression space corresponding to the next compression direction.

[0016] The drive assembly is equipped with an angle measuring component, which outputs pulse signals during the operation of the drive assembly. The rotation speed and deviation angle are confirmed based on the pulse signals.

[0017] The rotation angle is determined based on the remaining compression space in the current compression direction.

[0018] The methods for determining the rotation angle include:

[0019] If the remaining compression space in the current compression direction exceeds the preset lower limit of space, confirm that the preset first angle value is the rotation angle;

[0020] If the remaining compression space in the current compression direction is less than the preset lower limit of space, the second angle value is confirmed to be the rotation angle, and the second angle value is the remaining compression space minus the preset redundant angle value.

[0021] The dust box compression control method also includes:

[0022] If the control drive component fails to receive a detection signal from the positioning sensor while driving the compression component to rotate in the current compression direction, a dust box cleaning reminder will be issued. The positioning sensor is used to detect whether the compression component is rotating in an area that is off-center from the dust box opening.

[0023] Secondly, embodiments of this application provide a self-moving cleaning device, which includes:

[0024] One or more processors;

[0025] Memory, used to store one or more computer programs;

[0026] When one or more computer programs are executed by one or more processors, the self-moving cleaning device implements a dustbin compression control method as described in any of the first aspects.

[0027] Thirdly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a dustbin compression control method as described in any of the first aspects.

[0028] In the aforementioned dustbin compression control method, self-moving cleaning device, and storage medium, when the compression component in the dustbin rotates under the drive component, the operating state of the drive component is mainly affected by the resistance state set on the compression component. Based on the signal detected during the operation of the drive component to characterize the operating state of the drive component, the drive component is controlled to drive the paddle to rotate. Without adding additional hardware modules, the dustbin compression process can be precisely controlled according to the garbage collection status while ensuring the safe operation of the drive component. Each time the user cleans, the dustbin has contained as much garbage as possible, improving the utilization rate of the dustbin's storage space during the cleaning process and reducing the requirements for user participation. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 A flowchart illustrating the dust box compression control method provided in this application embodiment.

[0031] Figure 2 This is an overall structural diagram of the self-moving cleaning device provided in the embodiments of this application.

[0032] Figure 3 This is an overall structural diagram of the dust box of the self-moving cleaning device provided in an embodiment of this application.

[0033] Figure 4 An exploded view of the dust box of the self-moving cleaning device provided in an embodiment of this application.

[0034] Figure 5 This is a bottom structural diagram of the dust box of the self-moving cleaning device provided in an embodiment of this application.

[0035] Figure 6This is a schematic diagram of three layout methods for the position sensor in the self-moving cleaning device provided in the embodiments of this application.

[0036] Figure 7 This is a schematic diagram illustrating the process of the compression component returning to zero in the self-moving cleaning device provided in this application embodiment.

[0037] Figure 8 This is a schematic diagram showing the state of the compression component in the dust box after returning to zero.

[0038] Figure 9 A schematic diagram of the dust box state changes for implementing the dust box compression control method provided in the embodiments of this application.

[0039] Figure 10 This is a schematic diagram of the hardware structure of the self-moving cleaning device provided in the embodiments of this application. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are for illustrative purposes only and not for limiting the invention. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the drawings, not all of the structures.

[0041] It should be noted that, due to space limitations, this application specification does not exhaustively list all possible implementation methods. Those skilled in the art should be able to conceive after reading this application specification that, as long as the technical features do not contradict each other, any combination of technical features can constitute an optional implementation method.

[0042] The embodiments are described in detail below.

[0043] The dustbin compression control method in this embodiment is used in a self-propelled cleaning device. This device is equipped with positioning modules such as LiDAR, cleaning modules such as a water tank and cleaning cloths, and motion modules such as wheels. The electronically controlled components within these modules are controlled by the device's processor. Accordingly, data collected by the positioning module (including other functional modules with data acquisition capabilities) is sent to the processor for processing. The processor generates control commands based on the received data and sends these commands to the cleaning and motion modules to achieve operational control under specific environmental conditions. Additionally, there are charging and communication modules, which, along with the positioning, cleaning, and motion modules, can be implemented using methods from relevant self-propelled cleaning device technology fields. Specific installation methods and basic working principles are not elaborated here, nor are the corresponding operational details described. For example, the process of returning to the charging station and recharging via the charging module after cleaning is not described in detail.

[0044] The self-moving cleaning device in this application embodiment may be a robotic vacuum cleaner, a mopping robot, or a vacuum cleaner. When performing automatic cleaning, the self-moving cleaning device generates a cleaning path based on an environmental map pre-built by exploring the target workspace. The device automatically cleans along this path, collecting any debris encountered during the cleaning process into a dustbin. The debris (such as dust and plastic) sucked into the dustbin is usually in a loose state. The dustbin typically contains a drive component and a compression component. During the cleaning process, the self-moving cleaning device controls the drive component to operate at regular intervals, driving the compression component to compress the loose debris, reducing the space occupied by the collected debris in the dustbin, and increasing the continuous cleaning time of the self-moving cleaning device after each dustbin emptying.

[0045] Compression components may include, for example, a single-piece structure or a mesh structure mounted on the side of the pivot, and drive components may include, for example, a motor; the specifics are not limited. Taking a single-piece structure as an example, the compression component is mounted on the pivot, and the drive component is a motor. The motor shaft is coaxial with the pivot. When the motor rotates, the rotation of the pivot, through the transmission between the motor shaft and the pivot, causes the disc to rotate around the pivot, thus compressing the waste in the dustbin.

[0046] The inventors, through research into the operational details of existing self-propelled cleaning devices, discovered that during the cleaning process, sensors installed in the dustbin detect the amount of debris inside. When the debris reaches a preset trigger threshold, a compression component is activated to compress the debris. Further analysis of the compression process revealed that when the dustbin reaches the trigger threshold, it quickly becomes full. The pressure provided by the compression component, driven by the drive assembly within the dustbin, is insufficient to ensure safe operation. To prevent the drive assembly from continuously applying static force under significant external resistance, the collected debris cannot be thoroughly compressed. Consequently, when the self-propelled cleaning device alerts the user to empty the dustbin, some debris remains loose. This results in insufficient utilization of the empty dustbin's capacity, requiring frequent user intervention. Furthermore, the separate sensor for detecting the debris's state increases the production cost of the self-propelled cleaning device.

[0047] To address the above technical issues, this application proposes a dustbin compression control method. When the compression component in the dustbin rotates under the drive component, the operating state of the drive component is mainly affected by the resistance state set on the compression component. Based on signals detected during the operation of the drive component to characterize its operating state, the drive component is controlled to rotate the paddle. This method can precisely control the dustbin compression process based on the garbage collection status while ensuring the safe operation of the drive component without adding additional hardware modules. Each time the user cleans, the dustbin contains as much garbage as possible, improving the utilization rate of the dustbin's storage space during cleaning and reducing the need for user intervention. Reducing the number of sensors also further controls the production cost of the self-moving cleaning equipment.

[0048] Please refer to Figure 1 This is a flowchart of a dustbin compression control method provided in an embodiment of this application. The dustbin compression control method is used in a self-moving cleaning device, which includes a drive assembly and a dustbin. A compression assembly is disposed within the dustbin, and the drive assembly drives the compression assembly to rotate.

[0049] Please refer to Figure 2 The dustbin compression control method in this application embodiment is exemplarily described based on a robotic vacuum cleaner 10, where the dustbin 11 is exemplarily removed from the top. In this application embodiment, the overall process of compression in the dustbin is exemplarily described based on a compression assembly in the form of a paddle and a drive assembly in the form of a motor. Please refer to... Figures 3-5When the dustbin 11 is installed in the mounting position of the robotic vacuum cleaner 10, the top end of the pivot 111 in the dustbin 11 fully engages with the top end of the motor shaft. After removing the dustbin 11 from the mounting position of the robotic vacuum cleaner 10, the first engagement structure at the top end of the motor shaft and the second engagement structure 114 at the top end of the pivot 111 can be seen, with the paddle 112 connected to the side of the pivot 111. Because the first engagement structure and the second engagement structure 114 are fully engaged, they act as a transmission mechanism. When the motor rotates in the state of mutual engagement of the first engagement structure and the second engagement structure 114, it can drive the pivot 111 to rotate, which in turn drives the paddle 112 to rotate. When there is garbage in the dustbin 11 that is sucked in from the dustbin opening 113, the paddle 112 will apply pressure to the garbage to compress it. It should be noted that the top end of the pivot 111 and the top end of the motor shaft described in this embodiment are positioned relative to each other in the installed state. However, since only one end of both the pivot 111 and the motor shaft can be exposed, both the first engagement structure and the second engagement structure 114 are defined as being at the top. The first engagement structure and the second engagement structure 114 are exemplary cross teeth, meaning both have four teeth and four tooth slots. Alternatively, other numbers of teeth and tooth slots can be evenly distributed radially at intervals at the top ends of the pivot and the motor shaft. For example, the second engagement structure 114 could be a square protrusion, and the first engagement structure could be a square groove of a size adapted to the square protrusion. When the second engagement structure 114 and the first engagement structure engage, the square protrusion is embedded in the square groove.

[0050] like Figure 1 As shown, the dust box compression control method includes:

[0051] Step S110: During the cleaning process, when the rotation speed of the compression component in the current compression direction drops to a preset lower speed limit, the drive component is controlled to rotate in the opposite direction of the current compression direction.

[0052] In this embodiment, considering that the self-moving cleaning device itself is equipped with sensors (e.g., Hall effect sensors) to position the compression component (hereinafter, taking the lever as an example) with the dustbin opening as a reference, and sensors to detect the operating status of the drive component (hereinafter, taking the motor as an example), during the cleaning process, the debris in the dustbin typically increases gradually and is compressed towards both sides of the dustbin opening. After each side of the motor completes compression, it rotates in the opposite direction at a certain angle and then stops. After stopping, it compresses the other side, and then rotates in the opposite direction at a certain angle and stops. During the cleaning process, the motor stopping does not affect the cleaning process. Therefore, debris continuously enters the dustbin through the dustbin opening and stays at or near the opening. After the motor stops for a certain period of time, the dustbin opening may have collected some debris. At this point, the motor can be controlled to rotate in the current compression direction until the predetermined compression action is completed and the motor stops again. The duration of the stop state before each unilateral compression can be a fixed setting, or it can be determined during the cleaning process at the end of the previous unilateral compression. That is, when the compression corresponding to the current compression direction ends, the duration of the next compression direction is confirmed.

[0053] In practice, the entire cleaning process can be considered to begin with the installation of the dustbin. Once the dustbin installation is confirmed, since there is no debris on either side of the dustbin opening, the maximum angle that the lever can rotate on both sides of the dustbin opening is the same. At this point, the motor can be controlled to rotate in the first direction, which can be either clockwise or counterclockwise. Because the newly installed dustbin is empty, the lever can completely deviate from the dustbin opening until it rotates to the theoretical maximum angle in the first direction, where it is blocked by the limiting structure inside the dustbin and cannot continue rotating. Therefore, when the motor's rotation speed in the first direction drops to the preset reference lower limit, the motor is controlled to rotate in the second direction until the lever reaches the second side of the dustbin opening and stops. The first direction is then used as the next compression direction, and the second side is the side of the dustbin opening furthest from the motor's rotation speed when it drops to the preset reference lower limit. This is equivalent to the lever rotating in the opposite direction from the theoretical maximum angle in the first direction until it passes through the entire dustbin opening and stops at the second side of the opening. Since both sides of the dustbin opening are empty, the set duration corresponding to the next compression direction can be flexibly set, such as the first duration or the second duration described later. The process of adjusting the position of the lever after the dustbin is installed can be called zeroing. Once zeroed, the self-propelled cleaning device begins its cleaning process. Debris entering the dustbin through the dustbin opening is concentrated on one side of the lever. After a set time, the motor rotates in the first direction to compress the collected debris. Zeroing can be confirmed by a specially designed positioning sensor, such as a Hall effect sensor or an infrared sensor.

[0054] like Figure 6 As shown, zeroing can be achieved through a Hall sensor 131 and a magnet 132 configured in conjunction with the Hall sensor 131. Figure 6 The example provides three configuration methods. The first method involves two Hall effect sensors 131 fixedly mounted on the lines connecting the dustbin opening to the pivot on both sides, and a magnet 132 mounted on the lever 112. The second method involves one Hall effect sensor 131 mounted on the lever 112, and a magnet fixedly mounted on the line connecting the dustbin opening to the pivot on one side. The third method involves one Hall effect sensor 131 mounted on the lever 112, and two magnets 132 fixedly mounted on the lines connecting the dustbin opening to the pivot on both sides. Taking the first configuration method as an example... Figure 7 As shown, the motor rotates from point a in the first direction (e.g., clockwise). When it reaches point b, Hall sensor 131 detects a Hall signal. When it reaches point c, due to the obstruction of the lever 112 by the limiting structure 115, the motor speed drops to a preset reference lower limit. At this time, the motor is controlled to rotate in the second direction (counterclockwise). After the reversal, Hall signals are detected twice when the lever 112 rotates to points b and d. When the second Hall signal is detected, it is confirmed that the lever has reached the second side of the dust box opening, that is, the side furthest from the dust box opening from the motor speed dropping to the preset reference lower limit (point c). At this time, the motor is controlled to stop rotating and enter a stop state, and the first direction is used as the next compression direction. The basic principle of zeroing is the same for other layout methods. It can be adjusted according to the layout differences of Hall sensor 131 and magnet 132. For example, in the second case with only one Hall sensor 131 and one magnet 132, the center angle corresponding to the dust box opening with the pivot as the center can be pre-stored. Combined with the encoding signal of the encoder in the motor and the rotation direction, if in Figure 6 The left-side zero-return shown can be confirmed directly upon detecting a Hall signal, and the next compression direction is clockwise. Figure 6 The left-side zeroing mechanism, as shown, confirms completion of zeroing by rotating the center angle clockwise after detecting the Hall signal, and then proceeds counter-clockwise as the next compression direction. The relative position of the lever 112 within the dustbin 11 and the dustbin opening 113 after zeroing is as follows: Figure 8 As shown.

[0055] Step S120: When the rotation angle in the opposite direction reaches the set rotation angle, control the drive component to enter the stop state and maintain the stop state for a set time so that the drive component drives the compression component to rotate alternately in the two compression directions for compression.

[0056] The specific control details for controlling the motor to rotate in the current compression direction, as well as the handling details when it re-enters the stop state, determine the compression process in the current compression direction and the key operating parameters for the next compression direction.

[0057] When the driving force provided by the motor is limited, and motor stalling affects its service life, this embodiment directly detects the rotation speed of the paddle. When the paddle's rotation speed in the current compression direction drops to a preset lower speed limit, such as near zero speed stalling, it rotates in the opposite direction of the current compression direction to enter a stop state, thus eliminating stalling. Furthermore, when previously collected waste has already been compressed, and the set time is typically small, the amount of waste to be compressed in a particular compression direction is usually small. The motor does not need to enter a stall state to complete the compression of newly collected waste. When the motor enters a stop state in the current compression direction, it has already achieved a good compression effect on the compressible waste in the dustbin, and the motor is also in good operating condition. This completes the compression of the waste that has entered the dustbin in the corresponding compression direction. At this point, it is also necessary to confirm the set time for the next compression direction, which is confirmed with reference to the remaining compression space on both sides of the dustbin. For example, if the remaining compression space for the next compression direction is larger than that for the current compression direction, the set time for the next compression direction can be relatively longer to collect more waste before compression. Conversely, the set time for the next compression direction can be relatively shorter to collect less waste before compression, ensuring that both directions accommodate as much waste as possible. Another example is setting the set time proportionally to the remaining compression space; the larger the remaining compression space, the longer the set time. When the lever compresses waste by rotation, the remaining compression space can be represented by an angle.

[0058] In the specific implementation process, considering that the paddle is driven by the motor (i.e. the compression component is driven by the drive component), the rotation speed of the paddle and the rotation speed of the motor are highly correlated. Therefore, the paddle or the motor can be used as the speed detection target. That is, a speed sensor, such as an encoder, is set on the paddle or the motor. The speed is confirmed according to the pulse signal output by the encoder, and speed-based detailed control is completed.

[0059] In one exemplary implementation, when the remaining compression space in the next compression direction is greater than that in the current compression direction, the set duration is determined to be a preset first duration; when the remaining compression space in the next compression direction is less than that in the current compression direction, the set duration is determined to be a preset second duration, where the first duration is greater than the second duration. That is, after the current compression is completed, if the remaining compression space in the next compression direction is larger, a larger duration is set; if the remaining compression space in the next compression direction is smaller, a smaller duration is set. For example, the first duration is 12 seconds and the second duration is 6 seconds, thereby ensuring that the garbage in the two compression directions grows as synchronously as possible, improving space utilization.

[0060] In another exemplary implementation, the remaining compression space in the next compression direction is determined based on the deviation angle of the paddle (an exemplary compression component) relative to the nearest side of the dust box opening when the rotational speed of the motor (an exemplary drive component) in the previous compression direction drops to a preset lower speed limit. The remaining compression space determined in the previous compression direction serves as the remaining compression space for the next compression direction. That is, the remaining compression space in the next compression direction remains unchanged during compression in the current compression direction, because the remaining compression space confirmed in the previous compression direction is used as the remaining compression space before the start of compression in the next compression direction, and a set duration is confirmed accordingly. The motor can be equipped with an angle measurement component (e.g., an encoder), which outputs pulse signals during motor rotation. The rotational speed and deviation angle are confirmed based on the pulse signals. In a specific implementation, the position of the paddle can be corrected in each compression direction based on Hall signals. Based on the corrected paddle position, the real-time position of the paddle is confirmed according to the encoded signal, completing the corresponding status confirmation, thereby achieving accurate detection of the remaining compression space.

[0061] In one implementation, the rotation angle can be flexibly set and adjusted. When the motor speed drops to a preset lower speed limit, the rotation angle is determined based on the remaining compression space in the current compression direction; the rotation angle is then adjusted in the opposite direction to enter a stop state. Determining the rotation angle based on the remaining compression angle in the current compression direction allows for precise control of the position of the paddle relative to the dustbin opening after rotation, preventing the paddle from entering the central angle range corresponding to the dustbin opening and affecting waste collection and subsequent compression.

[0062] There are two main scenarios for determining the specific rotation angle. The first is when the remaining compression space in the current compression direction exceeds a preset lower limit, in which case the preset first angle value is used for the rotation angle. The second is when the remaining compression space in the current compression direction is less than the preset lower limit, in which case the second angle value is used for the rotation angle, and this second angle value is the remaining compression space minus a preset redundancy angle value. In other words, when the remaining compression space is large, a fixed angle value can be used for rotation; when the remaining compression space is small, the remaining compression space can be used as a reference, ensuring that after the lever rotates, there is a certain distance between it and the side closest to the dustbin opening, facilitating waste collection and compression.

[0063] As the cleaning process progresses, the compressed debris in the dustbin increases. When the remaining compression space in the current compression direction is less than the redundant angle value, making it difficult to continue debris collection and compression, a dustbin cleaning reminder is issued to prompt the user to clean the dustbin until cleaning is complete. Alternatively, instead of using the redundant angle value as a reference, the reminder can be issued when the drive component, which rotates the compression assembly in the current compression direction, fails to receive a detection signal from the positioning sensor. The positioning sensor detects whether the compression assembly is rotating outside the dustbin opening. In other words, the self-propelled cleaning device continuously compresses debris during cleaning until the compression assembly can only rotate within the area corresponding to the dustbin opening. When the positioning sensors on one or both sides of the dustbin opening can no longer detect the compression assembly, it indicates that the compression assembly can no longer compress the debris beyond the area directly opposite the dustbin opening. This means the space outside the area directly opposite the dustbin opening is full of debris and has been compressed. At this point, a dustbin cleaning reminder is issued, essentially maximizing the dustbin's debris collection capacity when the dustbin is almost full.

[0064] Please refer to Figure 9 Please provide a schematic diagram of the dust box state changes during the implementation of the dust box compression control method provided in this application embodiment. Figure 9 The six states shown change according to the arrows. The following is a detailed description of the dustbin compression control method provided in this application embodiment. In the first state, the self-propelled cleaning device starts its cleaning task from zero (the lever 112 is at position d after returning to zero). The lever 112 remains stationary for 12 seconds on the left side of the dustbin opening before the motor starts rotating. The current compression direction is clockwise. Some debris has been collected in the dustbin. Without any fixed obstruction, the motor can maintain its designed rotation speed until the lever 112 pushes the debris against the limit structure 115. The motor speed decreases, simultaneously driving the lever to compress the debris. After compression to a certain extent, the motor speed also decreases to the preset lower speed limit. The lever 112 is at position d1. At this point, the state is... Figure 9 As shown in the second state, there is no garbage compressed in the counter-clockwise direction, and the remaining compression space is at its maximum. Therefore, the set duration for the next compression direction is 12 seconds. In the second state, the remaining compression space in the clockwise direction is still relatively large. The motor is controlled to rotate in the opposite direction (i.e., counter-clockwise) and then enters a stop state. The state at this time is as follows. Figure 9 As shown in the third state, the lever is located at d2. The self-propelled cleaning device continues the cleaning task and restarts the timer from the moment it enters the stop state. After the lever remains in the stop state for 12 seconds at d2, the motor starts to rotate, and the state at this time is as follows. Figure 9 As shown in the fourth state, the current compression direction is counterclockwise, and some debris has already been collected in the dustbin. Without any fixed object obstructing the flow, the motor maintains its designed speed until the lever 112 reaches d3, making contact and starting to push the debris out of the dustbin opening. The state at this point is as follows: Figure 9 The fifth state is shown in the diagram. Without any fixed object obstructing the movement, the motor can maintain its designed rotational speed until the paddle 112 pushes the waste against the limit structure 115. At this point, the motor speed decreases, simultaneously driving the paddle to compress the waste. After compression to a certain extent, the motor speed also decreases to the preset lower speed limit, and the paddle 112 is located at d4. At this point, based on the remaining compression space in both the clockwise and counterclockwise directions, the set duration for the next compression direction (12 seconds or 6 seconds) is set. Since the remaining compression space in the counterclockwise direction is still relatively large, the motor is controlled to rotate in the opposite direction (i.e., clockwise) with a rotation angle of d5, and then enters a stop state. The state at this point is as follows: Figure 9 As shown in the sixth state, the timing for the next compression direction begins until the dust box is full or cleaning is complete.

[0065] Overall, the detachable dustbin's pivot and the motor shaft are connected via a meshing structure. When the motor drives the pivot to rotate, the motor's operating state is mainly affected by the resistance of the paddle located on the side of the pivot. Based on the signals detected during motor operation that characterize the motor's operating state, the motor is controlled to drive the paddle to rotate. Without adding additional hardware modules, the dustbin compression process can be precisely controlled according to the garbage collection status while ensuring the motor's safe operation. Each time the user cleans, the dustbin contains as much garbage as possible, improving the utilization rate of the dustbin's storage space during the cleaning process and reducing the need for user intervention.

[0066] Figure 10 This is a schematic diagram of the structure of a self-moving cleaning device provided in an embodiment of this application. Figure 10As shown, the self-propelled cleaning device includes a processor 310 and a memory 320. The self-propelled cleaning device may also include an input device 330, an output device 340, and a communication device 350. The number of processors 310 in the self-propelled cleaning device can be one or more. Figure 10 Taking a processor 310 as an example; the processor 310, memory 320, input device 330, output device 340, and communication device 350 in the self-propelled cleaning device can be connected via a bus or other means. Figure 10 Taking the example of a connection between China and Israel via a bus.

[0067] The memory 320, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the dustbin compression control method in the embodiments of this application. The processor 310 executes various functional applications and data processing of the self-moving cleaning device by running the software programs, instructions, and modules stored in the memory 320, thereby realizing the aforementioned dustbin compression control method.

[0068] The memory 320 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on the use of the self-propelled cleaning device. Furthermore, the memory 320 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 320 may further include memory remotely located relative to the processor 310, which can be connected to the self-propelled cleaning device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0069] Input device 330 can be used to receive network configuration information. Output device 340 may include a display device such as a screen.

[0070] The aforementioned self-propelled cleaning equipment can be used to implement any dust box compression control method, possessing the corresponding functions and beneficial effects.

[0071] This invention also provides a storage medium containing computer-executable instructions. When executed by a computer processor, the computer-executable instructions are used to perform relevant operations in the dust box compression control method provided in any embodiment of this application, and have corresponding functions and beneficial effects.

[0072] Those skilled in the art will understand that embodiments of this application may be provided as methods, systems, or computer program products.

[0073] Therefore, this application may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, produce implementations of the flowchart... Figure 1 One or more processes and / or boxes Figure 1 The computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable apparatus for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0074] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory. Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0075] Computer-readable media include both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0076] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0077] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A dustbin compression control method for self-moving cleaning equipment, characterized in that, The self-moving cleaning device includes a drive assembly and a dust box, wherein a compression assembly is disposed inside the dust box, and the drive assembly is used to drive the compression assembly to rotate. The dust box compression control method includes: During the cleaning process, when the rotational speed of the compression component in the current compression direction drops to a preset lower speed limit, the drive component is controlled to rotate in the opposite direction of the current compression direction. When the rotation angle in the opposite direction reaches the set rotation angle, the drive component is controlled to enter a stop state and remain in the stop state for a set duration, so that the drive component drives the compression component to rotate alternately in two compression directions for compression.

2. The dust box compression control method according to claim 1, characterized in that, During the cleaning process, when the rotational speed of the compression component in the current compression direction drops to a preset lower speed limit, controlling the drive component to rotate in the opposite direction of the current compression direction includes: During the cleaning process, when the rotational speed of the compression component decreases to a preset lower speed limit when rotating in the current compression direction, the set duration corresponding to the next compression direction is determined.

3. The dust box compression control method according to claim 2, characterized in that, The method for determining the set duration includes: When the remaining compression space in the next compression direction is greater than the remaining compression space in the current compression direction, the set duration is determined to be a preset first duration; When the remaining compression space in the next compression direction is less than the remaining compression space in the current compression direction, the set duration is determined to be a preset second duration, wherein the first duration is greater than the second duration.

4. The dust box compression control method according to claim 3, characterized in that, The method for determining the remaining compressed space includes: When the rotational speed of the compression component drops to a preset lower speed limit, the deviation angle of the compression component relative to the side closest to the dust box opening of the dust box is determined; the remaining compression space determined in the previous compression direction is used as the remaining compression space corresponding to the next compression direction.

5. The dust box compression control method according to claim 4, characterized in that, The drive assembly is equipped with an angle measuring component, which is used to output a pulse signal during the operation of the drive assembly, and the rotation speed and deviation angle are confirmed based on the pulse signal.

6. The dust box compression control method according to any one of claims 1-5, characterized in that, The rotation angle is determined based on the remaining compression space in the current compression direction.

7. The dust box compression control method according to claim 6, characterized in that, The method for determining the rotation angle includes: If the remaining compression space in the current compression direction exceeds a preset lower limit, the preset first angle value is confirmed to be the rotation angle. If the remaining compression space in the current compression direction is less than a preset lower limit value, the second angle value is confirmed to be the rotation angle, and the second angle value is the remaining compression space minus a preset redundant angle value.

8. The dust box compression control method according to any one of claims 1-5, characterized in that, The method further includes: If the drive assembly fails to receive a detection signal from the positioning sensor while driving the compression assembly to rotate in the current compression direction, a dustbin cleaning reminder will be issued. The positioning sensor is used to detect whether the compression assembly is rotating in an area that is off-center from the dustbin opening.

9. A self-propelled cleaning device, characterized in that, include: One or more processors; Memory, used to store one or more computer programs; When the one or more computer programs are executed by the one or more processors, the self-moving cleaning device implements the dust box compression control method as described in any one of claims 1-8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the dust box compression control method as described in any one of claims 1-8.

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