Control Method of Cleaning Device, Cleaning Device and Storage Medium

Abstract

The present application provides a control method, a cleaning device and a storage medium for a cleaning device. The cleaning device includes a suction pipeline. When the cleaning device is cleaning, dirt flows through the suction pipeline, and a dirt detection sensor is arranged in the suction pipeline. The method includes: obtaining the current detection data of the dirt detection sensor; determining the instantaneous dirt value and / or the instantaneous dirt degree and / or the dirt type of the dirt flowing through the cleaning device according to the current detection data and the initial detection data, where the initial detection data is the detection data of the dirt detection sensor when the cleaning device is powered on. In this way, the present application can objectively and accurately detect the dirt degree of the cleaning device, and further realize the intelligent control of the cleaning device.

Description

Technical Field

[0001] The present application relates to the field of cleaning technology, and in particular to a control method for cleaning equipment, cleaning equipment and a storage medium. Background Art

[0002] With the development of science and technology, cleaning equipment such as floor scrubbers and sweepers have begun to enter people's lives. Cleaning equipment can relatively reduce people's labor, but the current cleaning equipment is not smart enough: some cleaning equipment does not have a dirt detection solution, and the operator subjectively judges the degree of dirtiness to control the cleaning gear of the cleaning equipment; some cleaning equipment installs detection sensors on the roller brush to detect the dirtiness of the roller brush, but the aging of the roller brush, the state of attachments, and the friction between the roller brush and the detection sensor during operation are easy to introduce uncontrollable variable factors. In addition, it is impossible to detect that one side is dirty and the other side is not dirty, and there may be missed detection conditions. Summary of the invention

[0003] Based on this, the present application provides a control method for a cleaning device, a cleaning device and a storage medium, which can objectively and accurately detect the degree of dirtiness of the cleaning device.

[0004] In a first aspect, the present application provides a control method for a cleaning device, wherein the cleaning device comprises a suction pipe, dirt flows through the suction pipe during cleaning, and a dirt detection sensor is disposed in the suction pipe, the method comprising:

[0005] Acquiring current detection data of the dirt detection sensor;

[0006] The instantaneous dirt value and / or instantaneous dirt degree and / or dirt type of dirt flowing through the cleaning device is determined based on the current detection data and the initial detection data, and the initial detection data is the detection data of the dirt detection sensor when the cleaning device is turned on.

[0007] In a second aspect, the present application provides a cleaning device, which includes a suction pipe, through which dirt flows when the cleaning device is cleaning, and a dirt detection sensor is arranged in the suction pipe. The cleaning device also includes: a processor and a memory, the memory is used to store a computer program; the processor is used to execute the computer program and implement the control method of the cleaning device as described above when executing the computer program.

[0008] In a third aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the control method of the cleaning device as described above.

[0009] The cleaning device of the embodiment of the present application is provided with a dirt detection sensor, which is arranged in a suction duct. When the cleaning device is cleaning, dirt flows through the suction duct, and detection data of the dirt flowing through the duct is obtained by the dirt detection sensor arranged in the suction duct. Therefore, based on the current detection data of the dirt detection sensor and the initial detection data of the dirt detection sensor when the cleaning device is turned on, the instantaneous dirt value and / or the instantaneous dirt degree and / or the dirt type of the dirt flowing through the cleaning device can be determined. This detection method is relatively objective and does not require manual subjective judgment. The dirt detection sensor is arranged in the suction duct, which can avoid the introduction of uncontrollable variable factors as much as possible and also avoid missed detection conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a flow chart of an embodiment of a control method of a cleaning device of the present application;

[0011] Figure 2 It is a flow chart of another embodiment of the control method of the cleaning device of the present application;

[0012] Figure 3 It is a structural schematic diagram of an embodiment of a cleaning device in a control method of a cleaning device of the present application;

[0013] Figure 4 It is a flow chart of another embodiment of the control method of the cleaning device of the present application;

[0014] Figure 5 It is a flow chart of another embodiment of the control method of the cleaning device of the present application;

[0015] Figure 6 It is a flow chart of another embodiment of the control method of the cleaning device of the present application;

[0016] Figure 7 It is a structural schematic diagram of another embodiment of the cleaning device of the present application. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0018] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0019] With the development of technology, cleaning devices such as floor scrubbers and floor sweepers have started to enter people's lives. Cleaning devices can relatively reduce people's labor, but current cleaning devices are not intelligent enough: some cleaning devices do not have a dirt detection solution, and the operator subjectively judges the dirt degree to control the cleaning gear of the cleaning device; some cleaning devices install detection sensors on the roller brush to detect the dirt degree of the roller brush. However, factors such as roller brush aging, attachment state, and friction between the roller brush and the detection sensor during the working process of the roller brush are likely to introduce uncontrollable variable factors. In addition, the situation where one side is dirty and the other side is not dirty cannot be detected, and there may be a working condition of missed detection.

[0020] The cleaning device involved in the embodiments of the present application can be a cleaning robot, a base station (or base), or a handheld cleaning device (such as a floor scrubber), etc. Among them, the base station (or base) refers to a cleaning device used in cooperation with a cleaning robot or a handheld cleaning device. Taking the base as an example, for the convenience of users, the base is often used in cooperation with a floor scrubber. The base can be used to charge the floor scrubber. When the battery power of the floor scrubber is less than the threshold during the cleaning process, the floor scrubber can be placed on the base for charging. The base can also clean its cleaning components (such as the roller brush, drum). After the roller brush of the floor scrubber drags and wipes the ground, the roller brush often becomes dirty and needs to be cleaned. Specifically, the floor scrubber can be placed on the base for self-cleaning; the floor scrubber does not have to be placed on the base during self-cleaning.

[0021] Taking a floor scrubber as an example, the cleaning device includes a body, a cleaning component, a negative pressure source, a suction pipe and a sewage tank. The dirt after the cleaning component wipes the floor is sucked into the sewage tank through the suction pipe. The sewage tank is at least partially arranged in the body and can store solid and liquid garbage. The negative pressure source is placed in the body to provide negative pressure. The garbage stored in the sewage tank can be dirt, and the dirt includes sewage, solid garbage, and solid-liquid mixed garbage. The negative pressure source may include a first power device (for example, a fan), and the first power device is used to provide negative pressure to suck the garbage washed by the cleaning device on the ground to be cleaned into the sewage tank. Optionally, the sewage tank may include a solid-liquid separation chamber and a sewage chamber interconnected by a through hole or a pipe, and the solid-liquid separation chamber can be used to separate solid garbage and liquid garbage, and the liquid garbage flows to the sewage chamber. Correspondingly, the negative pressure source may also include a second power device (for example, a vacuum pump), and the second power device is used to provide negative pressure for the sewage chamber to separate the liquid garbage from the solid-liquid separation chamber to the sewage chamber as quickly as possible. In addition, the second power device provides negative pressure for the sewage chamber to prevent the liquid garbage in the sewage chamber from flowing back to the solid-liquid separation chamber as much as possible. Specifically, the second power device is used to increase the negative pressure of the sewage chamber so that the negative pressure of the sewage chamber is greater than the negative pressure of the solid-liquid separation chamber. The solid-liquid separation chamber and the sewage chamber are relatively independent. Such an arrangement can accommodate liquid garbage in the sewage chamber, so that the liquid garbage has a certain distance from the first power device, and the liquid garbage is prevented from being sucked into the first power device as much as possible. Optionally, in order to supply water during the cleaning process (such as spraying water or cleaning the roller brush of the floor scrubber, spraying water on the ground, etc.), the floor scrubber may also include a water supply component (such as a clean water tank). Optionally, the base may also include a third power device (for example: a fan of the base), and the third power device is used to provide cold air or hot air so that the floor scrubber can be air-dried after the base is self-cleaned.

[0022] The present application aims to improve the above-mentioned defects and provides a control method for a cleaning device, a cleaning device and a storage medium. The cleaning device is provided with a dirt detection sensor, which is arranged in a suction duct. When the cleaning device is cleaning, dirt flows through the suction duct, and detection data of the dirt flowing through the suction duct is obtained by the dirt detection sensor arranged in the suction duct. Therefore, according to the current detection data of the dirt detection sensor and the initial detection data of the dirt detection sensor when the cleaning device is turned on, the instantaneous dirt value and / or the instantaneous dirt degree and / or the dirt type of the dirt flowing through the cleaning device can be determined. This detection method is relatively objective and does not require manual subjective judgment. The dirt detection sensor is arranged in the suction duct, which can avoid the introduction of uncontrollable variable factors as much as possible and also avoid missed detection conditions.

[0023] The control method of the cleaning device provided in the embodiment of the present application is described in detail below.

[0024] See also Figure 1 , Figure 1FIG. 0 is a schematic flowchart of an embodiment of the control method of the cleaning device of the present application. In the embodiments of the present application, the cleaning device may refer to a mechanical device designed for cleaning, including but not limited to: vacuum cleaners, floor scrubbers, wet and dry vacuum cleaners, sweeping robots, mopping robots, sweep and mop integrated robots, and so on.

[0025] The cleaning device includes a suction pipeline. When the cleaning device is cleaning, dirt flows through the suction pipeline. A dirt detection sensor is arranged in the suction pipeline. The dirt detection sensor is arranged in the suction pipeline, which can avoid introducing uncontrollable variable factors as much as possible and also avoid the working conditions of missed detection. The dirt detection sensor is used to detect the physical characteristics of dirt. The dirt detection sensor includes but is not limited to: (1) a sensor for detecting the acoustic characteristics of dirt, such as an ultrasonic sensor that can judge the type of dirt by emitting ultrasonic waves and receiving the ultrasonic waves returned by the dirt; (2) a sensor for detecting the electrical characteristics of dirt, such as using resistance to judge the conductivity and a capacitive sensor to judge the capacitance change in the space of the suction pipeline caused by different dirt; (3) a sensor for detecting other optical characteristics, such as a camera that can judge the type of dirt through artificial intelligence (AI, Artificial Intelligence) recognition, a spectrometer that can judge the type of dirt by identifying the reflection spectrum of the dirt, and an infrared pair tube sensor that can identify the type and degree of dirt; and so on.

[0026] The method includes: step S101 and step S102.

[0027] Step S101: Obtain the current detection data of the dirt detection sensor.

[0028] Step S102: Determine the instantaneous dirt value and / or instantaneous dirt degree and / or dirt type of the dirt flowing through the cleaning device according to the current detection data and the initial detection data. The initial detection data is the detection data of the dirt detection sensor when the cleaning device is powered on.

[0029] The current detection data may be the physical characteristic data of the dirt currently detected by the dirt detection sensor. The detection data at different times is a dynamically changing data. The initial detection data is the detection data of the dirt detection sensor when the cleaning device is powered on. Theoretically, there is no dirt in the suction pipeline when the cleaning device is powered on. The initial detection data is the detection data in the state of no dirt when the cleaning device is powered on. The instantaneous dirt degree reflects the current dirt degree of the dirt flowing through the cleaning device, which is a dynamically changing dirt degree. According to the current detection data and the initial detection data, the instantaneous dirt value and / or instantaneous dirt degree and / or dirt type of the dirt flowing through the cleaning device can be determined. The instantaneous dirt value and / or instantaneous dirt degree can objectively reflect the dynamic change of the dirt degree of the cleaning device.

[0030] In some embodiments, the method further includes: step S103.

[0031] Step S103: When the cleaning device is powered on, obtain the detection data of the dirt detection sensor. If the detection data is greater than a preset first threshold and less than a preset second threshold, then use the detection data as the initial detection data.

[0032] Although theoretically the initial detection data is the detection data when the cleaning device is completely free of dirt when powered on, in order to prevent the detection data in the initial severely dirty state when powered on from being set as the initial detection data in the completely dirt-free state, in the embodiments of the present application, when the cleaning device is powered on, the initial detection data is obtained, and the range of the initial detection data is limited. The initial detection data when the detection data is greater than the preset first threshold and less than the preset second threshold is the valid initial detection data. In this way, it is possible to prevent the detection data in the initial severely dirty state when powered on from being used as the initial detection data.

[0033] In some embodiments, for step S102, the determining of the instantaneous dirt value and / or the instantaneous dirt degree and / or the dirt type of the dirt flowing through the cleaning device according to the current detection data and the initial detection data may include: sub-step S1021, sub-step S1022, and sub-step S1023, as Figure 2 shown.

[0034] Sub-step S1021: Determine whether the current detection data is greater than the initial detection data.

[0035] Sub-step S1022: If it is greater than the initial detection data, then use the difference between the current detection data and the initial detection data as the instantaneous dirt value, and determine that the dirt type is viscous dirt, the instantaneous dirt value is the detected viscous value, and determine the instantaneous dirt degree of the dirt flowing through the cleaning device according to the detected viscous value.

[0036] Sub-step S1023: If it is less than the initial detection data, then use the difference between the initial detection data and the current detection data as the instantaneous dirt value, and determine that the dirt type is non-viscous dirt, the instantaneous dirt value is the detected dirt value, and determine the instantaneous dirt degree of the dirt flowing through the cleaning device according to the detected dirt value.

[0037] The viscous dirt can refer to viscous dirt with high concentration, viscosity, and poor fluidity, including but not limited to: eight-treasure porridge, paint, rice paste, etc. The non-viscous dirt can refer to dirt other than viscous dirt, usually referring to solid dirt and liquid dirt. The instantaneous dirt value is determined by the absolute value of the difference between the current detection data and the initial detection data, and the dirt type is classified: when the current detection data is greater than the initial detection data, the dirt type is determined to be viscous dirt, and the absolute value of the difference between the two is used as the detected viscosity value, and the instantaneous dirt degree of the dirt flowing through the cleaning device is determined according to the detected viscosity value; when the current detection data is less than the initial detection data, the dirt type is determined to be non-viscous dirt, and the absolute value of the difference between the two is used as the detected dirt value, and the instantaneous dirt degree of the dirt flowing through the cleaning device is determined according to the detected dirt value.

[0038] In the embodiment of the present application, the instantaneous dirt value is determined by the absolute value of the difference between the current detection data and the initial detection data, and the dirt type is classified, and then the instantaneous dirt degree is determined according to the classified dirt. On the one hand, the instantaneous dirt value can be determined and the dirt can be classified. On the other hand, since the instantaneous dirt degree is determined according to the classified dirt, the instantaneous dirt degree can more objectively illustrate the dirt degree corresponding to the dirt type.

[0039] In some embodiments, in sub-step S1022, the determining the instantaneous dirt degree of the dirt flowing through the cleaning device according to the detected viscosity value may further include: determining the instantaneous dirt degree of the dirt flowing through the cleaning device according to the detected viscosity value and the corresponding relationship between the preset dirt degree and the preset viscosity value; in sub-step S1023, the determining the instantaneous dirt degree of the dirt flowing through the cleaning device according to the detected dirt value may further include: determining the instantaneous dirt degree of the dirt flowing through the cleaning device according to the detected dirt value and the corresponding relationship between the preset dirt degree and the preset dirt value.

[0040] In the embodiment of the present application, the corresponding relationship between the preset dirt degree and the preset viscosity value, and the corresponding relationship between the preset dirt degree and the preset dirt value can be determined in advance through experimental data or empirical data. After obtaining the detected viscosity value, combined with the corresponding relationship between the preset dirt degree and the preset viscosity value, the instantaneous dirt degree of the dirt flowing through the cleaning device can be determined. After obtaining the detected dirt value, combined with the corresponding relationship between the preset dirt degree and the preset dirt value, the instantaneous dirt degree of the dirt flowing through the cleaning device can be determined. In this way, the instantaneous dirt degree of the dirt flowing through the cleaning device can be determined quickly and conveniently.

[0041] For example: Determine the corresponding relationship between the preset dirt degree and the preset viscosity value:

[0042] For viscous dirt, set the initial detection data of the dirt detection sensor to 2000 and the maximum detection data to 3000; if the dirt level of viscous dirt is divided into 5 levels, the detection data for each level is (3000 - 2000) / 5 = 200, then the dirt level of viscous dirt = (current detection data - 2000) / 200. If the current detection data of the dirt detection sensor is 2600, then the instantaneous dirt level of the viscous dirt = (2600 - 2000) / 200 = 3, that is, the instantaneous dirt level of the viscous dirt is level 3.

[0043] For example: Determine the correspondence between the preset dirt level and the preset dirt value:

[0044] For non-viscous dirt, set the initial detection data of the dirt detection sensor to 2000 and the minimum detection data to 200; if the dirt level of non-viscous dirt is divided into 10 levels, the detection data for each level is (2000 - 200) / 10 = 180. If the current detection data of the dirt detection sensor is 1100, then the instantaneous dirt level of the non-viscous dirt = (2000 - 1100) / 180 = 5, that is, the instantaneous dirt level of the non-viscous dirt is level 5.

[0045] In some embodiments, the method further includes: step S104.

[0046] Step S104: Determine the instantaneous viscosity level of the dirt (i.e., viscous dirt) flowing through the cleaning device according to the detected viscosity value and the correspondence between the preset viscosity level and the preset viscosity value.

[0047] In the embodiments of the present application, viscous dirt has a certain viscosity level. Understanding the instantaneous viscosity level of viscous dirt helps to reasonably adjust the gears of each component according to the instantaneous viscosity level during the cleaning process to better perform cleaning. The correspondence between the preset viscosity level and the preset viscosity value can be determined in advance through experimental data or empirical data. After obtaining the detected viscosity value, combined with the correspondence between the preset viscosity level and the preset viscosity value, the instantaneous viscosity level of the dirt (i.e., viscous dirt) flowing through the cleaning device can be determined.

[0048] For example: Determine the correspondence between the preset viscosity level and the preset viscosity value:

[0049] For viscous dirt, set the initial detection data of the dirt detection sensor to 2000 and the maximum detection data to 3000. If the viscosity level of the viscous dirt is divided into 5 levels, the detection data for each level is (3000 - 2000) / 5 = 200. Then the viscosity level of the viscous dirt = (current detection data - 2000) / 200. If the current detection data of the dirt detection sensor is 2600, then the instantaneous viscosity level of the viscous dirt = (2600 - 2000) / 200 = 3, that is, the instantaneous viscosity level of the viscous dirt is level 3.

[0050] In some embodiments, the dirt detection sensor includes an infrared pair tube sensor, and the infrared pair tube sensor includes at least one emitter tube and at least one receiver tube. In some embodiments, the emitter tube and the receiver tube of the infrared pair tube sensor are respectively arranged on opposite sides or the same side inside the suction pipeline. The infrared pair tube sensor is relatively easy to obtain and has a relatively low price.

[0051] As Figure 3 shown, taking a floor washer as an example of the cleaning device, the rotating brush 10 rotates (the solid arrow in the figure indicates the rotation direction), driving the dirt on the ground into the rotating brush 10 (i.e., the cleaning component). The suction fan 20 (i.e., the first power device) sucks air in the suction pipeline 30, creating a negative pressure in the suction pipeline 30, causing the dirt on the rotating brush 10 to enter the suction pipeline 30 (the dashed arrow in the figure indicates the direction of the dirt entering the suction pipeline 30). The emitter tube 41 and the receiver tube 42 of the infrared pair tube sensor are respectively placed on opposite sides inside the suction pipeline 30. The optical signal emitted by the emitter tube 41 is blocked by the dirt and attenuated, or regularly refracted by the viscous liquid to form fluctuations, and finally reflected in the change of the signal received by the receiver tube 42.

[0052] At this time, step S101, obtaining the current detection data of the dirt detection sensor, may include: sub-step S1011 and sub-step S1012, as Figure 4 shown.

[0053] Sub-step S1011: Obtain the original detection data of the infrared pair tube sensor.

[0054] Sub-step S1012: Perform filtering processing on the original detection data, that is, calculate the filtering value to obtain the current detection data.

[0055] In the embodiments of the present application, for the original detection data (AD value) of the infrared pair tube sensor collected in real time, the filtering value is calculated through a filtering algorithm to obtain the current detection data, which can reduce the impact of mutations or fluctuations in the original detection data (AD value) of the infrared pair tube sensor itself on the detection logic.

[0056] In some embodiments, step S101, obtaining the current detection data of the dirt detection sensor may further include: obtaining the current detection data of the dirt detection sensor when the cleaning device performs a cleaning task and / or a self-cleaning task; at this time, after step S102, determining the instantaneous dirt value and / or the instantaneous dirt degree and / or the dirt type of the dirt flowing through the cleaning device according to the current detection data and the initial detection data, it may further include: controlling the gear of at least one component of the cleaning device to increase the force according to the instantaneous dirt degree of the dirt flowing through the cleaning device from low to high. The gears of the components include but are not limited to: the gear of the first power device (for example, a blower, which can be used to provide negative pressure to suck the garbage on the ground to be cleaned into the sewage tank), the gear of the second power device (for example, a vacuum pump, which can be used to provide negative pressure for the sewage tank), the gear of the third power device (for example, the blower at the base, which can be used to dry the cleaning components), the gear of the fourth power device (for example, a peristaltic pump, which can be used to control the water output of the clean water tank), and the gear of the fifth power device (for example, a motor, which can be used to provide power for the cleaning components, control its rotation speed, etc.).

[0057] In the embodiments of the present application, the logic of dirt detection is applied to the cleaning task and / or the self-cleaning task, that is, when the cleaning device performs the cleaning task and / or the self-cleaning task, the current detection data of the dirt detection sensor is obtained. After detecting the instantaneous dirt degree of the dirt flowing through the cleaning device, the gear of at least one component of the cleaning device will be dynamically adjusted according to the instantaneous dirt degree of the dirt flowing through the cleaning device, that is, controlling the gear of at least one component of the cleaning device to increase the force according to the instantaneous dirt degree of the cleaning device from low to high. The gears of the components include but are not limited to the gear of the first power device, the gear of the second power device, the gear of the third power device, the gear of the fourth power device, and the gear of the fifth power device.

[0058] In the embodiments of the present application, by controlling the gear of at least one component of the cleaning device to increase the force according to the instantaneous dirt degree of the dirt flowing through the cleaning device from low to high, the cleaning efficiency and the cleaning effect can be improved.

[0059] In some embodiments, the method further includes: step S105, step S106, step S107, and step S108, as Figure 5 shown.

[0060] Step S105: Determine whether the instantaneous dirt degree is greater than a preset dirt degree threshold.

[0061] Step S106: If it is greater than the preset dirt degree threshold, record the duration during which the instantaneous dirt degree is greater than the preset dirt degree threshold.

[0062] Step S107: Determine whether the duration is greater than a first preset time threshold.

[0063] Step S108: If it is greater than the first preset time threshold, determine that the degree of dirt of the cleaning device is abnormal, and control the cleaning device to send a self-cleaning prompt message.

[0064] In the embodiments of the present application, during the cleaning task and / or the self-cleaning task, it is possible that the degree of dirt is abnormal, that is, the instantaneous degree of dirt of the cleaning device is greater than the preset degree of dirt threshold, and the duration during which the instantaneous degree of dirt is greater than the preset degree of dirt threshold is greater than the first preset time threshold. Then, at this time, it indicates that the degree of dirt of the cleaning device is abnormal, and it is necessary to perform self-cleaning or increase the intensity of self-cleaning to avoid reducing the cleaning efficiency and cleaning effect due to continuing the cleaning task and / or the self-cleaning task. Therefore, control the cleaning device to send a self-cleaning prompt message. For example, the first preset time threshold can be 20 seconds, 30 seconds, 40 seconds, etc.

[0065] In some embodiments, the method further includes: Step S109, Step S110, Step S111, Step S112, Step S113, and Step S114, as Figure 6 shown.

[0066] Step S109: Obtain the cleaning time of the cleaning device.

[0067] Step S110: According to each instantaneous degree of dirt and the cleaning time, calculate the cumulative degree of dirt of the cleaning device.

[0068] Step S111: Determine whether the cumulative degree of dirt reaches a preset cumulative dirt threshold.

[0069] Step S112: If it reaches the preset cumulative dirt threshold, control the cleaning device to send a self-cleaning prompt message.

[0070] Step S113: Alternatively, determine whether the cleaning time reaches a second preset time threshold.

[0071] Step S114: If it reaches the second preset time threshold, control the cleaning device to send a self-cleaning prompt message.

[0072] In the embodiments of the present application, if the cumulative dirt level of the cleaning device during the cleaning task and / or the self-cleaning task reaches a preset cumulative dirt threshold, the cleaning device is controlled to send out the self-cleaning prompt information; or, if the cumulative cleaning time reaches a second preset time threshold, the cleaning device is controlled to send out the self-cleaning prompt information. By sending out the self-cleaning prompt information when the cumulative dirt level reaches the preset cumulative dirt threshold or the cumulative cleaning time reaches the second preset time threshold, it is possible to avoid, as much as possible, the cleaning device with a relatively high cumulative dirt level or a relatively long cumulative cleaning time from continuing the task, thereby reducing the cleaning effect and cleaning efficiency.

[0073] In some embodiments, controlling the cleaning device to send out a self-cleaning prompt information may include: controlling the cleaning device to send out a self-cleaning voice prompt information, controlling the cleaning device to display the self-cleaning prompt information on the display interface of the cleaning device, and controlling the cleaning device to send out a self-cleaning vibration prompt information; it may be one of the above prompts, or a combination of two or three prompts.

[0074] It should be noted that in some of the processes described in the above embodiments and the accompanying drawings, there are multiple operations that appear in a specific order. However, it should be clearly understood that these operations may not be executed in the order in which they appear in this document or may be executed in parallel. The operation numbers such as S201, S202, first, second, etc. are only used to distinguish different operations, and the numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel.

[0075] See Figure 7 , Figure 7 is a schematic structural diagram of another embodiment of the cleaning device of the present application. It should be noted that the cleaning device of the embodiments of the present application can implement the control method of the above cleaning device. For the detailed description of related content, please refer to the above method part, and will not be repeated here.

[0076] The cleaning device 100 includes a suction pipeline 30. During cleaning, dirt flows through the suction pipeline 30. A dirt detection sensor 40 is provided in the suction pipeline 30. The cleaning device 100 further includes: a processor 50, a memory 60, a user interface 70, and a network interface 80. The memory 60 is used to store computer programs; the processor 50 is used to execute the computer programs and when executing the computer programs, implement the control method of the cleaning device as described in any of the above. The dirt detection sensor 40, the user interface 70, the network interface 80, and the memory 60 are connected to the processor 50 through a bus.

[0077] Among them, the processor 50 may be a micro control unit, a central processing unit, a digital signal processor, etc. The memory 60 may be a Flash chip, a read-only memory, a magnetic disk, an optical disc, a USB flash drive or a portable hard drive, etc. The user interface (UI) 70 is a medium for interaction and information exchange between the cleaning device 100 and the user, and it realizes the conversion between the internal form of information and the form acceptable to humans; the user interface 70 generally has three types: a command interface, a program interface, and a graphical interface. The network interface 80 refers to various interfaces of the cleaning device 100. Currently, the network interfaces used are all Ethernet interfaces. Common types of Ethernet interfaces include RJ-45 interfaces, RJ-11 interfaces, SC fiber optic interfaces, FDDI interfaces, AUI interfaces, BNC interfaces, Console interfaces, etc.

[0078] The present application also provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the processor is caused to implement the control method of the cleaning device as described in any one of the above.

[0079] Among them, the computer-readable storage medium may be an internal storage unit of the above-mentioned cleaning device, such as a hard disk or a memory. The computer-readable storage medium may also be an external storage device of the above-mentioned cleaning device, such as a plug-in hard disk, a smart memory card, a secure digital card, a flash card, etc.

[0080] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it may include the processes of the embodiments of the above methods. Among them, any reference to a memory, a storage, a database or other media provided in the present application and used in the embodiments may include non-volatile and / or volatile memories. The non-volatile memory may include a read-only memory (ROM), a programmable ROM (PROM), an electrically programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM) or a flash memory. The volatile memory may include a random access memory (RAM) or an external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0081] It should be understood that the terms used in the description of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application.

[0082] It should also be understood that the term "and / or" used in the description of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0083] As described above, these are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A control method for a cleaning device, characterized in that The cleaning device includes a suction pipeline. During cleaning, dirt flows through the suction pipeline, and a dirt detection sensor is provided in the suction pipeline. The method includes: Obtaining current detection data of the dirt detection sensor; Determining an instantaneous dirt value and / or an instantaneous dirt degree and / or a dirt type of the dirt flowing through the cleaning device according to the current detection data and initial detection data, where the initial detection data is the detection data of the dirt detection sensor when the cleaning device is powered on; Among them, the determining of the instantaneous dirt value and / or the instantaneous dirt degree and / or the dirt type of the dirt flowing through the cleaning device according to the current detection data and the initial detection data includes: Judging whether the current detection data is greater than the initial detection data; If it is greater than the initial detection data, determining that the dirt type is viscous dirt; If it is less than the initial detection data, determining that the dirt type is non-viscous dirt.

2. The method according to claim 1, characterized in that The method further includes: When the cleaning device is powered on, obtaining the detection data of the dirt detection sensor. If the detection data is greater than a preset first threshold and less than a preset second threshold, using the detection data as the initial detection data.

3. The method according to claim 2, wherein The determining of the instantaneous dirt value and / or the instantaneous dirt degree and / or the dirt type of the dirt flowing through the cleaning device according to the current detection data and the initial detection data further includes: If it is greater than the initial detection data, using the difference between the current detection data and the initial detection data as the instantaneous dirt value, and determining that the instantaneous dirt value is the detected viscosity value, and determining the instantaneous dirt degree of the dirt flowing through the cleaning device according to the detected viscosity value; If it is less than the initial detection data, using the difference between the initial detection data and the current detection data as the instantaneous dirt value, and determining that the instantaneous dirt value is the detected dirt value, and determining the instantaneous dirt degree of the dirt flowing through the cleaning device according to the detected dirt value.

4. The method according to claim 3, characterized in that, The determining of the instantaneous dirt degree of the dirt flowing through the cleaning device according to the detected viscosity value includes: Determining the instantaneous dirt degree of the dirt flowing through the cleaning device according to the detected viscosity value and the corresponding relationship between the preset dirt degree and the preset viscosity value; The determining of the instantaneous dirt degree of the dirt flowing through the cleaning device according to the detected dirt value includes: Determining the instantaneous dirt degree of the dirt flowing through the cleaning device according to the detected dirt value and the corresponding relationship between the preset dirt degree and the preset dirt value.

5. The method according to claim 3, characterized in that, The method further includes: Determining the instantaneous viscosity degree of the dirt flowing through the cleaning device according to the detected viscosity value and the corresponding relationship between the preset viscosity degree and the preset viscosity value.

6. The method according to any one of claims 1-5, characterized in that, The dirt detection sensor includes an infrared pair tube sensor. The obtaining of the current detection data of the dirt detection sensor includes: Obtaining the original detection data of the infrared pair tube sensor; Performing filtering processing on the original detection data to obtain the current detection data.

7. The method according to claim 1, wherein The obtaining of the current detection data of the dirt detection sensor includes: When the cleaning device performs a cleaning task and / or a self-cleaning task, obtain the current detection data of the dirt detection sensor; After determining the instantaneous dirt value and / or the instantaneous dirt degree and / or the dirt type of the dirt flowing through the cleaning device according to the current detection data and the initial detection data, it further includes: According to the instantaneous dirt degree of the dirt flowing through the cleaning device from low to high, control the gear increasing force of at least one component of the cleaning device. The gears of the component include the gear of the first power device, the gear of the second power device, the gear of the third power device, the gear of the fourth power device, and the gear of the fifth power device.

8. The method according to claim 1, characterized in that The method further includes: Judge whether the instantaneous dirt degree is greater than a preset dirt degree threshold; If it is greater than the preset dirt degree threshold, record the duration that the instantaneous dirt degree is greater than the preset dirt degree threshold; Judge whether the duration is greater than a first preset time threshold; If it is greater than the first preset time threshold, determine that the dirt degree of the cleaning device is abnormal, and control the cleaning device to send a self-cleaning prompt message.

9. The method according to claim 1, characterized in that, The method further includes: Obtain the cleaning time of the cleaning device; According to each instantaneous dirt degree and the cleaning time, count the cumulative dirt degree of the cleaning device; Judge whether the cumulative dirt degree reaches a preset cumulative dirt threshold; If it reaches the preset cumulative dirt threshold, control the cleaning device to send a self-cleaning prompt message; or, Judge whether the cleaning time reaches a second preset time threshold; If it reaches the second preset time threshold, control the cleaning device to send a self-cleaning prompt message.

10. The method according to claim 8 or 9, characterized in that, The controlling the cleaning device to send a self-cleaning prompt message includes: Controlling the cleaning device to send a self-cleaning voice prompt message, controlling the cleaning device to display a self-cleaning prompt message on the display interface of the cleaning device, and controlling the cleaning device to send at least one of a self-cleaning vibration prompt message.

11. A cleaning device, characterized in that, The cleaning device includes a suction pipeline. When the cleaning device is cleaning, dirt flows through the suction pipeline. A dirt detection sensor is arranged in the suction pipeline. The cleaning device further includes: a processor and a memory. The memory is used to store a computer program; the processor is used to execute the computer program and when executing the computer program, implement the control method of the cleaning device according to any one of claims 1-10.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the control method of the cleaning device according to any one of claims 1-10.

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