Cleaning device, control method thereof, and storage medium

Abstract

The present application relates to a cleaning device, a control method for the cleaning device, and a storage medium, belonging to the technical field of automatic control. The cleaning device includes: a cleaning base; a wheel body located on the cleaning base; a cleaning mechanism located on the cleaning base; when the cleaning device performs a cleaning operation on a surface to be cleaned, a cleaning driving member drives a cleaning member to rotate in the advancing direction of the cleaning device; a sensing assembly for collecting information related to the movement of the cleaning device; a controller connected to the sensing assembly, configured to: obtain the movement-related information; determine the movement state of the cleaning device based on the movement-related information; control the operation of the cleaning device according to the movement state; which can solve the problem that the use of a fixed working mode for the cleaning device results in poor cleaning effects in some movement states. Since the movement state of the cleaning device can be determined and the operation of the cleaning device can be controlled according to the movement state, the cleaning effect of the cleaning device can be improved.

Description

Technical Field

[0001] This application belongs to the technical field of automatic control, and particularly relates to a cleaning device, a control method for the cleaning device, and a storage medium. Background Art

[0002] A cleaning device refers to a device with the function of cleaning a surface to be cleaned.

[0003] Taking a floor washer as an example of a cleaning device, the traditional control method for a floor washer includes: controlling the cleaning mechanism to work in a fixed working mode.

[0004] However, since the moving state of the cleaning device cannot be determined, it is impossible to control the cleaning device to work according to the moving state, and controlling the cleaning device to use a fixed working mode may result in poor cleaning effects in some moving states. Summary of the Invention

[0005] This application provides a cleaning device, a control method for the cleaning device, and a storage medium, which can solve the problem that since the moving state of the cleaning device cannot be determined, it is impossible to control the cleaning device to work according to the moving state, and controlling the cleaning device to use a fixed working mode results in poor cleaning effects in some moving states. This application provides the following technical solutions:

[0006] In a first aspect, a cleaning device is provided, which includes:

[0007] A cleaning base;

[0008] A wheel body located on the cleaning base, and the wheel body can drive the cleaning device to move forward or backward;

[0009] A cleaning mechanism located on the cleaning base; the cleaning mechanism includes a cleaning part and a cleaning driving part connected to the cleaning part; when the cleaning device performs cleaning work on the surface to be cleaned, the cleaning driving part drives the cleaning part to rotate in the forward direction of the cleaning device;

[0010] A sensing component to collect movement-related information of the cleaning device;

[0011] A controller connected to the sensing component, configured to:

[0012] Obtain the movement-related information;

[0013] Determine the moving state of the cleaning device based on the movement-related information, where the moving state includes a forward state and a backward state;

[0014] Control the cleaning device to work according to the moving state.

[0015] Optionally, the movement-related information includes the rotation direction of the wheel body; determining the movement state of the cleaning device based on the movement-related information includes:

[0016] When the rotation direction is the first rotation direction, determining that the movement state is the forward state; the first rotation direction is the direction in which the cleaning device moves forward;

[0017] When the rotation direction is the second rotation direction, determining that the movement state is the backward state; the second rotation direction is opposite to the first rotation direction and is the direction in which the cleaning device moves backward.

[0018] Optionally, determining the movement state of the cleaning device based on the movement-related information includes:

[0019] Determining the change in distance between the cleaning device and a reference object in the current working environment based on the movement-related information;

[0020] Obtaining the relative position of the reference object with respect to the cleaning device;

[0021] When the relative position is that the reference object is located at the front end of the cleaning device and the change in distance indicates that the distance between the cleaning device and the reference object is gradually decreasing, determining that the movement state is the forward state;

[0022] When the relative position is that the reference object is located at the front end of the cleaning device and the change in distance indicates that the distance between the cleaning device and the reference object is gradually increasing, determining that the movement state is the backward state;

[0023] When the relative position is that the reference object is located at the rear end of the cleaning device and the change in distance indicates that the distance between the cleaning device and the reference object is gradually decreasing, determining that the movement state is the backward state;

[0024] When the relative position is that the reference object is located at the rear end of the cleaning device and the change in distance indicates that the distance between the cleaning device and the reference object is gradually increasing, determining that the movement state is the forward state.

[0025] Optionally, the sensing component is installed at the front end of the cleaning device and is used to collect object information of a reference object located at the front end of the cleaning device; obtaining the relative position of the reference object with respect to the cleaning device includes: when the sensing data collected by the sensing component is obtained, determining that the reference object is located at the front end of the cleaning device;

[0026] Or,

[0027] The sensing component is installed at the rear end of the cleaning device and is used to collect object information of a reference object located at the rear end of the cleaning device; obtaining the relative position of the reference object with respect to the cleaning device includes: when the sensing data collected by the sensing component is obtained, determining that the reference object is located at the rear end of the cleaning device.

[0028] Optionally, the movement-related information is used to indicate a reference distance between the cleaning device and the reference object; determining a change in the distance between the cleaning device and the reference object in the current working environment based on the movement-related information includes:

[0029] When the reference distance obtained this time is less than the reference distance obtained last time, determining that the distance between the cleaning device and the reference object is gradually shrinking;

[0030] When the reference distance obtained this time is greater than the reference distance obtained last time, determining that the distance between the cleaning device and the reference object is gradually increasing.

[0031] Optionally, the cleaning device further includes:

[0032] An operating rod with one end connected to the cleaning base, and a handle is provided at the other end of the operating rod;

[0033] The sensing component includes a pressure sensing component installed on the handle and an angle sensor installed on the operating rod. Correspondingly, the movement-related information includes pressure data collected by the pressure sensing component and tilt angle data collected by the angle sensor;

[0034] Determining the movement state of the cleaning device based on the movement-related information includes:

[0035] Determining the movement state based on the pressure data and the tilt angle data.

[0036] Optionally, determining the movement state based on the pressure data and the tilt angle data includes:

[0037] Comparing the pressure data with template pressure data; the template pressure data includes pressure data of the cleaning device in the forward state and / or pressure data of the cleaning device in the backward state;

[0038] Comparing the tilt angle data with template angle data; the template angle data includes tilt angle data of the cleaning device in the forward state and / or tilt angle data of the cleaning device in the backward state;

[0039] Determine the moving state based on the comparison result between the pressure data and the template pressure data and the comparison result between the tilt angle data and the template angle data.

[0040] Optionally, determining the moving state based on the pressure data and the tilt angle data includes:

[0041] Input the pressure data and the tilt angle data into a pre-trained state recognition model to obtain the moving state; the state recognition model is obtained by training a neural network using training data, and each group of training data includes sample pressure data, sample tilt angle data, and the moving state label data corresponding to the sample pressure data and the sample tilt angle data.

[0042] In a second aspect, a control method for a cleaning device is provided, which is used in the cleaning device provided in the first aspect. The method includes:

[0043] Obtain the movement-related information of the cleaning device collected by the sensing component;

[0044] Determine the moving state of the cleaning device based on the movement-related information, where the moving state includes a forward state and a backward state;

[0045] Control the cleaning device to work according to the moving state.

[0046] In a third aspect, a computer-readable storage medium is provided. A program is stored in the storage medium, and when the program is executed by a processor, it is used to implement the control method of the cleaning device provided in the second aspect.

[0047] The beneficial effects of the present application at least include: The cleaning device includes: a cleaning base; a wheel body located on the cleaning base, and the wheel body can drive the cleaning device to move forward or backward; a cleaning mechanism located on the cleaning base; the cleaning mechanism includes a cleaning member and a cleaning driving member connected to the cleaning member; in the case where the cleaning device performs cleaning work on the surface to be cleaned, the cleaning driving member drives the cleaning member to rotate in the forward direction of the cleaning device; a sensing component for collecting the movement-related information of the cleaning device; a controller connected to the sensing component, configured to: obtain the movement-related information; determine the moving state of the cleaning device based on the movement-related information, where the moving state includes a forward state and a backward state; control the cleaning device to work according to the moving state; it can solve the problem that the cleaning effect in some moving states is poor due to the cleaning device using a fixed working mode. Since the moving state of the cleaning device can be determined and the cleaning device is controlled to work according to the moving state, the cleaning effect of the cleaning device can be improved.

[0048] In addition, since the wheel body always rotates in the forward direction of the cleaning device when the cleaning device is in the forward state, and the wheel body always rotates in the backward direction of the cleaning device when the cleaning device is in the backward state, the moving state of the cleaning device can be determined based on the rotation direction of the wheel body.

[0049] In addition, when the cleaning device is in the forward state, the cleaning device gradually approaches the reference object in front of the cleaning device and gradually moves away from the reference object behind the cleaning device. When the cleaning device is in the backward state, the cleaning device gradually approaches the reference object behind the cleaning device and gradually moves away from the reference object in front of the cleaning device. Therefore, based on the distance change between the cleaning device and the reference object and the relative position of the reference object with respect to the cleaning device, the moving state of the cleaning device can be determined.

[0050] In addition, since the change situation of the reference distance is the same as that of the actual distance, the distance change situation between the cleaning device and the reference object can be determined based on the change situation of the reference distance.

[0051] In addition, since the acting mode of the external force acting on the handle in the forward state is different from that in the backward state, which results in the values of the pressure data and the tilt angle in the forward state being different from their respective values in the backward state, the moving state can be determined based on the pressure data and the tilt angle data.

[0052] In addition, since determining the moving state by combining the pressure data and the tilt angle data can avoid the problem of low accuracy of the determined moving state when using only the pressure data or the tilt angle data to determine the moving state, the accuracy of the determined moving state can be improved.

[0053] In addition, since the pressure data is compared with the template pressure data, the tilt angle data is compared with the template tilt angle data, and the moving state is determined based on the comparison results, complex reasoning calculations can be avoided and the computing resources of the cleaning device can be saved.

[0054] In addition, since the pressure data and the tilt angle data are simultaneously input into the state recognition model to obtain the moving state, the problem that the finally determined moving state is inaccurate due to inaccurate judgment results when obtaining judgment results based on the pressure data and the tilt angle data respectively and then determining the moving state based on the judgment results can be avoided. Therefore, the accuracy of the determined moving state can be improved. Description of the Drawings

[0055] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0056] Figure 1 It is a schematic structural diagram of a cleaning device provided by an embodiment of the present application;

[0057] Figure 2 It is a flowchart of a control method for a cleaning device provided by an embodiment of the present application;

[0058] Figure 3 It is a block diagram of a control device for a cleaning device provided by an embodiment of the present application;

[0059] Figure 4 It is a block diagram of an electronic device provided by an embodiment of the present application. Specific Embodiments

[0060] The following will clearly and completely describe the technical solutions of the present application in conjunction with the drawings. Obviously, the described embodiments are some embodiments of the present application, rather than all embodiments. The present application will be described in detail below with reference to the drawings and in conjunction with the embodiments. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0061] It should be noted that the terms "first", "second", etc. in the description and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence.

[0062] In the present application, unless otherwise stated, the orientation terms such as "upper", "lower", "top", "bottom" are usually in the direction shown in the drawings, or in the vertical, perpendicular or gravitational direction of the component itself; similarly, for the sake of understanding and description, "inner", "outer" refer to the inner and outer of the contour of each component itself, but the above orientation terms do not limit the present application.

[0063] Figure 1It is a schematic structural diagram of a cleaning device provided by an embodiment of the present application. Among them, the cleaning device includes, but is not limited to: floor scrubbers, sweepers, sweep-and-mop integrated machines, etc., which can clean the surface to be cleaned. The device type of the cleaning device is not limited in this embodiment. Among them, the surface to be cleaned can be the ground, desktop, wall, solar cell surface, etc. The type of the surface to be cleaned is not limited in this embodiment. The cleaning device at least includes a cleaning base 110, a cleaning mechanism 120, a wheel body 130, a sensing component 140, and a controller 150.

[0064] The cleaning base 110 is used to fix the wheel body 120 and the cleaning mechanism 130. The shape of the cleaning base 110 can be a regular geometric body, such as a circle, a square, or it can also be set into other shapes according to the actual application scenario. The shape of the cleaning base 110 is not limited in this embodiment.

[0065] The cleaning base 110 mainly plays a role in protection and support. The cleaning base 110 can be integrally formed or a detachable structure. The implementation manner of the cleaning base 110 is not limited in this embodiment.

[0066] The cleaning mechanism 120 is a mechanism that contacts the surface to be cleaned when the cleaning device performs cleaning work to clean the surface to be cleaned.

[0067] Optionally, the cleaning mechanism 120 includes a cleaning part 121 and a cleaning driving part 122. When the cleaning device performs cleaning work on the surface to be cleaned, the cleaning driving part 122 drives the cleaning part 121 to rotate in the forward direction of the cleaning device. In other words, in this embodiment, the rotation direction of the cleaning part 121 is fixed, and the rotation direction of the cleaning part 121 is the forward direction of the cleaning device.

[0068] In this embodiment, taking the forward direction of the cleaning device as the front end of the cleaning device as an example for illustration.

[0069] The cleaning driving part 122 can be a motor or any component with a driving function. The type of the cleaning driving part 122 is not limited in this embodiment.

[0070] In one example, the cleaning part 121 is cylindrical. At this time, the cleaning part 121 can be a roller brush. When the cleaning device performs cleaning work on the surface to be cleaned, the side surface of the cleaning part 121 contacts the surface to be cleaned.

[0071] Correspondingly, the cleaning driving part 122 is installed on the bottom surface of the cleaning part 121 to drive the cleaning part 121 to rotate in the forward direction of the cleaning device with the axis of the cleaning part 121 as the axis.

[0072] In actual implementation, the cleaning device may also include other types of cleaning mechanisms 120, such as: brushes or mops, etc. This embodiment does not limit the number and implementation manner of the cleaning mechanism 120.

[0073] The wheel body 130 is used to drive the cleaning device to move forward or backward. Generally, the wheel body 130 is installed at the bottom of the cleaning base 110, such as: installed at the center position of the bottom, the front end of the bottom, and / or the edge of the bottom, etc. This embodiment does not limit the installation position of the wheel body 130.

[0074] Among them, moving forward means: the cleaning device moves in the forward direction.

[0075] Moving backward means: the cleaning device moves in the direction opposite to the forward direction.

[0076] Optionally, the wheel body 130 can be circular, or it can also be spherical. This embodiment does not limit the implementation manner of the wheel body 130.

[0077] In one example, the shape of the wheel body 130 is circular. At this time, the wheel body 130 can rotate in the forward direction of the cleaning device to drive the cleaning device forward, or it can also rotate in the backward direction of the cleaning device to drive the cleaning device backward.

[0078] Among them, the backward direction means: the direction opposite to the forward direction.

[0079] Optionally, the number of the wheel bodies 130 installed on the cleaning device can be one or at least two. This embodiment does not limit the number of the wheel bodies 130.

[0080] In this embodiment, the cleaning device further includes an operating rod 160 with one end connected to the cleaning base 110, and a handle 170 is provided at the other end of the operating rod 160. The handle 170 is used to push the cleaning device forward or pull the cleaning device backward through the operating rod 160 under the action of an external force.

[0081] Optionally, the operating rod 160 is rotatably connected to the cleaning base 110, that is to say, the included angle between the operating rod 160 and the cleaning base 110 is variable.

[0082] In one example, the range of the included angle between the operating rod 160 and the rear side of the cleaning base 110 is 30° to 100°. In actual implementation, the range of the included angle between the operating rod 160 and the cleaning base 110 can be set according to actual needs. This embodiment does not limit the range of the included angle between the operating rod 160 and the cleaning base 110.

[0083] Generally, the operating lever 160 is installed on the top of the cleaning base 110, for example: installed at the top center position, the top rear end, and / or the top edge, etc. In actual implementation, the operating lever 160 can also be installed at other positions of the cleaning base 110, for example: the rear side of the cleaning base 110. This embodiment does not limit the installation position of the operating lever 160.

[0084] The sensing component 140 is used to collect information related to the movement of the cleaning device. Optionally, the number of sensing components 140 can be one, or at least two. This embodiment does not limit the number of sensing components 140.

[0085] In this embodiment, the sensing component 140 can be an image sensor, or it can also be a distance sensor, or it can also be a pressure sensor. This embodiment does not limit the type of the sensing component 140.

[0086] Optionally, when there are more than two sensing components 140, the types of different sensing components 140 can be the same or different.

[0087] In one example, the sensing component 140 is installed on the cleaning base 110. At this time, the sensing component 140 can be installed on the side of the cleaning base 110, or it can also be installed at the bottom of the cleaning base 110, or it can also be installed inside the cleaning base 110. When the sensing component 140 is installed on the side of the cleaning base 110, the sensing component 140 can be installed at positions such as the front end of the cleaning base 110, the rear end of the cleaning base 110, the left side of the cleaning base 110, and / or the right side of the cleaning base 110.

[0088] In another example, the sensing component 140 is installed on the operating lever 160 and / or the handle 170.

[0089] In actual implementation, the sensing component 140 can also be installed at other positions of the cleaning device, for example: the connection part between the cleaning base 110 and the operating lever 160. This embodiment does not limit the installation position of the sensing component 140.

[0090] In this embodiment, the types of information related to movement include but are not limited to the following:

[0091] First: The information related to movement includes the rotation direction of the wheel body 130. At this time, the sensing component 140 includes an image sensor, an infrared sensor, a Hall sensor, and / or an optical encoder.

[0092] In one example, the sensing component 140 is an image sensor. At this time, the image sensor is arranged opposite to the wheel body 130, and is used to collect the image information of the wheel body 130. Based on the image information collected at adjacent moments, the rotation direction of the target position on the wheel body is determined to obtain the rotation direction of the wheel body 130.

[0093] In another example, the sensing component 140 is a Hall sensor. At this time, a magnetic member is provided on the wheel body 130, and the Hall sensor is disposed opposite to the wheel body so that during the rotation of the wheel body, the magnetic member passes within the sensing range of the Hall sensor, and the sensing signals of the Hall sensor corresponding to different rotation directions are different.

[0094] Optionally, the Hall sensor is a bipolar Hall sensor for detecting the magnetism of the S pole and the N pole of the magnetic member. Correspondingly, each magnetic member includes an S pole and an N pole that are sensed by the Hall sensor when the wheel body 130 rotates. When two or more magnetic members are mounted on the wheel body 130, the magnetic members are arranged annularly around the rotation axis of the wheel body, and the S pole and the N pole of each magnetic member alternately pass through the sensing range of the Hall sensor during the rotation of the wheel body 130.

[0095] At this time, when the wheel body 130 rotates in different directions, the order in which the S pole and the N pole of the magnetic member pass through the sensing range of the Hall sensor is different, and when two or more magnetic members are mounted on the wheel body 130, the time intervals of the magnetic signal sequence segments generated by different magnetic members within the sensing range of the Hall sensor are different.

[0096] Second type: The movement-related information includes the reference distance between the cleaning device and the reference object in the current working environment. At this time, the sensing component 140 includes a distance sensor.

[0097] Optionally, the distance sensor can be an ultrasonic distance sensor, or it can also be an infrared distance sensor, or it can also be an optical distance sensor. The type of the distance sensor is not limited in this embodiment.

[0098] Optionally, the distance sensor can be installed at the front end of the cleaning device. At this time, the distance sensor is used to collect the object information of the reference object located at the front end of the cleaning device, or it can also be installed at the rear end of the cleaning device. At this time, the distance sensor is used to collect the object information of the reference object located at the rear end of the cleaning device. The installation position of the distance sensor is not limited in this embodiment.

[0099] Wherein, the object information is used to determine the reference object from the current working environment. The object information can be the feature information of the feature position on the reference object, or it can also be the contour information of the reference object. The type of the object information is not limited in this embodiment.

[0100] Optionally, the reference object can be a wall, or it can also be other objects in the current working environment, such as: tables, chairs, etc. The type of the reference object is not limited in this embodiment.

[0101] The third type: The movement-related information includes tilt angle data. At this time, the sensing component 140 includes a tilt angle sensor installed on the operating rod 160 of the cleaning device.

[0102] Among them, the tilt angle data is used to indicate the magnitude of the tilt angle of the operating rod 160, that is, the magnitude of the angle between the operating rod 160 and the rear side of the cleaning base 110.

[0103] Optionally, the tilt angle sensor can be a solid pendulum type, or it can also be a liquid pendulum type, or it can also be a gas pendulum type. The type of the tilt angle sensor is not limited in this embodiment.

[0104] Optionally, the tilt angle sensor can be installed at one end of the operating rod 160 close to the cleaning base 110, or it can also be installed at one end of the operating rod 160 close to the handle, or it can also be installed at the middle position of the operating rod 160. The installation position of the angle sensor is not limited in this embodiment.

[0105] In actual implementation, other sensing components can also be used to collect tilt angle data. For example, a gyroscope can be used to collect tilt angle data. The collection method of the tilt angle data is not limited in this embodiment.

[0106] The fourth type: The movement-related information includes pressure data. At this time, the sensing component 140 includes a pressure sensor installed on the handle 170 of the cleaning device.

[0107] Among them, the pressure data is used to indicate the magnitude of the pressure on the handle 170.

[0108] Optionally, the number of pressure sensors can be one, or it can also be two or more. The number of pressure sensors is not limited in this embodiment.

[0109] Optionally, the pressure sensor can be a strain type, or it can also be a piezoresistive type, or it can also be a capacitive type. The type of the pressure sensor is not limited in this embodiment.

[0110] Optionally, the pressure sensor can be installed inside the handle 170, or it can also be installed outside the handle 170. The installation position of the sensing component 140 is not limited in this embodiment.

[0111] Optionally, when the number of pressure sensors is two or more, the types and / or installation positions of different pressure sensors can be the same or different.

[0112] In actual implementation, the movement-related information can also include other information. For example, the image information of the current working environment of the cleaning device. The type of the movement-related information is not limited in this embodiment.

[0113] The controller 150 can be a micro-control unit installed inside the cleaning device, or any component with control functions. The type of the controller 150 is not limited in this embodiment.

[0114] In this embodiment, the controller 150 is used to: obtain movement-related information; determine the movement state of the cleaning device based on the movement-related information, where the movement state includes a forward state and a backward state; and control the cleaning device to work according to the movement state.

[0115] Among them, the forward state means that the cleaning device moves in the forward direction.

[0116] The backward state means that the cleaning device moves in the direction opposite to the forward direction.

[0117] Optionally, obtaining the movement-related information includes: obtaining the movement-related information collected by the sensing component 140.

[0118] In actual implementation, the cleaning device may further include other components, such as: a power supply component, a clean water tank, a sewage tank, a heating component, a water absorption mechanism, a water delivery mechanism, etc. The components included in the cleaning device are not listed one by one in this embodiment.

[0119] In this embodiment, the cleaning device includes: a cleaning base; a wheel body located on the cleaning base, and the wheel body can drive the cleaning device to move forward or backward; a cleaning mechanism located on the cleaning base; the cleaning mechanism includes a cleaning part and a cleaning driving part connected to the cleaning part; when the cleaning device performs cleaning work on the surface to be cleaned, the cleaning driving part drives the cleaning part to rotate in the forward direction of the cleaning device; a sensing component for collecting movement-related information of the cleaning device; and a controller connected to the sensing component, which is used to: obtain movement-related information; determine the movement state of the cleaning device based on the movement-related information, where the movement state includes a forward state and a backward state; and control the cleaning device to work according to the movement state. It can solve the problem that the cleaning effect is not good in some movement states due to the cleaning device using a fixed working mode. Since the movement state of the cleaning device can be determined and the cleaning device is controlled to work according to the movement state, the cleaning effect of the cleaning device can be improved.

[0120] Next, the control method of the cleaning device provided in this application will be introduced in detail.

[0121] A control method of a cleaning device provided in this embodiment is as Figure 2 shown. This embodiment takes the method as being used for Figure 1Taking the cleaning device shown as an example for illustration. In other embodiments, it may also be executed by other devices communicatively connected to the cleaning device, such as remotely controlling the cleaning device through devices such as mobile phones, computers, and tablets. The implementation manner of other devices and the execution subject of each embodiment are not limited in this embodiment. The control method of the cleaning device at least includes the following steps:

[0122] Step 201, obtain mobile-related information.

[0123] In this embodiment, the mobile-related information includes, but is not limited to, the rotation direction of the wheel body, the reference distance between the cleaning device and the reference object, the tilt angle data of the operating rod, and / or the pressure data on the handle. The type of mobile-related information is not limited in this embodiment.

[0124] For the acquisition method of the mobile-related information, refer to the above device embodiment, and this embodiment will not elaborate on it again.

[0125] Optionally, obtaining the mobile-related information includes: obtaining the mobile-related information collected by the sensing component of the cleaning device.

[0126] Step 202, determine the moving state of the cleaning device based on the mobile-related information.

[0127] Among them, the moving state includes the forward state and the backward state.

[0128] In this embodiment, the method for determining the moving state of the cleaning device based on the mobile-related information includes, but is not limited to, the following several types:

[0129] The first type, the mobile-related information includes the rotation direction of the wheel body; determining the moving state of the cleaning device based on the mobile-related information includes: in the case where the rotation direction is the first rotation direction, determining the moving state as the forward state; in the case where the rotation direction is the second rotation direction, determining the moving state as the backward state.

[0130] Among them, the first rotation direction is the direction in which the cleaning device moves forward; the second rotation direction is opposite to the first rotation direction and is the direction in which the cleaning device moves backward.

[0131] Optionally, the first rotation direction and the second rotation direction are pre-stored in the cleaning device.

[0132] Since when the cleaning device is in the forward state, the wheel body always rotates in the forward direction of the cleaning device, and when the cleaning device is in the backward state, the wheel body always rotates in the backward direction of the cleaning device, therefore, the moving state of the cleaning device can be determined based on the rotation direction of the wheel body.

[0133] Second, determine the moving state of the cleaning device based on movement-related information, including: determining the change in distance between the cleaning device and a reference object in the current working environment based on the movement-related information; obtaining the relative position of the reference object with respect to the cleaning device; and determining the moving state based on the change in distance between the cleaning device and the reference object and the relative position of the reference object with respect to the cleaning device.

[0134] The relative position includes the reference object being located in front of the cleaning device and the reference object being located behind the cleaning device.

[0135] Optionally, determining the moving state based on the change in distance between the cleaning device and the reference object and the relative position of the reference object with respect to the cleaning device includes:

[0136] When the relative position is that the reference object is located in front of the cleaning device and the change in distance indicates that the distance between the cleaning device and the reference object is gradually decreasing, determine that the moving state is the forward state;

[0137] When the relative position is that the reference object is located in front of the cleaning device and the change in distance indicates that the distance between the cleaning device and the reference object is gradually increasing, determine that the moving state is the backward state;

[0138] When the relative position is that the reference object is located behind the cleaning device and the change in distance indicates that the distance between the cleaning device and the reference object is gradually decreasing, determine that the moving state is the backward state;

[0139] When the relative position is that the reference object is located behind the cleaning device and the change in distance indicates that the distance between the cleaning device and the reference object is gradually increasing, determine that the moving state is the forward state.

[0140] Since when the cleaning device is in the forward state, the cleaning device will gradually approach the reference object in front of the cleaning device and gradually move away from the reference object behind the cleaning device, and when the cleaning device is in the backward state, the cleaning device will gradually approach the reference object behind the cleaning device and gradually move away from the reference object in front of the cleaning device, therefore, based on the change in distance between the cleaning device and the reference object and the relative position of the reference object with respect to the cleaning device, the moving state of the cleaning device can be determined.

[0141] In this embodiment, the relative position of the reference object with respect to the cleaning device is determined based on the installation position of the sensing component.

[0142] In one example, the sensing component is installed at the front end of the cleaning device and is used to collect object information of a reference object located at the front end of the cleaning device; at this time, obtaining the relative position of the reference object with respect to the cleaning device includes: when the sensing data collected by the sensing component is obtained, determining that the reference object is located at the front end of the cleaning device.

[0143] In another example, the sensing component is installed at the rear end of the cleaning device and is used to collect object information of a reference object located at the rear end of the cleaning device; at this time, obtaining the relative position of the reference object with respect to the cleaning device includes: when the sensing data collected by the sensing component is obtained, determining that the reference object is located at the rear end of the cleaning device.

[0144] Optionally, the movement-related information is used to indicate the reference distance between the cleaning device and the reference object; determining the change in the distance between the cleaning device and the reference object in the current working environment based on the movement-related information includes: when the reference distance obtained this time is less than the reference distance obtained last time, determining that the distance between the cleaning device and the reference object is gradually shrinking; when the reference distance obtained this time is greater than the reference distance obtained last time, determining that the distance between the cleaning device and the reference object is gradually increasing.

[0145] Since the cleaning device is mobile, during the process of determining the reference distance based on the movement-related information, the position of the cleaning device may change, which may cause the reference distance to be greater than or less than the actual distance between the current cleaning device and the reference object. However, since the change situation of the reference distance is the same as that of the actual distance, the change situation of the distance between the cleaning device and the reference object can be determined based on the change situation of the reference distance.

[0146] Thirdly, the cleaning device further includes: an operating rod with one end connected to the cleaning base, and a handle is provided at the other end of the operating rod; the sensing component includes a pressure sensing component installed on the handle and an angle sensor installed on the operating rod. Correspondingly, the movement-related information includes the pressure data collected by the pressure sensing component and the tilt angle data collected by the angle sensor; determining the movement state of the cleaning device based on the movement-related information includes: determining the movement state based on the pressure data and the tilt angle data.

[0147] Since the acting mode of the external force on the handle is different in the forward state and the backward state, this will cause the numerical values of the pressure data and the tilt angle data in the forward state to be different from their respective numerical values in the backward state. Therefore, the movement state can be determined based on the pressure data and the tilt angle data.

[0148] Among them, the acting mode of the external force includes but is not limited to the magnitude, direction, and / or acting angle of the external force.

[0149] In addition, since the movement state is determined by combining the pressure data and the tilt angle data, the problem of low accuracy of the determined movement state when using only the pressure data or the tilt angle data to determine the movement state can be avoided. Therefore, the accuracy of the determined movement state can be improved.

[0150] In this embodiment, the methods for determining the movement state based on the pressure data and the tilt angle data include but are not limited to the following:

[0151] First, compare the pressure data with the template pressure data; compare the tilt angle data with the template angle data; determine the movement state based on the comparison result between the pressure data and the template pressure data and the comparison result between the tilt angle data and the template angle data.

[0152] Among them, the template pressure data includes the pressure data of the cleaning device in the forward state and / or the pressure data of the cleaning device in the backward state; the template angle data includes the tilt angle data of the cleaning device in the forward state and / or the tilt angle data of the cleaning device in the backward state.

[0153] When there are two or more pressure sensing components provided on the handle, each pressure data can be compared separately. At this time, the template pressure data corresponding to the pressure data collected by different pressure sensing components can be the same or different. Or, each pressure data can also be superimposed, and the superimposed pressure data is compared with the template pressure data.

[0154] In one example, the template pressure data includes a template pressure data range and the movement state corresponding to the template pressure data range. At this time, comparing the pressure data with the template pressure data includes: determining the target template pressure data range corresponding to the pressure data; determining the movement state corresponding to the target template pressure data range as the comparison result.

[0155] In another example, the template tilt angle data includes the template tilt angle data and the movement state corresponding to the template angle data. At this time, comparing the tilt angle data with the template angle data includes: determining the absolute value of the difference between each template angle and the tilt angle data; determining the movement state corresponding to the template tilt angle data with the smallest absolute value of the difference from the tilt angle data as the comparison result.

[0156] In actual implementation, other methods can also be used to compare the pressure data with the template pressure data. This embodiment does not limit the method of comparing the pressure data with the template pressure data.

[0157] Optionally, based on the comparison result between the pressure data and the template pressure data and the comparison result between the tilt angle data and the template angle data, determine the movement state, including: when the movement state indicated by the comparison result between the pressure data and the template pressure data is the same as the movement state indicated by the comparison result between the tilt angle data and the template angle data, determine the movement state indicated by the comparison result as the movement state; when the movement state indicated by the comparison result between the pressure data and the template pressure data is different from the movement state indicated by the comparison result between the tilt angle data and the template angle data, re-collect the pressure data and the tilt angle data, and perform the comparison between the pressure data and the template pressure data again; the step of comparing the tilt angle data with the template angle data.

[0158] Since the pressure data is compared with the template pressure data, the tilt angle data is compared with the template tilt angle data, and the movement state is determined based on the comparison result, complex reasoning calculations can be avoided, saving the computing resources of the cleaning device.

[0159] Second, input the pressure data and the tilt angle data into a pre-trained state recognition model to obtain the movement state.

[0160] Among them, the state recognition model is obtained by training a neural network using training data. Each set of training data includes sample pressure data, sample tilt angle data, and the movement state label data corresponding to the sample pressure data and the sample tilt angle data.

[0161] In one example, the training process of the state recognition model includes: creating an initial network model; inputting the sample pressure data, the sample tilt angle data, and the movement state label data corresponding to the sample pressure data and the sample tilt angle data into the initial network model to obtain a model result; iteratively updating the parameters of the initial network model based on the model result and the corresponding dirt label data. When the number of iterations reaches a preset number or the updated model converges, the state recognition model is obtained.

[0162] Among them, the initial network model can be a BP neural network (Back Propagation Neural Network), an ART neural network (Adaptive Resonance Theory), or a radial basis function (Radial Basis Function, RBF) neural network. The type of the initial network model is not limited in this embodiment.

[0163] Since the movement state is obtained by inputting the pressure data and the tilt angle data into the state recognition model simultaneously, it is possible to avoid the problem that the determined movement state is inaccurate due to inaccurate judgment results when the judgment results are obtained based on the pressure data and the tilt angle data respectively and then the movement state is determined based on the judgment results. Therefore, the accuracy of the determined movement state can be improved.

[0164] Step 203, control the cleaning device to work according to the movement state.

[0165] Optionally, the working mode of the cleaning device in the forward movement state is different from the working mode of the cleaning device in the backward movement state.

[0166] Among them, the working mode in the forward movement state and the working mode in the backward movement state are pre-stored in the cleaning device.

[0167] In summary, the control method of the cleaning device provided in this embodiment can solve the problem that the cleaning effect is poor in some movement states due to the cleaning device using a fixed working mode by obtaining movement-related information; determining the movement state of the cleaning device based on the movement-related information, where the movement state includes a forward movement state and a backward movement state; controlling the cleaning device to work according to the movement state. Since the movement state of the cleaning device can be determined and the cleaning device can be controlled to work according to the movement state, the cleaning effect of the cleaning device can be improved.

[0168] In addition, since the wheel body always rotates in the forward direction of the cleaning device when the cleaning device is in the forward movement state, and the wheel body always rotates in the backward direction of the cleaning device when the cleaning device is in the backward movement state, the movement state of the cleaning device can be determined based on the rotation direction of the wheel body.

[0169] In addition, since the cleaning device will gradually approach the reference object in front of the cleaning device and gradually move away from the reference object behind the cleaning device when the cleaning device is in the forward movement state, and the cleaning device will gradually approach the reference object behind the cleaning device and gradually move away from the reference object in front of the cleaning device when the cleaning device is in the backward movement state, the movement state of the cleaning device can be determined based on the distance change between the cleaning device and the reference object and the relative position of the reference object relative to the cleaning device.

[0170] In addition, since the change situation of the reference distance is the same as the change situation of the actual distance, the distance change situation between the cleaning device and the reference object can be determined based on the change situation of the reference distance.

[0171] In addition, since the acting mode of the external force acting on the handle in the forward state is different from that in the backward state, this will cause the values of the pressure data and the tilt angle in the forward state to be different from their respective values in the backward state. Therefore, the moving state can be determined based on the pressure data and the tilt angle data.

[0172] In addition, since the moving state is determined by combining the pressure data and the tilt angle data, the problem of low accuracy of the determined moving state when using only the pressure data or the tilt angle data to determine the moving state can be avoided. Therefore, the accuracy of the determined moving state can be improved.

[0173] In addition, since the pressure data is compared with the template pressure data, the tilt angle data is compared with the template tilt angle data, and the moving state is determined based on the comparison results, complex reasoning calculations can be avoided, saving the computing resources of the cleaning device.

[0174] In addition, since the pressure data and the tilt angle data are simultaneously input into the state recognition model to obtain the moving state, the problem that the finally determined moving state is inaccurate due to inaccurate judgment results when the judgment results are obtained separately based on the pressure data and the tilt angle data and then the moving state is determined based on the judgment results can be avoided. Therefore, the accuracy of the determined moving state can be improved.

[0175] This embodiment provides a control device for a cleaning device, as Figure 3 shown. In this embodiment, the device is applied to the controller in the cleaning device shown Figure 1 as follows. The device includes at least the following modules: an information acquisition module 310, a state determination module 320, and a work control module 330.

[0176] The information acquisition module 310 is configured to acquire movement-related information;

[0177] The state determination module 320 is configured to determine the moving state of the cleaning device based on the movement-related information, and the moving state includes a forward state and a backward state;

[0178] The work control module 330 is configured to control the cleaning device to work according to the moving state.

[0179] For related details, refer to the above method and device embodiments.

[0180] It should be noted that when the control device of the cleaning device provided in the above embodiments controls the cleaning device, only the division of the above functional modules is used for illustration. In actual applications, the above functions can be assigned to different functional modules according to needs, that is, the internal structure of the control device of the cleaning device is divided into different functional modules to complete all or part of the functions described above. In addition, the control device of the cleaning device provided in the above embodiments and the embodiments of the control method of the cleaning device belong to the same concept. For the specific implementation process, please refer to the method embodiments and will not be elaborated here.

[0181] This embodiment provides an electronic device, such as Figure 4 shown. The electronic device may be Figure 1 the cleaning device in

[0182] The processor 401 may include one or more processing cores. For example, a 4-core processor, an 8-core processor, etc. The processor 401 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 401 may also include a main processor and a coprocessor. The main processor is a processor used to process data in the wake state, also known as the CPU (Central Processing Unit); the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 401 may be integrated with a GPU (Graphics Processing Unit), and the GPU is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 401 may further include an AI (Artificial Intelligence) processor, and the AI processor is used to process computational operations related to machine learning.

[0183] The memory 402 may include one or more computer-readable storage media, and the computer-readable storage media may be non-transitory. The memory 402 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices and flash storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 402 is used to store at least one instruction, and the at least one instruction is used to be executed by the processor 401 to implement the control method of the cleaning device provided in the method embodiments of the present application.

[0184] In some embodiments, the electronic device may further optionally include: a peripheral device interface and at least one peripheral device. The processor 401, the memory 402, and the peripheral device interface may be connected through a bus or signal lines. Each peripheral device may be connected to the peripheral device interface through a bus, signal lines, or a circuit board. Schematically, the peripheral devices include, but are not limited to: a radio frequency circuit, a touch display screen, an audio circuit, and a power supply, etc.

[0185] Of course, the electronic device may also include fewer or more components, and this embodiment does not limit this.

[0186] Optionally, the present application also provides a computer-readable storage medium, in which a program is stored, and the program is loaded and executed by a processor to implement the control method of the cleaning device in the above method embodiment.

[0187] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0188] The above-described embodiments only represent several implementation manners of the present application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A cleaning device, characterized in that, The cleaning device includes: A cleaning base; A wheel body located on the cleaning base, and the wheel body can drive the cleaning device to move forward or backward; A cleaning mechanism located on the cleaning base; the cleaning mechanism includes a cleaning member and a cleaning driving member connected to the cleaning member; when the cleaning device performs cleaning work on the surface to be cleaned, the cleaning driving member drives the cleaning member to rotate in the forward direction of the cleaning device; A sensing component for collecting information related to the movement of the cleaning device; A controller connected to the sensing component, configured to: Obtain the movement-related information; Determine the movement state of the cleaning device based on the movement-related information, where the movement state includes a forward state and a backward state; Control the operation of the cleaning device according to the movement state; The determining the movement state of the cleaning device based on the movement-related information includes: Determining the change in the distance between the cleaning device and a reference object in the current working environment based on the movement-related information; Obtaining the relative position of the reference object with respect to the cleaning device; When the relative position is that the reference object is located at the front end of the cleaning device and the change in the distance indicates that the distance between the cleaning device and the reference object is gradually decreasing, determining that the movement state is the forward state; When the relative position is that the reference object is located at the front end of the cleaning device and the change in the distance indicates that the distance between the cleaning device and the reference object is gradually increasing, determining that the movement state is the backward state; When the relative position is that the reference object is located at the rear end of the cleaning device and the change in the distance indicates that the distance between the cleaning device and the reference object is gradually decreasing, determining that the movement state is the backward state; When the relative position is that the reference object is located at the rear end of the cleaning device and the change in the distance indicates that the distance between the cleaning device and the reference object is gradually increasing, determining that the movement state is the forward state.

2. The cleaning device according to claim 1, wherein The movement-related information includes the rotation direction of the wheel body; The determining the movement state of the cleaning device based on the movement-related information includes: When the rotation direction is the first rotation direction, determining that the movement state is the forward state; the first rotation direction is the direction in which the cleaning device moves forward; When the rotation direction is the second rotation direction, determining that the movement state is the backward state; the second rotation direction is opposite to the first rotation direction and is the direction in which the cleaning device moves backward.

3. The cleaning device according to claim 1, wherein The sensing component is installed at the front end of the cleaning device and is used for collecting object information of a reference object located at the front end of the cleaning device; The obtaining the relative position of the reference object with respect to the cleaning device includes: when the sensing data collected by the sensing component is obtained, determining that the reference object is located at the front end of the cleaning device; Or, The sensing component is installed at the rear end of the cleaning device and is used to collect object information of a reference object located at the rear end of the cleaning device; obtaining the relative position of the reference object with respect to the cleaning device includes: determining that the reference object is located at the rear end of the cleaning device when the sensing data collected by the sensing component is obtained.

4. The cleaning device according to claim 3, wherein The movement-related information is used to indicate a reference distance between the cleaning device and the reference object; Determining a change in distance between the cleaning device and a reference object in the current working environment based on the movement-related information includes: When the reference distance obtained this time is less than the reference distance obtained last time, determining that the distance between the cleaning device and the reference object is gradually decreasing; When the reference distance obtained this time is greater than the reference distance obtained last time, determining that the distance between the cleaning device and the reference object is gradually increasing.

5. The cleaning device according to claim 1, wherein The cleaning device further includes: An operating rod with one end connected to the cleaning base, and a handle is provided at the other end of the operating rod; The sensing component includes a pressure sensing component installed on the handle and an angle sensor installed on the operating rod. Correspondingly, the movement-related information includes pressure data collected by the pressure sensing component and tilt angle data collected by the angle sensor; Determining the movement state of the cleaning device based on the movement-related information includes: Determining the movement state based on the pressure data and the tilt angle data.

6. The cleaning device according to claim 5, characterized in that, Determining the movement state based on the pressure data and the tilt angle data includes: Comparing the pressure data with template pressure data; the template pressure data includes pressure data of the cleaning device in the forward state and / or pressure data of the cleaning device in the backward state; Comparing the tilt angle data with template angle data; the template angle data includes tilt angle data of the cleaning device in the forward state and / or tilt angle data of the cleaning device in the backward state; Determining the movement state based on the comparison result between the pressure data and the template pressure data and the comparison result between the tilt angle data and the template angle data.

7. The cleaning device according to claim 5, characterized in that Determining the movement state based on the pressure data and the tilt angle data includes: Inputting the pressure data and the tilt angle data into a pre-trained state recognition model to obtain the movement state; the state recognition model is obtained by training a neural network using training data, and each set of training data includes sample pressure data, sample tilt angle data, and movement state label data corresponding to the sample pressure data and the sample tilt angle data.

8. A control method for a cleaning device, characterized in that, For the cleaning device according to any one of claims 1 to 7, the method includes: Obtaining movement-related information of the cleaning device collected by the sensing component; Determining the movement state of the cleaning device based on the movement-related information, where the movement state includes a forward state and a backward state; Controlling the cleaning device to work according to the movement state.

9. A computer-readable storage medium, characterized in that, A program is stored in the storage medium, and when the program is executed by a processor, it is used to implement the control method of the cleaning device as described in claim 8.

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