Control method of cleaning device, cleaning device, and storage medium

Abstract

The embodiment of the application provides a kind of cleaning device control method, cleaning device and storage medium, method includes: obtaining the operating parameter of the cleaning device;According to the operating parameter, the attitude of the cleaning device is determined;According to the attitude of the cleaning device, at least the cleaning component of the cleaning device is controlled.Through according to the operating parameter of the cleaning device, the attitude of the cleaning device is determined, and according to the attitude of the cleaning device, the cleaning component of the cleaning device is controlled, the intelligent degree of the control strategy of cleaning device can be improved.

Description

Technical Field

[0001] This application relates to the field of cleaning technology, and in particular to a control method for a cleaning device, a cleaning device, and a storage medium. Background Technology

[0002] With increasing demands for cleanliness and the continuous improvement of cleaning technologies, cleaning devices such as floor scrubbers and sweepers are becoming more and more common. For example, floor scrubbers can be used to clean and maintain various hard surfaces such as wood floors, tiles, and marble. The working principle of a floor scrubber generally involves a rotating roller brush on its chassis to clean the floor. Simultaneously, water is sprayed onto the brush or the floor to remove stains, oil, and impurities. The wastewater remaining after cleaning is then sucked up by a negative pressure device and stored in a wastewater tank located within the machine. However, current control strategies for floor scrubbers and other cleaning devices are not yet intelligent enough. Summary of the Invention

[0003] This application provides a control method for a cleaning device, a cleaning device, and a storage medium, which can improve the intelligence level of the control strategy of the cleaning device.

[0004] In a first aspect, embodiments of this application provide a control method for a cleaning device, including:

[0005] Obtain the operating parameters of the cleaning device;

[0006] The attitude of the cleaning device is determined based on the operating parameters;

[0007] Based on the posture of the cleaning device, at least the cleaning components of the cleaning device are controlled.

[0008] In this control method, the cleaning device includes a chassis, a body, and an angle detection device, wherein the angle detection device is used to detect a first angle between the body and the plane on which the chassis is located;

[0009] The angle detection device includes a ring magnet, a first Hall element, and a second Hall element; the ring magnet is disposed on the chassis, and the first Hall element and the second Hall element are disposed on the body, or the ring magnet is disposed on the body, and the first Hall element and the second Hall element are disposed on the chassis;

[0010] The annular magnet is a pair of radially magnetized annular magnets. The distances between the first Hall element and the second Hall element and the annular magnet are equal, and the arc between the projections of the first Hall element and the second Hall element on the annular magnet is a quarter circle.

[0011] The process of obtaining the operating parameters of the cleaning device includes:

[0012] Based on the detection values ​​of the first Hall element and the second Hall element, a first angle between the fuselage and the plane containing the chassis is determined.

[0013] Secondly, this application provides a cleaning device, which includes a body, a chassis, and cleaning components, wherein the body and the chassis are rotatably connected.

[0014] The cleaning device also includes a memory and a processor;

[0015] The memory is used to store computer programs;

[0016] The processor is configured to execute the computer program and, when executing the computer program, implement the steps of the aforementioned control method for the cleaning device.

[0017] Thirdly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the steps of the above-described method.

[0018] This application provides a control method for a cleaning device, a cleaning device, and a storage medium. The method includes: acquiring operating parameters of the cleaning device; determining the posture of the cleaning device based on the operating parameters; and controlling at least a cleaning component of the cleaning device based on the posture of the cleaning device. By determining the posture of the cleaning device based on its operating parameters and controlling the cleaning component of the cleaning device based on its posture, the intelligence level of the control strategy of the cleaning device can be improved.

[0019] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the disclosure of the embodiments of this application. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic flowchart of a control method for a cleaning device provided in an embodiment of this application;

[0022] Figure 2 This is a schematic diagram of the cleaning device in one embodiment;

[0023] Figure 3 This is a schematic diagram of the cleaning device in another embodiment;

[0024] Figure 4 This is a schematic diagram of the angle detection device in one embodiment;

[0025] Figure 5 This is a schematic block diagram of a control device for a cleaning apparatus provided in an embodiment of this application.

[0026] Explanation of reference numerals in the attached figures:

[0027] 100. Cleaning device; 10. Chassis; 20. Body; 30. Cleaning assembly; 31. First cleaning assembly; 311. Rolling cleaning component; 32. Second cleaning assembly; 321. Negative pressure source; 322. Suction channel; 323. Wastewater tank; 40. Angle detection device; 41. Ring magnet; 42. First Hall element; 43. Second Hall element. Detailed Implementation

[0028] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0029] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0030] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0031] Please see Figure 1 , Figure 1 This is a flowchart illustrating a control method for a cleaning device 100 provided in an embodiment of this application. The control method for the cleaning device 100 can be applied to the cleaning device 100 to control the cleaning device 100 so that it can perform cleaning tasks, such as cleaning the floor to be cleaned.

[0032] This application also provides a cleaning device 100. Specifically, as shown in the embodiments below... Figure 2As shown, the cleaning device 100 includes a chassis 10, a body 20, and a cleaning component 30. The body 20 is rotatably connected to the chassis 10, for example, by a hinge, which enables the cleaning device 100 to clean the ground at multiple angles.

[0033] For example, such as Figure 2 As shown, the cleaning assembly 30 includes a first cleaning assembly 31, which is mounted on the chassis 10. Exemplarily, the first cleaning assembly 31 includes a rolling cleaning element 311, but it is not limited to this; for example, the first cleaning assembly 31 on the chassis 10 may include a rotating cleaning element, etc. The rolling cleaning element 311 is mounted on the chassis 10, and its axial direction is perpendicular to the forward direction of the cleaning device 100 when cleaning the surface to be cleaned; when the cleaning device 100 cleans the surface to be cleaned, the axial direction of the rotating cleaning element is perpendicular to the surface to be cleaned.

[0034] For example, the first cleaning component 31 also includes a cleaning element motor (not shown), which is used to drive the rolling cleaning element 311 or the rotary cleaning element to rotate.

[0035] For example, such as Figure 2 As shown, the cleaning component 30 may further include a second cleaning component 32, which is disposed on the body 20. For example, the second cleaning component 32 includes a negative pressure source 321, a suction channel 322, and a wastewater tank 323. The wastewater tank 323 is at least partially disposed on the body 20 and is capable of storing solid and liquid dirt. The negative pressure source 321 is disposed on the body 20 and is used to provide negative pressure. It should be noted that the dirt stored in the wastewater tank 323 may include wastewater, solid dirt, and mixed solid and liquid dirt.

[0036] In some implementations, such as Figure 3 As shown, the cleaning device 100 also includes an angle detection device 40, which is used to detect a first angle between the body 20 and the plane where the chassis 10 is located; for example, the first angle is the pitch angle of the body 20 relative to the plane where the chassis 10 is located. For example, the angle detection device 40 can detect the attitude of the body 20 and the attitude of the chassis 10 respectively, and determine the first angle between the body 20 and the plane where the chassis 10 is located based on the attitude of the body 20 and the attitude of the chassis 10. Of course, it is not limited to this. For example, the angle detection device 40 can also directly detect the first angle between the body 20 and the plane where the chassis 10 is located. For example, the angle detection device 40 includes, but is not limited to, at least one of a magnetic encoder, a potentiometer, etc.

[0037] For example, please refer to Figure 4The angle detection device 40 includes a ring magnet 41, a first Hall element 42, and a second Hall element 43, wherein the first Hall element 42 and the second Hall element 43 are, for example, linear Hall elements. The ring magnet 41 is disposed on the chassis 10, and the first Hall element 42 and the second Hall element 43 are disposed on the body 20; or the ring magnet 41 is disposed on the body 20, and the first Hall element 42 and the second Hall element 43 are disposed on the chassis 10. The ring magnet 41 is a pair of radially magnetized ring magnets, such as... Figure 4 The N (north) and S (south) poles of the ring magnet 41 are shown. The distances between the first Hall element 42 and the second Hall element 43 and the ring magnet 41 are equal. For example, if the diameter of the ring magnet 41 is 10 mm, the distance between the first Hall element 42 and the second Hall element 43 and the ring magnet 41 is 2 mm; and the arc between the projections of the first Hall element 42 and the second Hall element 43 onto the ring magnet 41 is a quarter-circle arc. Figure 4 As shown, the first Hall element 42 and the second Hall element 43 are placed at 90° on one side of the ring magnet 41, with the first Hall element 42 or the second Hall element 43 at the N pole or S pole of the ring magnet 41.

[0038] Specifically, a first angle between the plane containing the fuselage 20 and the chassis 10 can be determined based on the detection values ​​of the first Hall element 42 and the second Hall element 43. The first Hall element 42 and the second Hall element 43, for example, convert the detected magnetic field strength into a voltage output; that is, the detection value may include the voltage output by the Hall element.

[0039] By placing the Hall effect device and the ring magnet 41 at the rotational connection between the chassis 10 and the body 20, for example, the Hall effect device is fixed to the chassis 10 and the ring magnet is fixed to the body 20. When the body 20 rotates relative to the chassis 10, the first Hall element 42 and the second Hall element 43 rotate relative to the ring magnet 41, moving closer to or away from the N pole or S pole of the ring magnet 41, causing the detection values ​​of the first Hall element 42 and the second Hall element 43 to change. For example, when the ring magnet 41 rotates relative to the first Hall element 42 and the second Hall element 43, the magnetic field strength at the location of the first Hall element 42 and the second Hall element 43 will also change, and the voltage output by the first Hall element 42 and the second Hall element 43 will also change accordingly. The voltage output by the first Hall element 42 and the second Hall element 43 is related to the rotation angle. Therefore, the first angle between the plane of the body 20 and the chassis 10 can be determined based on the detection value of the first Hall element 42 and the detection value of the second Hall element 43. For example, the magnetic field strength of a pair of pole ring magnets 41 is detected by the first Hall element 42 and the second Hall element 43, and the relative rotation angle between the first Hall element 42, the second Hall element 43 and the ring magnet 41 is calculated based on the magnetic field strength detected by the first Hall element 42 and the second Hall element 43.

[0040] Please see Figure 4 Let the voltage output by the first Hall element 42 be V(H1) and the voltage output by the second Hall element 43 be V(H2). Then, the relative rotation angle between the first Hall element 42 and the second Hall element 43 and the ring magnet 41 is Angle = arctan((V(H2)-V0)÷(V(H1)-V0)), where V0 represents the voltage output by the Hall device when the magnetic field strength is 0, and arctan() is the arctangent function. Figure 4 As shown, the magnetic field strength at the location of the second Hall element 43 is 0, and the relative rotation angle between the first Hall element 42, the second Hall element 43 and the ring magnet 41 is 90°.

[0041] For example, the current first angle corresponding to the calculated relative rotation angle can be determined based on the pre-calibrated correspondence between the relative rotation angle and the first angle between the plane where the fuselage 20 and the chassis 10 are located. For instance, the first angle between the fuselage 20 and the chassis 10 can be adjusted to obtain the relative rotation angle Angle between the first Hall element 42 and the second Hall element 43 and the ring magnet 41 at different first angles, thereby determining the correspondence between the relative rotation angle and the first angle between the plane where the fuselage 20 and the chassis 10 are located. For example, when the relative rotation angle Angle between the first Hall element 42 and the second Hall element 43 and the ring magnet 41 is 90°, the first angle between the plane where the fuselage 20 and the chassis 10 are located is determined to be 90°. However, this is not limited to this; for example, the first angle can also be determined to be 0°, specifically based on the relative positions of the first Hall element 42 and the second Hall element 43 and the ring magnet 41.

[0042] It should be noted that, in this embodiment of the application, the first angle between the body 20 and the plane of the chassis 10 is detected by the angle detection device 40. Compared with the related technology that the rotation state between the body 20 and the chassis 10 is detected by the limit switch, the first angle between the body 20 and the plane of the chassis 10 can be determined more accurately. For example, the first angle may include multiple angle values ​​between 0° and 90°, or may include any angle value between 0° and 90°.

[0043] Specifically, the cleaning device 100 further includes a memory (not shown) and a processor (not shown); 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 steps of the control method of the cleaning device 100 described in the embodiments of this application.

[0044] In related technologies, cleaning devices are typically controlled based on the on / off state of limit switches and the output information of devices such as distance sensors. The inventors of this application have discovered that these control methods suffer from at least one of the following problems: low accuracy, lack of flexibility, and insufficient intelligence. For example, in related technologies, when detecting the rotational state between the machine body and the chassis using limit switches, the machine body frequently switches between upright and non-upright states when near the limit switch's limit position, which is detrimental to the control of the cleaning device.

[0045] The inventors have improved the control method of the cleaning device by determining the attitude of the cleaning device based on its operating parameters and controlling at least the cleaning components of the cleaning device based on its attitude, thereby improving the intelligence level of the control strategy of the cleaning device.

[0046] like Figure 1As shown, a control method for a cleaning device according to an embodiment of this application includes steps S110 to S130.

[0047] S110. Obtain the operating parameters of the cleaning device.

[0048] In some embodiments, obtaining the operating parameters of the cleaning device includes: obtaining a first angle between the body of the cleaning device and the plane where the chassis of the cleaning device is located; and / or obtaining a second angle between the chassis of the cleaning device and the surface to be cleaned.

[0049] For example, obtaining the operating parameters of the cleaning device includes: determining a first angle between the body and the plane where the chassis is located based on the detection values ​​of the first Hall element and the second Hall element.

[0050] For example, the chassis is equipped with an attitude sensor, which may include at least one motion sensor such as a three-axis gyroscope, a three-axis accelerometer, or a three-axis electronic compass; the second angle can be detected by the attitude sensor on the chassis; of course, it is not limited to this, for example, the body is equipped with an attitude sensor, the attitude of the body can be obtained by the attitude sensor, and the second angle can be determined based on the attitude of the body and the first angle.

[0051] In other embodiments, obtaining the operating parameters of the cleaning device may also involve obtaining the current value of the operating current of the cleaning component motor of the cleaning device, which is used to drive the rolling cleaning component of the cleaning device to rotate, but this is not the only one.

[0052] S120. Determine the posture of the cleaning device based on the operating parameters.

[0053] In some embodiments, determining the posture of the cleaning device based on the operating parameters includes: comparing the first angle with a preset angle threshold, and determining whether the machine body is in an upright state based on the comparison result. The upright state refers to a state where the machine body is perpendicular or nearly perpendicular to the chassis.

[0054] In some examples, when the first angle is greater than or equal to the preset angle threshold, the fuselage is determined to be in an upright state; when the first angle is less than the preset angle threshold, the fuselage is determined to be in a non-upright state. For example, the preset angle threshold is greater than or equal to 80°, such as 85° or 88°, but it is not limited to these.

[0055] In other examples, the preset angle threshold includes a first preset angle threshold and a second preset angle threshold. Comparing the first angle with the preset angle threshold and determining whether the fuselage is in an upright state based on the comparison result includes: determining that the fuselage is in an upright state when the first angle is greater than or equal to the first preset angle threshold; and determining that the fuselage is in a non-upright state when the first angle is less than or equal to the second preset angle threshold. Specifically, the first preset angle threshold is greater than the second preset angle threshold. Optionally, the first preset angle threshold is 2° to 5° greater than the second preset angle threshold. For example, the first preset angle threshold is 85°, and the second preset angle threshold is 80°.

[0056] For example, determining that the machine body is in an upright state when the first angle is greater than or equal to the first preset angle threshold includes: determining that the machine body changes from a non-upright state to an upright state when the first angle changes from less than the first preset angle threshold to greater than or equal to the first preset angle threshold. For example, when the cleaning device needs to stop cleaning the floor, if the user raises the side of the machine body away from the chassis to make the machine body roughly upright after use, determining that the machine body has changed to an upright state when the first angle changes from less than the first preset angle threshold to greater than or equal to the first preset angle threshold during the raising of the side of the machine body away from the chassis.

[0057] For example, determining that the machine body is in a non-upright state when the first angle is less than or equal to the second preset angle threshold includes: determining that the machine body changes from an upright state to a non-upright state when the first angle changes from being greater than the second preset angle threshold to being less than or equal to the second preset angle threshold. For example, when a user lowers the machine body to clean the floor, that is, when the side of the machine body furthest from the chassis is pressed towards the ground, if the first angle changes from being greater than the second preset angle threshold to being less than or equal to the second preset angle threshold during the lowering process, it is determined that the machine body has changed to a non-upright state.

[0058] In this embodiment, the determination of whether the machine body is in an upright state is based on a first preset angle threshold and a second preset angle threshold. Compared to determining whether the machine body is in an upright state based on a single preset angle threshold, this prevents the machine body from frequently switching between upright and non-upright states when the first angle is near the preset angle threshold, which is detrimental to the control of the cleaning device. Compared to related technologies that determine whether the machine body is in an upright state through a limit switch, this also prevents the machine body from frequently switching between upright and non-upright states when the first angle is near the limit position of the limit switch, which is also detrimental to the control of the cleaning device. For example, when determining whether the machine body is in an upright state based on a single preset angle threshold or through a limit switch, an angle of 80° between the machine body and the plane of the chassis indicates that the machine body is in an upright state, and an angle less than 80° indicates that the machine body is in a non-upright state. This can easily lead to changes in the first angle due to machine body shaking or frequent opening and closing of the limit switch, resulting in frequent switching between the upright and non-upright states. However, the solution of this application embodiment can determine that the machine body is in an upright state when the first angle is greater than a first preset angle threshold, and only determine that the machine body is in a non-upright state when the first angle is less than a second preset angle threshold. This can more accurately identify whether the machine body is in an upright state, and thus more accurately control the cleaning device.

[0059] In this embodiment, an angle detection device detects a first angle between the body and the plane of the chassis, and determines whether the body is in an upright position based on the first angle. This is more flexible than related technologies that use limit switches to determine whether the body is in an upright position. For example, by adjusting the preset angle threshold, such as at least one of the first preset angle threshold and the second preset angle threshold, the determination of the upright position can better reflect the actual situation or user needs.

[0060] For example, the user's preset angle threshold can be obtained through human-computer interaction, and the user's permission to adjust the preset angle threshold can be granted.

[0061] In some embodiments, the preset angle threshold, such as at least one of the first preset angle threshold and the second preset angle threshold, can be determined based on at least one of the following: the material type of the surface to be cleaned, the usage time of the rolling cleaning component, the material type of the rolling cleaning component, and the user's height. For example, the method further includes: obtaining at least one of the following: the material type of the surface to be cleaned, the usage time of the rolling cleaning component, the material type of the rolling cleaning component, and the user's height; and determining the preset angle threshold based on at least one of the following: the material type of the surface to be cleaned, the usage time of the rolling cleaning component, the material type of the rolling cleaning component, and the user's height.

[0062] For example, the preset angle threshold is negatively correlated with the friction between the surface to be cleaned and the rolling cleaning component, and the friction is determined based on the material type of the surface to be cleaned and / or the material type of the rolling cleaning component. When the friction between the surface to be cleaned and the rolling cleaning component is large, the chassis is less likely to move relative to the ground. For instance, the machine body can be determined to be in an upright state when the first angle increases to a smaller first preset angle threshold, and in a non-upright state only when the first angle decreases to a smaller second preset angle threshold. When the friction between the surface to be cleaned and the rolling cleaning component is small, the chassis moves easily relative to the ground. The machine body can be determined to be in an upright state only when the first angle increases to a larger first preset angle threshold, and in a non-upright state only when the first angle decreases to a larger second preset angle threshold. This makes the determination of the upright state more consistent with the actual situation or user needs.

[0063] For example, the preset angle threshold is positively correlated with the usage time of the rolling cleaning component. For instance, the longer the rolling cleaning component is used, the less friction it has with the ground. By adjusting the preset angle threshold based on the usage time of the rolling cleaning component, the determination of the upright position can be made more consistent with actual conditions or user needs.

[0064] For example, the preset angle threshold is positively correlated with the user's height. The preset angle threshold can be adjusted based on the user's height to make the determination of the upright position more consistent with actual conditions or user needs. For instance, the first angle is lower when a user of 150 cm height uses the cleaning device, while it is higher when a user of 180 cm height uses the cleaning device. A higher first angle requires more force to move the cleaning device. By using a larger preset angle threshold to determine whether the device is in an upright position when the user is taller, the determination of the upright position can be more consistent with actual conditions or user needs.

[0065] In some implementations, the posture of the cleaning device can also be determined based on the changing trend of the first angle.

[0066] For example, determining the posture of the cleaning device based on the operating parameters includes: when the first angle shows an increasing trend and the rate of increase is greater than or equal to a preset speed threshold, such as when the first angle increases by 20° within 100 milliseconds, determining the posture of the cleaning device as a posture to be upright. For example, when the cleaning device needs to stop cleaning the floor, if the user raises the side of the device away from the chassis after use, and the first angle shows an increasing trend during the raising of this side, when the raising speed is relatively high, it can be determined that the user is about to adjust the device to an upright position. For instance, when the first angle shows an increasing trend and the rate of increase is greater than or equal to a preset speed threshold, and the first angle is less than a first preset angle threshold, determining the posture of the cleaning device as a posture to be upright; when the first angle changes from less than the first preset angle threshold to greater than or equal to the first preset angle threshold, determining that the device has changed to an upright position.

[0067] For example, determining the posture of the cleaning device based on the operating parameters includes: when the first angle is greater than or equal to a third preset angle threshold, and the first angle is still increasing, determining that the posture of the cleaning device is a posture to be upright. For example, the third preset angle threshold is greater than or equal to the second preset angle threshold, or it may be less than the second preset angle threshold. When the first angle is greater than or equal to the third preset angle threshold and less than the first preset angle threshold, and the first angle is still increasing, it can be determined that the user is about to adjust the device to an upright position; when the first angle changes from less than the first preset angle threshold to greater than or equal to the first preset angle threshold, it is determined that the device has changed to an upright position.

[0068] Optionally, the third preset angle threshold can also be determined based on at least one of the following: the material type of the surface to be cleaned, the usage time of the rolling cleaning component, the material type of the rolling cleaning component, and the user's height. Specifically, the steps for determining the first and second preset angle thresholds can be referred to above, and will not be repeated here.

[0069] S130. Control at least the cleaning component of the cleaning device according to the posture of the cleaning device.

[0070] In some embodiments, controlling at least the cleaning components of the cleaning device according to its posture includes: when the device is in a non-upright state, controlling at least the cleaning components to operate to clean the surface to be cleaned; and when the device is in an upright state, controlling at least the cleaning components to stop operating. For example, by controlling the first and / or second cleaning components to stop operating when the user adjusts the device to the upright state, and controlling the first and / or second cleaning components to operate when the user adjusts the device to the non-upright state, user control of the cleaning device can be facilitated, and the intelligence level of the cleaning device's control strategy can be improved.

[0071] In some embodiments, the cleaning assembly includes a rolling cleaning element disposed on the chassis, and the axial direction of the rolling cleaning element is perpendicular to the forward direction of the cleaning device when cleaning the surface to be cleaned.

[0072] For example, controlling at least the cleaning components of the cleaning device according to its posture includes: when the cleaning device is in the upright posture, controlling the rolling cleaning component to decelerate or stop rotating. When the cleaning device is not in an upright state, the rolling cleaning component rotates. For example, under the traction force provided by the rotation of the rolling cleaning component and / or the traction force provided by the rotation of the wheels on the chassis of the cleaning device, the cleaning device will move forward. When the posture of the cleaning device is determined to be the upright posture, by controlling the rolling cleaning component to decelerate or stop rotating, the traction force provided by the rolling cleaning component can be reduced or eliminated, which can facilitate the device to enter the upright state more quickly and improve the responsiveness.

[0073] In some embodiments, determining the posture of the cleaning device based on the operating parameters may further include: determining the posture of the cleaning device as a posture to be removed from the upright position when the first angle shows a decreasing trend and the rate of decrease is greater than or equal to a preset speed threshold; or determining the posture of the cleaning device as a posture to be removed from the upright position when the first angle is less than or equal to a fourth preset angle threshold and the first angle still shows a decreasing trend. For example, controlling at least the cleaning components of the cleaning device based on its posture includes: controlling the rotating cleaning component to rotate when the cleaning device is in the posture to be removed from the upright position, so that the cleaning device can change from an upright state to a non-upright state more quickly, and can start cleaning the floor more quickly when the cleaning device changes from an upright state to a non-upright state. Optionally, the fourth preset angle threshold is less than the first preset angle threshold and greater than the second preset angle threshold.

[0074] Optionally, when determining the posture of the cleaning device based on the speed at which the first angle increases or decreases and a preset speed threshold, the preset speed threshold can be determined based on at least one of the following: the material type of the surface to be cleaned, the usage time of the rolling cleaning component, the material type of the rolling cleaning component, and the user's height. For example, the method further includes: obtaining at least one of the following: the material type of the surface to be cleaned, the usage time of the rolling cleaning component, the material type of the rolling cleaning component, and the user's height; and determining the preset speed threshold based on at least one of the following: the material type of the surface to be cleaned, the usage time of the rolling cleaning component, the material type of the rolling cleaning component, and the user's height.

[0075] For example, the preset speed threshold is negatively correlated with the friction between the surface to be cleaned and the rolling cleaning component, and the friction is determined based on the material type of the surface to be cleaned and / or the material type of the rolling cleaning component. For instance, when the friction between the surface to be cleaned and the rolling cleaning component is large, the traction force provided by the rotation of the rolling cleaning component to the cleaning device is also large, the moving speed of the cleaning device is faster, and the speed of adjusting the first angle is relatively smaller, while the friction is small. By using a smaller preset speed threshold when the friction is large, and / or using a larger preset speed threshold when the friction is small, the determination of the upright posture can be made more in line with the actual situation or user needs.

[0076] For example, the preset speed threshold is positively correlated with the usage time of the rolling cleaning component. For example, the longer the rolling cleaning component is used, the less friction it has with the ground. By adjusting the preset speed threshold according to the usage time of the rolling cleaning component, the determination of the upright posture can be made more in line with the actual situation or user needs.

[0077] For example, the preset speed threshold is positively correlated with the user's height. When the user is taller, the speed at which the first angle is adjusted is relatively larger; when the user is shorter, the speed at which the first angle is adjusted is relatively smaller. By adjusting the preset speed threshold according to the user's height, the determination of the upright posture can be made more in line with the actual situation or the user's needs.

[0078] Optionally, when determining the posture of the cleaning device based on the increasing or decreasing trend of the first angle and the third or fourth preset angle threshold, the third or fourth preset angle threshold can be determined based on at least one of the following: the material type of the surface to be cleaned, the usage time of the rolling cleaning component, the material type of the rolling cleaning component, and the user's height. Specifically, the steps for determining the first and second preset angle thresholds can be referred to above, and will not be elaborated here.

[0079] In some implementations, step S120 determines the posture of the cleaning device based on the operating parameters, including: determining whether the chassis is in a suspended state based on the changing trend of the first angle and / or the changing trend of the second angle.

[0080] In related technologies, determining whether the chassis is in a suspended state is generally done by adding a distance sensor to the bottom of the chassis. When the distance between the chassis and the ground exceeds a certain distance, it is determined that the chassis is suspended. However, uneven ground or scenarios that interfere with the sensor may result in false judgments of suspension. The embodiments of this application can more accurately determine whether the chassis is in a suspended state based on the changing trend of the first angle and / or the changing trend of the second angle.

[0081] For example, when the chassis is roughly parallel to the ground, the chassis is not in the suspended state, such as being in a non-suspended state; when the chassis leaves the ground, the chassis will rotate relative to the connection between the chassis and the fuselage under the action of gravity, such as the hinge between the chassis and the fuselage rotating, causing the chassis to tilt relative to the ground, that is, the second angle changes, and the chassis can be determined as to whether it is suspended based on the second angle.

[0082] For example, controlling at least the cleaning components of the cleaning device according to its posture includes: controlling the cleaning components to stop operating when the chassis is in the suspended state. For instance, controlling the cleaning components to stop operating when the user lifts the cleaning device to suspend the chassis can improve the intelligence of the cleaning device's control strategy, save on the cleaning device's power consumption and / or water consumption, and prevent water splashing caused by the continued operation of the cleaning components.

[0083] For example, determining whether the chassis is in a suspended state based on the changing trend of the first angle and / or the changing trend of the second angle includes: determining that the chassis is changing from a non-suspended state to a suspended state when the first angle decreases and the second angle increases; and / or determining that the chassis is changing from the suspended state to the non-suspended state when the first angle increases and the second angle decreases. For example, during the process of lifting the cleaning device, the front end of the chassis tilts downward, the first angle between the plane where the chassis is located and the body decreases, and the second angle between the chassis and the ground increases; therefore, it can be determined that the chassis is changing from a non-suspended state to a suspended state when the first angle decreases and the second angle increases. For example, during the process of lowering the cleaning device to the ground, the chassis gradually comes into contact with the ground, the first angle between the plane where the chassis is located and the body increases, and the second angle between the chassis and the ground decreases; therefore, it can be determined that the chassis is changing from the suspended state to the non-suspended state when the first angle increases and the second angle decreases.

[0084] It should be noted that, in the case where both the body and chassis of the cleaning robot are in contact with the ground (e.g., the body is lying flat), the chassis will remain roughly parallel to the ground during the process of lifting the cleaning device. During this process, the chassis will not be determined to be in a suspended state, nor will the cleaning components be stopped. However, at this time, the chassis is actually in a suspended state, which will lead to power consumption and water consumption. The continued operation of the cleaning components will also cause water splashing.

[0085] This application embodiment determines whether the chassis is in a suspended state based on the changing trends of the first angle and the second angle, which can more accurately determine whether the chassis changes from the suspended state to the non-suspended state and from the non-suspended state to the suspended state, thereby improving the intelligence level of the control strategy of the cleaning device.

[0086] In some embodiments, step S110 obtains the operating parameters of the cleaning device, including: obtaining the current value of the operating current of the cleaning component motor of the cleaning device, wherein the cleaning component motor is used to drive the rolling cleaning component of the cleaning device to rotate.

[0087] For example, step S120 determines the posture of the cleaning device based on the operating parameters, including: determining that the chassis of the cleaning device is in a suspended state when the current value is less than or equal to a current threshold, and / or determining that the chassis is in a non-suspended state when the current value is greater than the current threshold. This embodiment of the application can more accurately determine whether the chassis is in a suspended state based on the operating current value of the cleaning component motor. For example, compared to related technologies that determine whether the chassis is suspended by a distance sensor at the bottom of the chassis, this can at least prevent misjudgment of suspension in uneven ground or scenarios that interfere with the sensor.

[0088] For example, the motor load of the cleaning device's motor differs depending on whether the chassis of the cleaning device is suspended or not, resulting in different operating current values. For instance, when the chassis is not suspended, the rolling cleaning component is in contact with the ground, leading to greater motor load and a higher operating current. Conversely, when the chassis is suspended, the contact area between the rolling cleaning component and the ground is smaller or nonexistent, resulting in less or no friction, thus less motor load and a lower operating current. Therefore, the chassis of the cleaning device can be determined to be suspended when the operating current of the cleaning component motor is less than or equal to a current threshold, and non-suspended when the current value is greater than the current threshold. Optionally, when the operating current value of the cleaning component motor is less than or equal to the current threshold for a continuously preset time period, it is determined that the chassis of the cleaning device is in a suspended state. This can prevent external interference, such as a large amount of dirt on the ground being cleaned, causing the operating current value of the cleaning component motor to exceed the current threshold in a short period of time, which could lead to misjudgment.

[0089] Optionally, the current threshold is determined based on the cleaning mode of the cleaning device and / or the rotational speed of the rolling cleaning component. It is understood that the method may further include: determining the current threshold based on the cleaning mode of the cleaning device and / or the rotational speed of the rolling cleaning component. For example, when the cleaning mode of the cleaning device is a strong mode, the rotational speed of the rolling cleaning component is relatively fast, and the operating current of the cleaning component motor is relatively high; when the cleaning mode of the cleaning device is a normal mode, the rotational speed of the rolling cleaning component is relatively slow, and the operating current of the cleaning component motor is relatively low; by determining the current threshold based on the cleaning mode of the cleaning device and / or the rotational speed of the rolling cleaning component, it is possible to more accurately determine whether the chassis of the cleaning device is in a suspended state.

[0090] The control method for a cleaning device provided in this application includes: acquiring operating parameters of the cleaning device; determining the posture of the cleaning device based on the operating parameters; and controlling at least the cleaning components of the cleaning device based on the posture of the cleaning device. By determining the posture of the cleaning device based on the operating parameters and controlling the cleaning components of the cleaning device based on the posture of the cleaning device, the intelligence level of the control strategy of the cleaning device can be improved.

[0091] Please refer to the above embodiments. Figure 5 , Figure 5 This is a schematic block diagram of a control device 300 for a cleaning apparatus provided in an embodiment of this application. The control device 300 includes a processor 301 and a memory 302.

[0092] For example, processor 301 and memory 302 are connected via bus 303, such as an I2C (Inter-integrated Circuit) bus.

[0093] Specifically, the processor 301 can be a microcontroller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), etc.

[0094] Specifically, the memory 302 can be a flash chip, a read-only memory (ROM) disk, an optical disk, a USB flash drive, or a portable hard drive, etc.

[0095] The processor 301 is configured to run a computer program stored in the memory 302, and to implement the steps of the method in any of the foregoing embodiments when executing the computer program.

[0096] For example, the processor 301 is configured to run a computer program stored in the memory 302, and when executing the computer program, perform the following steps:

[0097] Obtain the operating parameters of the cleaning device;

[0098] The attitude of the cleaning device is determined based on the operating parameters;

[0099] Based on the posture of the cleaning device, at least the cleaning components of the cleaning device are controlled.

[0100] The specific principles and implementation methods of the control device provided in this application are similar to those of the methods in the foregoing embodiments, and will not be repeated here.

[0101] It is understood that this application embodiment also provides a cleaning device, which includes the aforementioned control device. The control device 300 is, for example, a controller for the cleaning device, and the control device 300 is used to implement the steps of the method of this application embodiment.

[0102] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the steps of the method described in any of the above embodiments.

[0103] The computer-readable storage medium can be an internal storage unit of the control device described in any of the foregoing embodiments, such as the hard disk or memory of the control device. The computer-readable storage medium can also be an external storage device of the control device, such as a plug-in hard disk, smart memory card (SMC), secure digital card (SD), flash memory card, etc., equipped on the control device.

[0104] It should be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application.

[0105] It should also be understood that the term “and / or” as used in this application and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0106] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method for a cleaning device, characterized in that, include: Obtain the operating parameters of the cleaning device, the operating parameters including a first angle between the body of the cleaning device and the plane where the chassis of the cleaning device is located and a second angle between the chassis of the cleaning device and the surface to be cleaned; or, the operating parameters include the second angle between the chassis of the cleaning device and the surface to be cleaned. The attitude of the cleaning device is determined based on the operating parameters; Based on the posture of the cleaning device, at least the cleaning components of the cleaning device are controlled. Determining the posture of the cleaning device based on the operating parameters includes: determining whether the chassis is in a suspended state based on the changing trend of the first angle and the changing trend of the second angle, or determining whether the chassis is in a suspended state based on the changing trend of the second angle. The step of controlling at least the cleaning components of the cleaning device according to the posture of the cleaning device includes: controlling the cleaning components to stop operating when the chassis is in the suspended state.

2. The control method according to claim 1, characterized in that, The step of determining the attitude of the cleaning device based on the operating parameters further includes: Compare the first angle with a preset angle threshold, and determine whether the fuselage is in an upright state based on the comparison result; The step of controlling at least the cleaning components of the cleaning device according to the posture of the cleaning device includes: When the machine body is not in an upright position, at least the cleaning components of the cleaning device are controlled to operate to clean the surface to be cleaned; and / or When the machine body is in the upright position, at least the cleaning components of the cleaning device are controlled to stop operating.

3. The control method according to claim 2, characterized in that, The preset angle threshold includes a first preset angle threshold and a second preset angle threshold, and the first preset angle threshold is greater than the second preset angle threshold; The step of comparing the first angle with a preset angle threshold and determining whether the fuselage is in an upright state based on the comparison result includes: When the first angle is greater than or equal to the first preset angle threshold, it is determined that the fuselage is in an upright state; and / or When the first angle is less than or equal to the second preset angle threshold, it is determined that the fuselage is in a non-upright state.

4. The control method according to claim 3, characterized in that, The step of determining that the fuselage is in an upright state when the first angle is greater than or equal to the first preset angle threshold includes: When the first angle changes from less than the first preset angle threshold to greater than or equal to the first preset angle threshold, it is determined that the fuselage has changed from a non-upright state to an upright state; and / or The step of determining that the fuselage is in a non-upright state when the first angle is less than or equal to the second preset angle threshold includes: When the first angle changes from being greater than the second preset angle threshold to being less than or equal to the second preset angle threshold, it is determined that the fuselage has changed from an upright state to a non-upright state.

5. The control method according to claim 2, characterized in that, The method further includes: Obtain at least one of the following: the material type of the floor to be cleaned, the usage time of the rolling cleaning component of the cleaning assembly, the material type of the rolling cleaning component, and the user's height; The preset angle threshold is determined based on at least one of the following: the material type of the surface to be cleaned, the usage time of the rolling cleaning component, the material type of the rolling cleaning component, and the user's height.

6. The control method according to claim 5, characterized in that, The preset angle threshold is negatively correlated with the friction between the surface to be cleaned and the rolling cleaning component, and the friction is determined according to the material type of the surface to be cleaned and / or the material type of the rolling cleaning component. and / or The preset angle threshold is positively correlated with the usage time of the rolling cleaning component; The preset angle threshold is positively correlated with the user's height.

7. The control method according to claim 1, characterized in that, Determining the attitude of the cleaning device based on the operating parameters includes: When the first angle shows an increasing trend, and the rate of increase is greater than or equal to a preset speed threshold, the posture of the cleaning device is determined to be an upright posture; or When the first angle is greater than or equal to the third preset angle threshold, and the first angle is still increasing, the posture of the cleaning device is determined to be an upright posture.

8. The control method according to claim 7, characterized in that, The cleaning assembly includes a rolling cleaning component, which is mounted on the chassis, and the axial direction of the rolling cleaning component is perpendicular to the forward direction of the cleaning device when cleaning the surface to be cleaned. The step of controlling at least the cleaning components of the cleaning device according to the posture of the cleaning device includes: When the cleaning device is in the upright position, the rolling cleaning component is controlled to decelerate or stop rotating.

9. The control method according to claim 7, characterized in that, The method further includes: Obtain at least one of the following: the material type of the floor to be cleaned, the usage time of the rolling cleaning component of the cleaning assembly, the material type of the rolling cleaning component, and the user's height; The preset speed threshold is determined based on at least one of the following: the material type of the surface to be cleaned, the usage time of the rolling cleaning component, the material type of the rolling cleaning component, and the user's height.

10. The control method according to claim 9, characterized in that, The preset speed threshold is negatively correlated with the friction between the surface to be cleaned and the rolling cleaning component, and the friction is determined according to the material type of the surface to be cleaned and / or the material type of the rolling cleaning component. and / or The preset speed threshold is positively correlated with the usage time of the rolling cleaning component; The preset speed threshold is positively correlated with the user's height.

11. The control method according to any one of claims 1-10, characterized in that, The step of determining whether the chassis is in a suspended state based on the changing trends of the first angle and the second angle includes: When the first angle decreases and the second angle increases, it is determined that the chassis changes from a non-suspended state to a suspended state; and / or When the first angle increases and the second angle decreases, it is determined that the chassis changes from the suspended state to the non-suspended state. Determining whether the chassis is in a suspended state based on the changing trend of the second angle includes: When the second angle increases, it is determined that the chassis changes from the non-suspended state to the suspended state; and / or When the second angle decreases, it is determined that the chassis changes from the suspended state to the non-suspended state.

12. A cleaning device, characterized in that, The cleaning device includes a body, a chassis, and cleaning components, wherein the body and the chassis are rotatably connected. The cleaning device also includes a memory and a processor; The memory is used to store computer programs; The processor is configured to execute the computer program and, when executing the computer program, implement the steps of the control method for the cleaning apparatus as described in any one of claims 1-11.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the steps of the control method for the cleaning apparatus as described in any one of claims 1-11.

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