Wall cleaning method and system for sweeping machine, sweeping machine and storage medium

Abstract

The present invention discloses a wall-along cleaning method, system, sweeper, and storage medium for a sweeper. The cleaning method comprises: a wall-along detection component acquires wall edge information of the wall to be cleaned by the sweeper; a distance detection component acquires distance information between the sweeper and the wall edge; the wall-along distance of the sweeper is obtained based on the wall edge information and the distance information, and the sweeper performs cleaning of the wall edge using the wall-along distance. The wall-along cleaning method for a sweeper according to an embodiment of the present invention acquires wall edge information of the wall to be cleaned by the sweeper through a wall-along detection component; a distance detection component acquires distance information between the sweeper and the wall edge; the wall-along distance of the sweeper is obtained based on the wall edge information and the distance information, and the sweeper performs cleaning of the wall edge using the wall-along distance, so that the distance between the sweeper and the wall edge is always consistent, resulting in a better cleaning effect.

Description

Technical Field

[0001] The present invention relates to the field of household electrical appliances, and in particular to a wall cleaning method and system for a sweeper, the sweeper, and a storage medium. Background Art

[0002] When sweeping and mopping, robotic vacuums need to determine the distance to the wall. To achieve this, they typically use infrared sensors, PSD sensors, or line lasers. However, these sensors are sensitive to wall color, limiting their sweeping distance to around 1 cm. This results in inaccurate distance measurement and even collisions with the wall, resulting in poor overall cleaning performance. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a wall cleaning method for a sweeper, which can solve the problem in the prior art that the sweeper is at an inconsistent distance from the wall and has a poor cleaning effect.

[0004] The present invention also aims to provide a wall cleaning system for a sweeping machine.

[0005] The present invention also aims to provide a sweeping machine to apply the above-mentioned wall cleaning system of the sweeping machine.

[0006] The present invention also aims to provide a non-transitory computer-readable storage medium to apply the above-mentioned wall cleaning method of the sweeping machine.

[0007] According to the wall cleaning method of a sweeping machine according to an embodiment of the present invention, the sweeping machine is provided with a distance detection component and a wall edge detection component, the distance detection component controls the distance between the sweeping machine and the wall edge by receiving and receiving light, and the wall edge detection component is used to detect the wall edge information of the wall edge. The cleaning method includes: the wall edge detection component obtains the wall edge information of the wall edge cleaned by the sweeping machine; the distance detection component obtains the distance information between the sweeping machine and the wall edge; the wall distance of the sweeping machine is obtained according to the wall edge information and the distance information, and the sweeping machine performs cleaning of the wall edge at the wall distance.

[0008] According to the wall cleaning method of a sweeping machine according to an embodiment of the present invention, the wall edge information of the wall edge cleaned by the sweeping machine is obtained through the wall edge detection part; the distance detection part obtains the distance information between the sweeping machine and the wall edge; the wall distance of the sweeping machine is obtained according to the wall edge information and the distance information, and the sweeping machine performs cleaning of the wall edge according to the wall distance, so that the distance between the sweeping machine and the wall edge can always be kept consistent, bringing better cleaning effect.

[0009] In some embodiments, obtaining the distance along the wall of the sweeping machine based on the wall information and the distance information includes: obtaining a compensation value corresponding to the distance information based on the wall information; and obtaining the distance along the wall based on the distance information and the compensation value.

[0010] In some embodiments, the wall edge information is the color of the wall edge. Before the wall edge detection component obtains the wall edge information of the wall edge cleaned by the sweeper, it also includes: testing the distance detection component corresponding to objects of different colors, obtaining the mapping relationship between the color and the compensation value, and pre-configuring the mapping relationship in the sweeper.

[0011] In some embodiments, the wall edge detection member is a color sensor for acquiring color information of the wall edge.

[0012] In some embodiments, before the wall edge detection component obtains the wall edge information of the wall edge cleaned by the sweeper, the method further includes: supplementing the surrounding environment with white light.

[0013] According to the wall cleaning system of a sweeping machine according to an embodiment of the present invention, the sweeping machine is provided with a distance detection component and a wall edge detection component, the distance detection component controls the distance between the sweeping machine and the wall edge by receiving and receiving light, and the wall edge detection component is used to detect the wall edge information of the wall edge. The wall cleaning system includes: a first control module, which is used for the wall edge detection component to obtain the wall edge information of the wall edge cleaned by the sweeping machine; a second control module, which is used for the distance detection component to obtain the distance information between the sweeping machine and the wall edge; and a third control module, which is used to obtain the wall distance of the sweeping machine according to the wall edge information and the distance information, and control the sweeping machine to perform cleaning of the wall edge at the wall distance.

[0014] According to the wall-cleaning system of the sweeping machine according to the embodiment of the present invention, the first control module is used for the wall edge detection part to obtain the wall edge information of the wall edge cleaned by the sweeping machine; the second control module is used for the distance detection part to obtain the distance information between the sweeping machine and the wall edge; the third control module is used to obtain the wall-along distance of the sweeping machine according to the wall edge information and the distance information. The sweeping machine performs cleaning of the wall edge according to the wall-along distance, so that the distance between the sweeping machine and the wall edge can always be kept consistent, bringing better cleaning effect.

[0015] In some embodiments, the third control module is further configured to: obtain a compensation value corresponding to the distance information according to the wall edge information, and obtain the distance along the wall according to the distance information and the compensation value.

[0016] In some embodiments, the wall edge information is the color of the wall edge, and the wall cleaning system further includes: a storage module, which is used to store the distance corresponding to the distance detection component testing objects of different colors, obtain the mapping relationship between the color and the compensation value, and pre-configure the mapping relationship in the sweeper.

[0017] The sweeping machine according to the embodiment of the present invention includes the wall cleaning system of the sweeping machine described above.

[0018] The sweeping machine according to the embodiment of the present invention obtains the wall edge information of the wall edge cleaned by the sweeping machine through the wall edge detection part; the distance detection part obtains the distance information between the sweeping machine and the wall edge; the wall distance of the sweeping machine is obtained according to the wall edge information and the distance information, and the sweeping machine performs cleaning of the wall edge according to the wall distance, so that the distance between the sweeping machine and the wall edge can always be kept consistent, bringing better cleaning effect.

[0019] According to a non-transitory computer-readable storage medium of an embodiment of the present invention, a computer program is stored thereon, and it is characterized in that when the program is executed by a processor, the wall cleaning method of the sweeping machine as described above is implemented.

[0020] According to the non-transitory computer-readable storage medium of the embodiment of the present invention, the distance between the sweeping machine and the wall edge can be kept consistent, thereby achieving a better cleaning effect.

[0021] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0023] Figure 1 This is a flow chart of the wall cleaning method of the sweeping machine according to the embodiment of the present invention. Figure 1 ;

[0024] Figure 2 This is a flow chart of the wall cleaning method of the sweeping machine according to the embodiment of the present invention. Figure 2 ;

[0025] Figure 3 This is a flow chart of the wall cleaning method of the sweeping machine according to the embodiment of the present invention. Figure 3 ;

[0026] Figure 4 This is a flow chart of the wall cleaning method of the sweeping machine according to the embodiment of the present invention. Figure 4 ;

[0027] Figure 5Schematic diagram of a sweeping machine according to an embodiment of the present invention operating at a wall edge;

[0028] Figure 6 This is the structural frame of the wall cleaning system of the sweeper according to the embodiment of the present invention. Figure 1 ;

[0029] Figure 7 This is the structural frame of the wall cleaning system of the sweeper according to the embodiment of the present invention. Figure 2 ;

[0030] Figure 8 This is the structural frame of the wall cleaning system of the sweeper according to the embodiment of the present invention. Figure 3 ;

[0031] Figure 9 This is the structural frame of the wall cleaning system of the sweeper according to the embodiment of the present invention. Figure 4 .

[0032] Reference numerals:

[0033] 1. Sweeping machine; 101. Distance detection unit; 102. Wall edge detection unit; 2. Wall edge. DETAILED DESCRIPTION

[0034] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0035] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0036] Reference below Figures 1-4 , describing the wall cleaning method of the sweeping machine 1 according to an embodiment of the present invention.

[0037] According to the wall cleaning method of the sweeping machine 1 of the embodiment of the present invention, Figure 5 As shown, the sweeping machine 1 can be provided with a distance detection component 101 and a wall edge detection component 102. The distance detection component 101 can measure the distance by receiving and receiving light, thereby controlling the distance between the sweeping machine 1 and the wall edge 2. The wall edge detection component 102 can be used to detect the wall edge information of the wall edge 2 to be cleaned, such as Figure 1As shown, wall cleaning methods include:

[0038] Step S1: the wall edge detection component 102 can obtain the wall edge information of the wall edge 2 to be cleaned by the sweeping robot 1.

[0039] While the sweeping machine 1 is cleaning the wall edge 2, the wall edge detection element 102 remains on to obtain the wall edge information of the currently cleaned wall edge 2 and to determine in advance the wall edge information of the next wall edge 2 to be cleaned. For example, the wall edge information may be the color or unevenness of the wall edge 2.

[0040] Step S2: The distance detector 101 can obtain the distance information between the sweeper 1 and the wall edge 2 to be cleaned. The distance detector 101 can obtain the distance between the sweeper 1 and the wall edge 2 and use the measured distance information to control the movement of the sweeper 1's wheels to roughly adjust the distance between the sweeper 1 and the wall edge 2. That is, at this point, the distance between the sweeper 1 and the wall edge 2 is a rough value and still needs to be further fine-tuned.

[0041] Step S3: The wall distance of the sweeping machine 1 is determined based on the wall edge information and the distance information. The sweeping machine 1 maintains this distance from the wall edge 2 to be cleaned and cleans the wall edge 2. After obtaining the approximate distance between the sweeping machine 1 and the wall edge 2, the sweeping machine 1 further analyzes and processes the wall edge information and the distance information to obtain a more accurate distance along the wall. The sweeping machine 1 then maintains this distance along the wall to clean the wall edge 2.

[0042] For example, the wall edge information can be the color of the wall edge 2. When the distance detection component 101 receives and receives light to detect the distance between the sweeper 1 and the wall edge 2, since the distance detection component 101 is generally a sensor, when corresponding to objects of different colors (different colors have different absorption and reflection of light), the sensitivity will be greatly different, especially white (maximum infrared reflection) and black (minimum infrared reflection). Depending on the actual situation and decoration style, the surface color of the wall edge 2 may be white, black or wood grain color. The distance obtained by the distance detection component 101 when detecting wall edges 2 of different colors will have deviations, making it impossible to ensure that the distance between the sweeper 1 and the wall edge 2 is within the set distance value (that is, the distance value to the wall edge 2 set in the sweeper 1), resulting in the actual distance between the sweeper 1 and wall edges 2 of different colors being different, and the distance between the sweeper 1 and the wall edge 2 cannot be kept consistent during the cleaning process. By confirming the color of the wall edge 2 and then analyzing and processing the distance information to obtain the distance along the wall, the sweeping machine 1 can obtain the corresponding distance along the wall for wall edges 2 of different colors. Therefore, during the cleaning process, the distance between the sweeping machine 1 and the wall edge 2 can be guaranteed to be always consistent.

[0043] For example, the wall edge information can be the degree of concavity and convexity, which can be understood as whether there are obstacles on the wall edge 2, such as wires, decorations, residue, or whether the wall edge 2 itself is uneven. When the distance detection component 101 detects the distance between the sweeper 1 and the wall edge 2, the distances obtained for a flat wall edge and a concave and convex wall edge are different. Therefore, after the sweeper 1 adjusts its position, it cannot guarantee that the distance between it and the wall edge 2 remains consistent. By confirming the degree of concavity and convexity of the wall edge 2 and then analyzing and processing the distance information to obtain the distance along the wall, the sweeper 1 can obtain the corresponding distance along the wall for flat wall edges and concave and convex wall edges. Therefore, the distance between the sweeper 1 and the wall edge 2 can be guaranteed to remain consistent during the cleaning process.

[0044] According to the wall cleaning method of the sweeping machine 1 in an embodiment of the present invention, the wall edge information of the wall edge 2 cleaned by the sweeping machine 1 can be obtained through the wall edge detection component 102; the distance detection component 101 can obtain the distance information between the sweeping machine 1 and the wall edge 2; according to the wall edge information and the distance information, the wall distance of the sweeping machine 1 can be obtained, and the sweeping machine 1 performs cleaning of the wall edge 2 according to the wall distance, so that the distance between the sweeping machine 1 and the wall edge 2 can always be kept consistent, and the cleaning effect is better.

[0045] In some embodiments, such as Figure 2 As shown, in step S3, the distance along the wall of the sweeping robot 1 can be obtained according to the wall information and the distance information, which specifically includes:

[0046] Step S301: A compensation value corresponding to the distance information of the wall edge 2 to be cleaned can be obtained according to the wall edge information.

[0047] Taking the wall edge information as the color for explanation, for example, the distance between the sweeper 1 and the wall edge 2 is set to 1 cm. When the distance detection component 101 detects the white wall edge 2, the distance value obtained is relatively close to the set distance value. At this time, a smaller compensation value can be obtained; when the distance detection component 101 detects the wood-grain wall edge 2, the distance value obtained is less than the set distance value. At this time, a medium compensation value can be obtained; when the distance detection component 101 detects the black wall edge 2, the distance value obtained is less than the set distance value. At this time, a larger compensation value can be obtained.

[0048] Step S302: The distance along the wall can be obtained according to the distance information and the compensation value, and the sweeping robot 1 can maintain the distance along the wall to perform cleaning on the wall edge 2.

[0049] As described above, when the sweeper 1 is cleaning a white wall edge 2, the distance along the wall of the sweeper 1 is determined based on the distance information obtained by the distance detection element 101 and a smaller compensation value. When the sweeper 1 is cleaning a wood-grain wall edge 2, the distance along the wall of the sweeper 1 is determined based on the distance information obtained by the distance detection element 101 and a medium compensation value. When the sweeper 1 is cleaning a black wall edge 2, the distance along the wall of the sweeper 1 is determined based on the distance information obtained by the distance detection element 101 and a larger compensation value. This ensures that the sweeper 1 maintains a consistent distance from the wall edge 2 when cleaning walls of different colors.

[0050] In some embodiments, the wall edge information is the color of the wall edge 2, such as Figure 3 As shown, before the wall edge detection component 102 can obtain the wall edge information of the wall edge 2 cleaned by the sweeping machine 1 in step S1, it also includes: step S11: the distance detection component 101 can pre-test the distances corresponding to objects of different colors, and obtain a one-to-one mapping relationship between colors and compensation values, and then pre-configure the mapping relationship in the sweeping machine 1 for subsequent calls.

[0051] That is to say, the relationship between color and distance is tested in advance by the distance detection component 101, and then the compensation value corresponding to the color of the wall edge 2 can be obtained according to the difference in detection sensitivity, and the mapping relationship between the color of the wall edge 2 and the compensation value can be obtained. Then, after the mapping relationship is pre-configured in the sweeper 1, the corresponding compensation value can be directly called when the different colors of the wall edge 2 are detected. This method is simple, and the sweeper 1 can immediately call the required compensation value, which is beneficial to reduce the load of the controller in the sweeper 1 and improve the working efficiency of the sweeper 1.

[0052] In some embodiments, the wall edge detection member 102 may be a color sensor that can be used to obtain color information of the wall edge 2, that is, to determine the color of the wall edge 2, such as white, black, or wood grain color. Of course, this is just an example, and the wall edge 2 can also have other colors, which will not be detailed here.

[0053] Optionally, the color sensor is an RGB sensor.

[0054] In some embodiments, the distance detection element 101 is any one of a line laser sensor, a PSD sensor, and an infrared tube sensor.

[0055] In some embodiments, such as Figure 4As shown, before the wall edge detection element 102 can obtain the wall edge information of the wall edge 2 to be cleaned by the sweeping robot 1, the following steps are also included: Step S12: Light compensation for the surrounding environment can be performed, specifically, white light can be selected as fill light. It can be understood that the sweeping robot 1 can be equipped with a white light LED compensation light to increase the light intensity to prevent the surrounding light from being too dark and improve the detection effect of the color sensor.

[0056] A specific embodiment of the wall cleaning method of the sweeping machine 1 of the present invention will be described below with reference to the accompanying drawings.

[0057] like Figure 5 As shown, the sweeping machine 1 can be provided with a distance detection component 101 and a wall edge detection component 102. The distance detection component 101 can control the distance between the sweeping machine 1 and the wall edge 2 by receiving and emitting light. The wall edge detection component 102 can be a color sensor for detecting the color of the wall edge 2.

[0058] like Figures 1 to 4 As shown, wall cleaning methods include:

[0059] Step S11: The distance detection element 101 is used to test objects of different colors in advance, and then the test distance of the object of the corresponding color is obtained, and the mapping relationship between the color and the compensation value of the test distance is obtained, and then the mapping relationship is pre-configured in the sweeper 1.

[0060] Step S12: Light compensation for the surrounding environment may be performed, specifically by adding white light.

[0061] Step S1: the wall edge detection component 102 can obtain color information of the wall edge 2 cleaned by the sweeping robot 1.

[0062] Step S2: the distance detection component 101 can obtain the distance information between the sweeping machine 1 and the wall edge 2.

[0063] Step S3: Based on the wall edge information and the distance information, the distance along the wall of the wall edge 2 to be cleaned by the sweeping machine 1 is finally obtained, and the sweeping machine 1 maintains the distance along the wall to clean the wall edge 2. Specifically including:

[0064] Step S301: a compensation value corresponding to distance information may be obtained according to the wall edge information.

[0065] Step S302: The distance along the wall can be obtained according to the distance information and the compensation value, and the sweeping robot 1 can clean the wall edge 2 according to the distance along the wall.

[0066] The wall cleaning system of the sweeping machine 1 according to an embodiment of the present invention will be described below with reference to the accompanying drawings.

[0067] According to the wall cleaning system of the sweeping machine 1 of the embodiment of the present invention, Figure 5As shown, the sweeping machine 1 can be provided with a distance detection component 101 and a wall edge detection component 102. The distance detection component 101 can control the distance between the sweeping machine 1 and the wall edge 2 by receiving and receiving light, and the wall edge detection component 102 can be used to detect the wall edge information of the wall edge 2 to be cleaned. Figure 6 As shown, the wall cleaning system includes: a first control module, a second control module, and a third control module.

[0068] The first control module can be used for the wall edge detection component 102 to obtain the wall edge information of the wall edge 2 to be cleaned by the sweeping robot 1. The wall edge information can be the color or the degree of concavity of the wall edge 2.

[0069] The second control module can be used to obtain the distance information between the sweeping machine 1 and the wall edge 2 to be cleaned by the distance detection part 101, and control the movement of the walking wheels of the sweeping machine 1 through the measured distance information to roughly adjust the distance between the sweeping machine 1 and the wall edge 2. That is, at this time, the distance between the sweeping machine 1 and the wall edge 2 is a rough value and still needs further adjustment.

[0070] The third control module can be used to determine the distance along the wall 2 that the sweeper 1 is currently cleaning based on the wall edge information and the distance information, and control the sweeper 1 to clean the wall edge 2 at the distance along the wall. After obtaining the approximate distance between the sweeper 1 and the wall edge 2, the sweeper 1 further analyzes and processes the wall edge information and the distance information to determine a more accurate distance along the wall. The sweeper 1 then maintains the distance along the wall to clean the wall edge 2.

[0071] For example, the wall edge information can be the color of the wall edge 2. When the distance detection component 101 receives and receives light to detect the distance between the sweeper 1 and the wall edge 2, since the distance detection component 101 is generally a sensor, when corresponding to objects of different colors (different colors have different absorption and reflection of light), the sensitivity will be greatly different, especially white (maximum infrared reflection) and black (minimum infrared reflection). Depending on the actual situation and decoration style, the surface color of the wall edge 2 may be white, black or wood grain color. The distance obtained by the distance detection component 101 when detecting wall edges 2 of different colors will have deviations, making it impossible to ensure that the distance between the sweeper 1 and the wall edge 2 is within the set distance value (that is, the distance value to the wall edge 2 set in the sweeper 1), resulting in the actual distance between the sweeper 1 and wall edges 2 of different colors being different, and the distance between the sweeper 1 and the wall edge 2 cannot be kept consistent during the cleaning process. By confirming the color of the wall edge 2 and then analyzing and processing the distance information to obtain the distance along the wall, the sweeping machine 1 can obtain the corresponding distance along the wall for wall edges 2 of different colors. Therefore, during the cleaning process, the distance between the sweeping machine 1 and the wall edge 2 can be guaranteed to be always consistent.

[0072] For example, the wall edge information can be the degree of concavity and convexity, which can be understood as whether there are obstacles on the wall edge 2, such as wires, decorations, residue, or whether the wall edge 2 itself is uneven. When the distance detection component 101 detects the distance between the sweeper 1 and the wall edge 2, the distances obtained for a flat wall edge and a concave and convex wall edge are different. Therefore, after the sweeper 1 adjusts its position, it cannot guarantee that the distance between it and the wall edge 2 remains consistent. By confirming the degree of concavity and convexity of the wall edge 2 and then analyzing and processing the distance information to obtain the distance along the wall, the sweeper 1 can obtain the corresponding distance along the wall for flat wall edges and concave and convex wall edges. Therefore, the distance between the sweeper 1 and the wall edge 2 can be guaranteed to remain consistent during the cleaning process.

[0073] In the description of the present invention, it should be understood that the features defined as "first" or "second" may explicitly or implicitly include one or more such features, which are used to distinguish the described features, without any distinction in order or importance.

[0074] According to the wall cleaning system of the sweeping machine 1 according to an embodiment of the present invention, the first control module can be used to use the wall edge detection component 102 to obtain the wall edge information of the wall edge 2 to be cleaned by the sweeping machine 1; the second control module can be used to use the distance detection component 101 to obtain the distance information between the sweeping machine 1 and the wall edge 2; the third control module can be used to obtain the wall distance of the wall edge 2 to be cleaned by the sweeping machine 1 according to the wall edge information and the distance information. The sweeping machine 1 performs cleaning of the wall edge 2 according to the wall distance, so that the distance between the sweeping machine 1 and the wall edge 2 can always be kept consistent, bringing better cleaning effect.

[0075] In some embodiments, the third control module can also be used to: obtain a compensation value corresponding to the distance information based on the wall edge information; then obtain the distance along the wall based on the distance information and the compensation value, and the sweeper 1 performs cleaning of the wall edge 2 according to the distance along the wall.

[0076] Take the wall edge information as color information as an example for explanation. For example, the distance between the sweeper 1 and the wall edge 2 is set to 1 cm. When the distance detection component 101 detects the white wall edge 2, the distance value obtained is relatively close to the set distance value. At this time, a smaller compensation value can be obtained; when the distance detection component 101 detects the wood-grain wall edge 2, the distance value obtained is less than the set distance value. At this time, a medium compensation value can be obtained; when the distance detection component 101 detects the black wall edge 2, the distance value obtained is less than the set distance value. At this time, a larger compensation value can be obtained.

[0077] When the sweeper 1 is cleaning a white wall edge 2, the distance along the wall of the sweeper 1 is determined based on the distance information obtained by the distance detection element 101 and a smaller compensation value. When the sweeper 1 is cleaning a wood-grain wall edge 2, the distance along the wall of the sweeper 1 is determined based on the distance information obtained by the distance detection element 101 and a medium compensation value. When the sweeper 1 is cleaning a black wall edge 2, the distance along the wall of the sweeper 1 is determined based on the distance information obtained by the distance detection element 101 and a larger compensation value. This ensures that the sweeper 1 maintains a consistent distance from the wall edge 2 when cleaning walls of different colors.

[0078] In some embodiments, the wall edge information is the color of the wall edge 2, such as Figure 7 As shown, the wall cleaning system may further include: a storage module, which can be used to store the distances corresponding to objects of different colors tested by the distance detection element 101, obtain the mapping relationship between the color and the compensation value, and then pre-configure the mapping relationship in the sweeper 1. The distance detection element 101 is tested in advance to obtain the relationship between the color and distance of the tested object, and then the corresponding compensation value is obtained based on the difference in detection sensitivity, and the mapping relationship between the color of the wall edge 2 and the compensation value is obtained. After the mapping relationship is pre-configured in the sweeper 1, the storage module stores the mapping relationship, and when different colors of the wall edge 2 are detected, the corresponding compensation value is directly called. This method is simple, and the sweeper 1 can immediately call the required compensation value, which helps to reduce the load of the controller in the sweeper 1 and improve the working efficiency of the sweeper 1.

[0079] In some embodiments, such as Figure 7 As shown, the wall cleaning system may further include: a lighting module, which can be used to provide white light to the surrounding environment. A white light LED compensation lamp can be added to the sweeper 1 to increase the light intensity to prevent the surrounding light from being too dark and improve the detection effect of the color sensor.

[0080] A specific embodiment of the wall cleaning system of the sweeping machine 1 of the present invention will be described below with reference to the accompanying drawings.

[0081] like Figure 5 As shown, the sweeping machine 1 can be provided with a distance detection component 101 and a wall edge detection component 102. The distance detection component 101 can control the distance between the sweeping machine 1 and the wall edge 2 by emitting and receiving light, and the wall edge detection component 102 can be used to detect the color of the wall edge 2.

[0082] like Figure 9 As shown, the wall cleaning system includes: a first control module, a second control module, a third control module, a storage module, and a lighting module.

[0083] The first control module can be used for the wall edge detection component 102 to obtain the wall edge information of the wall edge 2 cleaned by the sweeping robot 1 . The wall edge information may be the color of the wall edge 2 .

[0084] The second control module can be used for the distance detection component 101 to obtain the distance information between the sweeping machine 1 and the wall edge 2.

[0085] The third control module can be used to obtain the wall distance of the sweeping machine 1 according to the wall edge information and the distance information, and control the sweeping machine 1 to clean the wall edge 2 according to the wall edge distance.

[0086] The third control module can also be used to obtain a compensation value corresponding to the distance information according to the wall edge information, and obtain the distance along the wall according to the distance information and the compensation value.

[0087] The storage module can be used to store the distances corresponding to objects of different colors tested by the distance detection element 101, obtain the mapping relationship between the colors and the compensation values, and pre-configure the mapping relationship in the sweeping machine 1.

[0088] Lighting module, the lighting module can be used to fill the surrounding environment with white light.

[0089] The sweeping machine 1 according to the embodiment of the present invention includes the wall cleaning system of the sweeping machine 1 described above.

[0090] According to the sweeping machine 1 of the embodiment of the present invention, the wall edge information of the wall edge 2 cleaned by the sweeping machine 1 is obtained through the wall edge detection component 102; the distance detection component 101 obtains the distance information between the sweeping machine 1 and the wall edge 2; the wall distance of the sweeping machine 1 is obtained according to the wall edge information and the distance information, and the sweeping machine 1 performs cleaning of the wall edge 2 according to the wall distance, so that the distance between the sweeping machine 1 and the wall edge 2 can always be kept consistent, bringing better cleaning effect.

[0091] According to the non-transitory computer-readable storage medium of an embodiment of the present invention, a computer program is stored thereon, and it is characterized in that when the program is executed by a processor, the wall cleaning method of the sweeping machine 1 as described above is implemented.

[0092] According to the non-transitory computer-readable storage medium of the embodiment of the present invention, the distance between the sweeping machine 1 and the wall edge 2 can always be kept consistent, thereby achieving a better cleaning effect.

[0093] Another embodiment of the present application discloses a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, all steps of the above-mentioned method for detecting the operating status of the fan of the air conditioner are implemented. For example, when the processor executes the computer program, the following steps are implemented: detecting the speed parameter of the fan, wherein the fan is the fan of the indoor unit of the air conditioner; judging whether the fan stall detection condition is met based on the change of the speed parameter of the fan; if so, obtaining a fan speed sequence within a predetermined time, wherein the fan speed sequence includes multiple fan speeds detected within the predetermined time; and determining whether the fan is stalled based on the fan speed sequence.

[0094] In addition, the logical instructions in the above-mentioned memory can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0095] Other structures and operations of the sweeping machine 1 according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail here.

[0096] Throughout this specification, references to terms such as "some embodiments," "optionally," "further," or "some examples" indicate that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0097] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A wall cleaning method for a sweeping machine, characterized in that: The sweeper is provided with a distance detection component and a wall edge detection component. The distance detection component controls the distance between the sweeper and the wall edge by receiving and receiving light. The wall edge detection component is used to detect wall edge information of the wall edge. The wall cleaning method includes: The wall edge detection component obtains the wall edge information of the wall edge cleaned by the sweeper; The wall edge information is the color or concave-convex degree of the wall edge; The distance detection component obtains the distance information between the sweeping machine and the wall edge; Obtaining a distance along the wall of the sweeping machine according to the wall edge information and the distance information, and the sweeping machine cleaning the wall edge according to the distance along the wall; The obtaining of the distance of the sweeping machine along the wall according to the wall edge information and the distance information includes: Acquire a compensation value corresponding to the distance information according to the wall edge information; The distance along the wall is obtained according to the distance information and the compensation value.

2. The wall cleaning method of a sweeping machine according to claim 1, characterized in that: The wall edge information is the color of the wall edge. Before the wall edge detection component obtains the wall edge information of the wall edge cleaned by the sweeper, the method further includes: The distance detection component is used to test the distances corresponding to objects of different colors, and a mapping relationship between the colors and the compensation values ​​is obtained, and the mapping relationship is pre-configured in the sweeper.

3. The wall cleaning method of a sweeper according to any one of claims 1 to 2, characterized in that: The wall edge detection element is a color sensor, which is used to obtain color information of the wall edge.

4. The wall cleaning method of a sweeping machine according to claim 1, characterized in that: Before the wall edge detection component obtains the wall edge information of the wall edge cleaned by the sweeper, the method further includes: Fill the surrounding environment with white light.

5. A wall cleaning system for a sweeping machine, characterized in that: The sweeper is provided with a distance detection component and a wall edge detection component. The distance detection component controls the distance between the sweeper and the wall edge by receiving and receiving light. The wall edge detection component is used to detect the wall edge information of the wall edge. The wall cleaning system includes: A first control module is used for the wall edge detection component to obtain the wall edge information of the wall edge cleaned by the sweeper; The wall edge information is the color or concave-convex degree of the wall edge; A second control module is used for the distance detection component to obtain distance information between the sweeping machine and the wall edge; a third control module, configured to obtain a distance along the wall of the sweeping machine according to the wall edge information and the distance information, and control the sweeping machine to clean the wall edge at the distance along the wall; The third control module is further configured to: obtain a compensation value corresponding to the distance information according to the wall edge information, and obtain the distance along the wall according to the distance information and the compensation value.

6. The wall cleaning system for a sweeping machine according to claim 5, characterized in that: The wall edge information is the color of the wall edge. The wall cleaning system also includes: a storage module, which is used to store the distance corresponding to the distance detection component testing objects of different colors, obtain the mapping relationship between the color and the compensation value, and pre-configure the mapping relationship in the sweeper.

7. A sweeping machine, characterized in that: A wall cleaning system comprising the sweeper according to any one of claims 5 to 6.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the wall-cleaning method of the sweeping machine according to any one of claims 1 to 4 is implemented.

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