Cleaning device control method, cleaning device, cleaning system, and storage medium

Abstract

The application discloses a cleaning device control method, a cleaning device, a cleaning system and a storage medium, the cleaning device comprises a cleaning part, the method comprises: acquiring the state value of the cleaning part multiple times in the process of executing the cleaning work of the cleaning part; judging whether the current state value is greater than or equal to the backwashing threshold value; if yes, the cleaning work is paused and the backwashing instruction is executed. The application detects the state value of the cleaning part in the cleaning process to obtain the dirt condition of the cleaning part, compares the current state value of the cleaning part with the backwashing threshold value, judges the actual dirt condition of the current cleaning part, avoids the cleaning part from continuing to execute the cleaning command in the case that the cleaning part has been unable to continue to carry the dirt, improves the actual cleaning effect of the cleaning part, prevents the cleaning part from being washed in the case that the cleaning part has the ability to continue to carry the dirt, prevents the waste of energy, improves the cleaning efficiency of the cleaning part, and further optimizes the cleaning work.

Description

Technical Field

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

[0002] In related technologies, mopping robots estimate the degree of dirtiness of the mop head by the area they have mopped. When the degree of dirtiness reaches a certain threshold, they return to the base station to clean the mop head. Specifically, the backwashing behavior of mopping robots in related technologies compares the actual area or time that the mopping robot has mopped with a preset backwashing area or preset backwashing time. When the actual area or time that the mopping robot has mopped is equal to the preset backwashing area or preset backwashing time, the set backwashing command is executed. For example, if the mopping robot has mopped an area of ​​8 square meters, the backwashing command is executed to perform a backwashing.

[0003] However, when the dirt on the ground is unevenly distributed, the mopping robot cannot determine the actual degree of dirt on its cleaning section. Even when the cleaning section is relatively clean, it will still perform a backwash according to the backwash instruction, resulting in a waste of resources. Or, before the mopping robot executes the set backwash instruction, the ground dirt is higher than the set dirt, and the cleaning section is already dirty enough before it should return to the base station for cleaning, but it is still executing the mopping instruction, which affects the mopping effect and causes the ground dirt to not be completely cleaned. Summary of the Invention

[0004] The main objective of this invention is to provide a cleaning device control method, a cleaning device, a cleaning system, and a storage medium. This aims to solve the technical problems in the prior art where, when the ground dirt distribution is uneven, the mopping robot cannot determine the actual dirt level of its cleaning section. Even when the cleaning section is relatively clean, it still performs a backwash according to the backwash command, resulting in resource waste. Alternatively, before the mopping robot executes the set backwash command, because the ground dirt is higher than the set dirt level, the cleaning section is already dirty enough before it should return to the base station for cleaning, yet it still executes the mopping command, thus affecting the mopping effect and causing the ground dirt to not be completely cleaned.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] In a first aspect, the present invention provides a method for controlling a cleaning device, the cleaning device including a cleaning unit, the method comprising:

[0007] During the cleaning process, the status value of the cleaning unit is acquired multiple times.

[0008] Determine whether the current state value is greater than or equal to the washout threshold;

[0009] If so, suspend the cleaning operation and execute the backwash command.

[0010] Optionally, in the above-described cleaning device control method, the step of repeatedly acquiring the status value of the cleaning unit during the cleaning operation includes:

[0011] The status value of the cleaning unit is obtained multiple times based on the cleaning operation time of the cleaning unit.

[0012] Optionally, in the above-described cleaning device control method, the step of repeatedly acquiring the status value of the cleaning unit during the cleaning operation includes:

[0013] Based on the cleaning operation path of the cleaning unit, the status value of the cleaning unit is obtained multiple times.

[0014] Optionally, in the above-described cleaning device control method, the step of repeatedly acquiring the status value of the cleaning unit during the cleaning operation includes:

[0015] Before the cleaning unit performs the cleaning operation, the initial state value of the cleaning unit is obtained;

[0016] While performing cleaning operations at the current location, the status detection value of the cleaning unit is acquired;

[0017] The current state value is obtained based on the initial state value and the state detection value.

[0018] Optionally, in the above-described cleaning device control method, the cleaning device further includes a status value detection module, and the step of acquiring the status value of the cleaning unit multiple times during the cleaning operation includes:

[0019] The cleaning device pauses its movement and lifts the cleaning part, and obtains the current status value of the cleaning part through the status value detection module;

[0020] Determine whether the current state value is greater than or equal to the washout threshold;

[0021] If not, the cleaning device lowers the cleaning section and continues the cleaning operation.

[0022] Optionally, in the above-described cleaning device control method, before the step of determining whether the current state value is greater than or equal to the backwash threshold, the method further includes:

[0023] The backwash threshold is adjusted according to the cleaning mode selected by the user.

[0024] Optionally, in the above-described cleaning device control method, after the step of acquiring the status value of the cleaning unit multiple times during the cleaning operation, the method further includes:

[0025] Get the current state value and the previous state value;

[0026] Determine whether the difference between the current state value and the previous state value is greater than or equal to the drag-over threshold.

[0027] If so, then execute the repeat cleaning command on the already cleaned floor.

[0028] Optionally, in the above-described cleaning device control method, the step of repeatedly acquiring the status value of the cleaning unit during the cleaning operation includes:

[0029] The detection interval duration is obtained based on the minimum cleaning operation time, the difference between the current state value and the previous state value.

[0030] After the specified detection interval, the next status value is obtained.

[0031] In a second aspect, the present invention provides a cleaning device, comprising:

[0032] Cleaning Department;

[0033] The status value detection module, when the cleaning device is in the detection state, has its detection end facing the cleaning surface of the cleaning part.

[0034] Optionally, the above-mentioned cleaning device further includes:

[0035] The cleaning unit and / or the status value detection module are movably connected to the body;

[0036] The cleaning unit and the status detection module are capable of relative movement so that the cleaning device is in the detection state.

[0037] Optionally, the above-mentioned cleaning device further includes:

[0038] The support unit is movably connected to the body, and the cleaning unit is movably connected to the support unit;

[0039] The retractable section is movably connected to the support section, and the support section and the retractable section can move relative to each other so that the retractable section can be unfolded on the cleaning surface of the cleaning section or stored in the body of the machine.

[0040] Thirdly, the present invention provides a cleaning system including a cleaning device and a base station as described above. The base station can at least be used to maintain the cleaning part of the cleaning device. The cleaning device further includes a processor and a memory. The memory stores a cleaning device control program. When the cleaning device control program is executed by the processor, it implements the steps of the cleaning device control method as described above.

[0041] Fourthly, the present invention provides a computer-readable storage medium storing a cleaning device control program thereon, which, when executed by a processor, implements the steps of the cleaning device control method as described above.

[0042] The above-described one or more technical solutions provided by this invention can have the following advantages or at least achieve the following technical effects:

[0043] This invention proposes a cleaning device control method, cleaning device, cleaning system, and storage medium. By detecting the status value of the cleaning section during the cleaning process, the actual dirt level of the cleaning section can be obtained. By comparing the current status value of the cleaning section with the rewash threshold, the actual cleaning effect of the cleaning section can be determined. This avoids the cleaning section from continuing to execute cleaning commands when it can no longer bear dirt, thereby improving the actual cleaning effect of the cleaning section and preventing the cleaning section from being cleaned when it still has the capacity to bear dirt, thus preventing energy waste and improving the cleaning efficiency of the cleaning section. Furthermore, by repeatedly acquiring the status value of the cleaning section during the cleaning process, the cleaning section has the ability to perceive the degree of dirt on the ground. After the cleaning section completes cleaning, the obtained dirt data is used to further optimize the cleaning operation. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a schematic diagram of the overall process of the cleaning device control method of the present invention;

[0046] Figure 2 This is a flowchart illustrating the first embodiment of S100 in the cleaning device control method of the present invention;

[0047] Figure 3 This is a flowchart illustrating the second embodiment of S100 in the cleaning device control method of the present invention;

[0048] Figure 4 This is a flowchart illustrating the third embodiment of S100 in the cleaning device control method of the present invention.

[0049] Figure 5 This is a flowchart illustrating the fourth embodiment of S100 in the cleaning device control method of the present invention.

[0050] Figure 6 This is a flowchart illustrating the process before step S200 in the cleaning device control method of the present invention.

[0051] Figure 7 This is a flowchart illustrating the process after step S100 in the cleaning device control method of the present invention.

[0052] Figure 8 This is a flowchart illustrating the fifth embodiment of S100 in the cleaning device control method of the present invention;

[0053] Figure 9 This is a schematic diagram of the overall structure of the cleaning device of the present invention when the status value detection module is in the storage state.

[0054] Figure 10 This is a bottom view of the state value detection module of the cleaning device of the present invention when it is in the storage state.

[0055] Figure 11 This is a schematic diagram of the internal structure of the status value detection module of the cleaning device of the present invention when it is in the storage state;

[0056] Figure 12 This is a schematic diagram of the overall structure of the state value detection module of the cleaning device of the present invention when it is deployed in the cleaning section;

[0057] Figure 13 This is a bottom view of the state value detection module of the cleaning device of the present invention when it is deployed in the cleaning section.

[0058] Figure 14 This is a schematic diagram of the internal structure of the status value detection module of the cleaning device of the present invention when it is deployed in the cleaning section.

[0059] label name label name 100 Cleaning Department 200 Bearing section 300 Status value detection module 110 Through hole 210 Inner tube 220 outer tube 301 Collection and Exhibition Department

[0060] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0062] It should be noted that in the embodiments of the present invention, all directional indications (such as up, down, left, right, front, back, etc.) are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0063] In this invention, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element. Furthermore, the meaning of "and / or" throughout the text includes three parallel options; for example, "A and / or B" includes option A, option B, or options where both A and B are satisfied.

[0064] In this invention, unless otherwise explicitly specified and limited, the terms "connection" and "fixed" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements.

[0065] In this invention, if there are descriptions involving "first," "second," etc., such descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0066] In this invention, the use of suffixes such as "mechanism," "component," or "part" to denote elements is merely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, "mechanism," "component," or "part" may be used interchangeably.

[0067] For those skilled in the art, the specific meanings of the above terms in this invention can be understood according to the specific circumstances. Furthermore, the technical solutions of the various embodiments can be combined with each other; however, this is based on the premise that those skilled in the art can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0068] The inventive concept of the present invention is further illustrated below with reference to some specific embodiments. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0069] This invention proposes a cleaning device control method, a cleaning device, a cleaning system, and a storage medium.

[0070] Reference Figure 1 , Figure 1 This is a schematic diagram of the overall flow of the cleaning device control method of the present invention. The control method of the cleaning device can be applied to a cleaning device or a cleaning system to control the cleaning device so that it can perform cleaning tasks, such as cleaning the area corresponding to the cleaning task map.

[0071] This invention provides a cleaning device. Specifically, the cleaning device includes a walking unit, a cleaning part, and a status value detection module; the walking unit is used to drive the cleaning device to move, the cleaning part is used to clean the ground; and the status value detection module is used to detect the degree of dirt in the cleaning part.

[0072] The cleaning unit includes at least a mopping component for mopping the floor after it has been wetted. The mopping component is used to mop the floor, and there can be one or more mopping components. The mopping component includes, for example, at least one of the following: a rotary mop, a flat mop, etc., but is not limited to these. The mopping component is located at the bottom of the robot body, specifically at the rear of the bottom of the robot body.

[0073] For example, there are two mopping components. A drive motor is installed inside the robot body, and two rotating shafts extend from the bottom of the robot body. The mopping components are fitted onto the rotating shafts. The drive motor can drive the rotating shafts to rotate, thereby causing the rotating shafts to drive the mopping components to rotate, so as to clean the dirt on the floor.

[0074] The cleaning system provided in this application includes a cleaning device and a base station. The base station is used in conjunction with the cleaning device and can at least be used to maintain the cleaning part of the cleaning device, such as cleaning or replacing the cleaning part. For example, the base station can also charge the cleaning device, and / or provide a docking location for the cleaning device. This is only one embodiment, and specific implementations include, but are not limited to, this.

[0075] In one embodiment of the present invention, such as Figure 1 As shown, a cleaning device control method is used for a cleaning device, the cleaning device including a cleaning unit 100, the method comprising:

[0076] S100: During the cleaning operation performed by the cleaning unit 100, the status value of the cleaning unit 100 is acquired multiple times;

[0077] S200: Determine whether the current state value is greater than or equal to the washout threshold;

[0078] S300: If so, pause the cleaning operation and execute the backwash command.

[0079] For ease of understanding, a specific implementation method is shown below:

[0080] During the cleaning operation, the cleaning unit 100 absorbs dirt from the floor, thus cleaning it; simultaneously, the degree of dirt changes after the cleaning unit 100 absorbs the dirt. The cleaning unit can be controlled to pause its movement, and during this pause, the status value of the cleaning unit 100 is acquired. This acquisition of status values ​​is repeated multiple times during the cleaning operation.

[0081] After each pause and obtaining the status value of the cleaning section 100, the status value obtained during the current pause is taken as the current status value. The current status value is compared with the backwash threshold to determine whether the current status value is greater than or equal to the backwash threshold. If yes, the movement is paused and the backwash command is executed; otherwise, the cleaning operation continues until the current status value is greater than or equal to the backwash threshold.

[0082] As an optional implementation in this embodiment and other embodiments, the state value of the cleaning section 100 is the gray value of the cleaning section 100, and the rewash threshold is the gray value threshold of the cleaning section 100, that is, the maximum amount of dirt that the cleaning section 100 can bear.

[0083] The technical solution of this invention detects the status value of the cleaning unit 100 during the cleaning process to obtain the actual dirt level of the cleaning unit 100. By comparing the current status value of the cleaning unit 100 with the rewash threshold, the actual cleaning effect of the cleaning unit 100 can be determined. This avoids the cleaning unit 100 from continuing to execute cleaning commands when it can no longer bear dirt, thereby improving the actual cleaning effect of the cleaning unit 100 and preventing the cleaning unit 100 from being washed when it still has the capacity to bear dirt, thus preventing energy waste and improving the cleaning efficiency of the cleaning unit 100. Furthermore, by repeatedly acquiring the status value of the cleaning unit 100 during the cleaning process, the cleaning unit 100 gains the ability to perceive the degree of dirt on the ground. After the cleaning unit 100 completes cleaning, the obtained dirt data is used to further optimize the cleaning operation.

[0084] Reference Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of S100 in the cleaning device control method of the present invention.

[0085] As a first embodiment of S100, such as Figure 2 As shown, the steps for repeatedly acquiring the status value of the cleaning unit 100 during the cleaning operation include:

[0086] S101: Based on the cleaning operation time of the cleaning unit 100, obtain the status value of the cleaning unit 100 multiple times.

[0087] As an optional implementation in this embodiment and other embodiments, a preset interval time is set. During the cleaning operation of the cleaning unit 100, when the time interval between the current cleaning operation time and the time interval of the next adjacent cleaning operation time meets the preset interval time, the movement is paused and the status value of the cleaning unit 100 is obtained. This allows the degree of dirt of the cleaning unit 100 to be detected periodically during the cleaning operation, thereby improving the cleaning efficiency and cleaning quality of the cleaning unit 100.

[0088] As another optional implementation in this embodiment and other embodiments, by comparing the state value of the current cleaning unit 100 with the state value of the current adjacent cleaning unit 100, the rate of change of the state value of the cleaning unit 100 is determined, and the interval of detection of the cleaning unit 100 is adjusted accordingly based on the rate of change of the state value of the cleaning unit 100. That is, during the cleaning operation, as the state value of the cleaning unit 100 changes, the interval of detection of the cleaning unit 100 is shortened accordingly, so that the cleaning unit 100 is prevented from continuing to perform cleaning operations when it does not have the capacity to carry dirt, thus avoiding ineffective cleaning by the cleaning unit 100 and improving the quality of the cleaning operation.

[0089] Reference Figure 3 , Figure 3 This is a schematic flowchart of the second embodiment of S100 in the cleaning device control method of the present invention.

[0090] As a second embodiment of S100, such as Figure 3 As shown, in this embodiment, the step of repeatedly acquiring the status value of the cleaning unit 100 during the cleaning operation includes:

[0091] S102: Based on the cleaning operation path of the cleaning unit 100, obtain the status value of the cleaning unit 100 multiple times.

[0092] As an optional implementation in this embodiment and other embodiments, a preset cleaning operation area is set. During the cleaning operation of the cleaning unit 100, when the actual operation area traversed by the cleaning operation path of the cleaning unit 100 meets the preset cleaning operation area, the movement is paused, and the status value of the cleaning unit 100 is obtained. This allows the degree of dirt of the cleaning unit 100 to be detected periodically during the cleaning operation, thereby improving the cleaning efficiency and cleaning quality of the cleaning unit 100.

[0093] As another optional implementation in this embodiment and other embodiments, the preset cleaning operation area is adjusted. That is, as the cleaning path increases, the cleaning operation area increases, and the preset cleaning operation area decreases accordingly. This avoids the cleaning unit 100 from performing cleaning operations after its current state value is greater than or equal to the rewash threshold, which would result in invalid cleaning and improve the quality of cleaning operations.

[0094] Reference Figure 4 , Figure 4 This is a flowchart illustrating the third embodiment of S100 in the cleaning device control method of the present invention.

[0095] As a third embodiment of S100, such as Figure 4 As shown, the steps for repeatedly acquiring the status value of the cleaning unit 100 during the cleaning operation include:

[0096] S110: Before the cleaning unit 100 performs cleaning operations, obtain the initial state value of the cleaning unit 100;

[0097] S120: When performing cleaning operations at the current location, obtain the status detection value of the cleaning unit 100. S130: Obtain the current status value based on the initial status value and the status detection value.

[0098] For ease of understanding, a specific implementation method is shown below:

[0099] Before performing cleaning operations, the initial state value of the cleaning unit 100 is obtained. During the cleaning process, the state detection value of the cleaning unit 100 is obtained. The current state value is obtained by subtracting the state detection value from the initial state value. Based on the current state value, the dirt level of the area traversed by the cleaning unit 100 during this cleaning operation can be obtained, so that the cleaning unit 100 has the ability to perceive the degree of dirt on the ground. After the cleaning unit 100 completes cleaning, the obtained dirt data, i.e. the current state value, is used to further optimize the cleaning operation and improve the cleaning effect.

[0100] Reference Figure 5 , Figure 5 This is a schematic flowchart of the fourth embodiment of the cleaning device control method of the present invention, S100.

[0101] As a fourth embodiment of S100, such as Figure 5 As shown, in this embodiment, the cleaning device further includes a status value detection module 300. The step of repeatedly acquiring the status value of the cleaning unit 100 during the cleaning operation performed by the cleaning unit 100 includes:

[0102] F100: The cleaning device pauses its movement and lifts the cleaning unit 100, obtaining the current status value of the cleaning unit 100 through the status value detection module 300;

[0103] S200: Determine whether the current state value is greater than or equal to the washout threshold;

[0104] F300: If not, the cleaning device lowers the cleaning section 100 and continues to move to perform the cleaning operation.

[0105] For ease of understanding, a specific implementation method is shown below:

[0106] In this embodiment and other embodiments, the cleaning surface of the cleaning unit 100 is white, and the status value detection module 300 is a grayscale detection sensor. When the cleaning device stops moving and lifts the cleaning unit 100, the grayscale detection sensor detects the cleaning surface of the cleaning unit 100 and obtains the status value of the cleaning unit 100, i.e., the grayscale value. After the current detection is completed, it is determined whether the current status value is greater than or equal to the rewash threshold. If not, the cleaning unit 100 is lowered and the cleaning operation continues; if so, the rewash command is executed to clean the cleaning unit 100.

[0107] Reference Figure 6 , Figure 6 This is a flowchart illustrating the process before step S200 in the cleaning device control method of the present invention.

[0108] In one embodiment of the present invention, such as Figure 6 As shown, before the step of determining whether the current state value is greater than or equal to the washout threshold, the method also includes:

[0109] E100: Adjusts the backwash threshold based on the cleaning mode selected by the user.

[0110] For ease of understanding, a specific implementation method is shown below:

[0111] Set the backwash threshold to m*d max Where m is the preset backwashing parameter, 0 < m < 1, d max To set the backwash threshold, i.e., the maximum amount of dirt that the cleaning section 100 can handle, d max The data is obtained from laboratory measurements and represents a fixed value.

[0112] When the current state value of cleaning section 100 is greater than or equal to m times the maximum collectible amount of dirt (d) of cleaning section 100 max This means judging whether the mop is dirty enough;

[0113] The mopping mode can be changed by adjusting the value of m. When 0.5≤m<1, it is a quick cleaning mode; when 0<m≤0.5, it is a deep cleaning mode. By adjusting the backwash threshold, the cleaning unit 100 can have different cleaning modes to meet the different cleaning needs of users.

[0114] Reference Figure 7 , Figure 7 This is a flowchart illustrating the process after step S100 in the cleaning device control method of the present invention.

[0115] In one embodiment of the present invention, such as Figure 7 As shown, after the step of repeatedly acquiring the status value of the cleaning unit 100 during the cleaning operation performed by the cleaning unit 100, the method further includes:

[0116] P100: Get the current state value and the previous state value;

[0117] P200: Determine whether the difference between the current state value and the previous state value is greater than or equal to the drag threshold.

[0118] P300: If so, execute the repeat cleaning command on the already cleaned floor.

[0119] For ease of understanding, a specific implementation method is shown below:

[0120] Set a re-mopping threshold, calculate the difference between the current state value and the previous state value, and determine whether the difference is greater than or equal to the re-mopping threshold. If not, it means that the area passed between the current state value and the previous state value is relatively clean, so continue moving and perform cleaning operations; if yes, it means that the area passed between the current state value and the previous state value is relatively dirty, so repeat cleaning the area passed between the current state value and the previous state value to improve the cleaning effect.

[0121] Reference Figure 8 , Figure 8 This is a flowchart illustrating the fifth embodiment of S100 in the cleaning device control method of the present invention.

[0122] As a fifth embodiment of S100, such as Figure 2 As shown in this embodiment, the step of repeatedly acquiring the status value of the cleaning unit 100 during the cleaning operation performed by the cleaning unit 100 includes:

[0123] W100: The detection interval duration is obtained based on the minimum cleaning operation time, the difference between the current status value and the previous status value;

[0124] W200: After the detection interval, obtain the next status value of the current time.

[0125] For ease of understanding, a specific implementation method is shown below:

[0126] The detection interval is: t n =t i +k*(d n -d n-1 ) / t n-1 ;

[0127] Among them, t n t represents the duration of the current detection interval. i The minimum preset detection interval duration, k is a preset coefficient less than 0, and d n The current cleaning department status value is 100, d n-1 The current cleaning status value is 100, which is the previous cleaning status value. (d) n -d n-1 ) represents the difference between the current state value of the cleaning unit 100 and the state value of the adjacent cleaning unit 100, t n-1 The detection duration is the time between the previous and current detections. It can be understood that in this embodiment, the adjacent detections refer to the previous detections, and the number of adjacent detections depends on the actual application.

[0128] Since the current detection interval is shortened as the cleaning operation progresses, this prevents the cleaning unit 100 from performing cleaning operations even when the current status value is greater than or equal to the rewash threshold, thus avoiding invalid cleaning and improving the quality of cleaning operations.

[0129] Understandably, t i The setting is to prevent excessively frequent detections. No matter how quickly the mop gets dirty, a minimum preset detection interval must be met before detection can be performed, thus preventing a decline in the user experience.

[0130] Reference Figures 9 to 13 , Figure 9 This is a schematic diagram of the overall structure of the cleaning device of the present invention when the status value detection module is in the storage state. Figure 10 This is a bottom view of the state value detection module of the cleaning device of the present invention when it is in the stored state. Figure 11 This is a schematic diagram of the internal structure of the status value detection module of the cleaning device of the present invention when it is in the storage state. Figure 12 This is a schematic diagram of the overall structure of the state value detection module of the cleaning device of the present invention when it is deployed in the cleaning section. Figure 13 This is a bottom view of the state value detection module of the cleaning device of the present invention when it is deployed in the cleaning section.

[0131] In addition, such as Figures 9 to 13 As shown, the present invention also proposes a cleaning device, including a cleaning section 100 and a status value detection module 300. When the cleaning device is paused and in a detection state, the status value detection module switches from a stored state to an unfolded state. When the status value detection module is in the unfolded state, it is unfolded in the cleaning section so that the detection end of the status value detection module 300 faces the cleaning surface of the cleaning section 100, thus the status value detection module 300 is in the detection state.

[0132] For ease of understanding, a specific implementation method is shown below:

[0133] The status value detection module 300 is configured as a grayscale detection module composed of one or more of the following: infrared photocells, spectrometers, cameras, etc.

[0134] When the movement is paused, the detection ends of the status value detection module 300 are distributed on the cleaning surface of the cleaning section 100 to perform grayscale detection on the cleaning surface of the cleaning section 100, thereby obtaining the current status value of the cleaning section 100, and bringing the current status value into the cleaning device control method in the above embodiment to implement the corresponding steps and control the cleaning device.

[0135] In one embodiment, the cleaning device further includes a body, with the cleaning part 100 and / or the status value detection module 300 movably connected to the body, wherein the cleaning part 100 and the status value detection module 300 are capable of relative movement so that the cleaning device is in a detection state.

[0136] As an alternative to this embodiment, the cleaning unit 100 is movably connected to the body so that the cleaning unit 100 and the status value detection module 300 can move relative to each other. When the cleaning unit 100 is being detected, the drive module in the body controls the cleaning unit 100 to lift up so that the detection end of the status value detection module 300 is distributed on the cleaning surface of the cleaning unit 100 and the cleaning surface of the cleaning unit 100 is being detected.

[0137] As another option in this embodiment, the status value detection module 300 is movably connected to the body so that the cleaning part 100 and the status value detection module 300 can move relative to each other. When the cleaning part 100 is detected, the drive module in the body controls the status value detection module 300 to be located below the cleaning part 100 so that the detection end of the status value detection module 300 is distributed on the cleaning surface of the cleaning part 100 and the cleaning surface of the cleaning part 100 is detected.

[0138] Continue to refer to Figures 9 to 13 and refer to Figure 14 , Figure 14 This is a schematic diagram of the internal structure of the status value detection module of the cleaning device of the present invention when it is deployed in the cleaning section. In one embodiment, as shown... Figures 9 to 14 As shown, the cleaning device also includes a support part 200 and a retractable part 301. The support part 200 is movably connected to the body, and the cleaning part 100 is movably connected to the support part 200. The retractable part 301 is movably connected to the support part 200. Here, the movable connection between the retractable part 301 and the support part 200 can be, but is not limited to, a hinge or a rotational connection. The support part 200 and the retractable part 301 can move relative to each other so that the retractable part 301 can be unfolded on the cleaning surface of the cleaning part 100 or stored in the body.

[0139] For ease of understanding, a specific implementation method is shown below:

[0140] The cleaning section 100 has a through hole 110 through which the retractable section 301 passes. The supporting section 200 includes an outer tube 220 and an inner tube 210. The inner tube 210 is slidably disposed in the outer tube 220. The cleaning section 100 is disposed at one end of the outer tube 220. The outer tube 220 communicates with the through hole 110, and the inner tube 210 is slidably disposed in the through hole 110.

[0141] The retractable section 301 includes a mounting plate, which is rotatably disposed on the outer periphery of the inner tube 210. The status value detection module 300 is disposed on the mounting plate. The mounting plate can be switched between an unfolded position on the cleaning surface of the cleaning section 100 and a retracted position stored in the outer tube 220.

[0142] When the cleaning section 100 needs to be inspected, the drive module controls the relative sliding between the outer tube 220 and the inner tube 210, so that the mounting plate extends out of the outer tube 220 from the through hole 110 and is in the unfolded position, so that the detection end of the status value detection module 300 faces the cleaning surface of the cleaning section 100; when the cleaning section 100 does not need to be inspected, the mounting plate is retracted into the outer tube 220 from the through hole 110 and is in the retracted position, so that the status value detection module 300 is stored in the outer tube 220.

[0143] Understandably, a spring-like resilient element is provided at the connection between the mounting plate and the inner tube 210.

[0144] Because the status value detection module 300 is housed within the body, cleaning unit 100, or carrier unit 200 when not performing status value detection, the status value detection module 300 does not affect the cleaning effect of the cleaning unit 100 when it is performing cleaning operations. It can also detect the cleaning unit 100 at any time. By detecting the status value of the cleaning unit 100 during the cleaning process, the level of dirt in the cleaning unit 100 can be obtained. By comparing the current status value of the cleaning unit 100 with the rewash threshold, the actual level of dirt in the cleaning unit 100 can be determined, thus preventing the cleaning unit from becoming dirty again. Even when cleaning unit 100 can no longer bear dirt, it continues to execute the cleaning command to improve the actual cleaning effect of cleaning unit 100 and prevent cleaning unit 100 from being cleaned when it still has the capacity to bear dirt, thus preventing energy waste and improving the cleaning efficiency of cleaning unit 100. Furthermore, by repeatedly acquiring the status value of cleaning unit 100 during the cleaning process, cleaning unit 100 gains the ability to perceive the degree of dirt on the ground. After cleaning unit 100 completes cleaning, the acquired dirt data is used to further optimize the cleaning operation.

[0145] Furthermore, the present invention also proposes a system comprising a cleaning device and a base station as described above. The base station can at least be used to maintain the cleaning part of the cleaning device. The cleaning device also includes a processor and a memory. The memory stores a cleaning device control program. When the cleaning device control program is executed by the processor, it implements the steps of the cleaning device control method as described above.

[0146] The specific structure of the cleaning device and the specific steps of the control method of the cleaning device are as described in the above embodiments. Since this cleaning robot adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be described in detail here.

[0147] Furthermore, the present invention also proposes a computer-readable storage medium storing a cleaning device control program, which, when executed by a processor, implements the steps of the cleaning device control method described above.

[0148] The specific steps of the cleaning device control method are as described in the above embodiments. Since this computer-readable storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be described in detail here.

[0149] It should be noted that the sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above embodiments are only optional embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made under the inventive concept of the present invention using the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are all included within the patent protection scope of the present invention.

Claims

1. A method for controlling a cleaning device, characterized in that, For a cleaning device, the cleaning device including a cleaning part, the method includes: During the cleaning process, the status value of the cleaning unit is acquired multiple times. Adjust the rewash threshold according to the cleaning mode selected by the user; Determine whether the current state value is greater than or equal to the washout threshold; If so, suspend the cleaning operation and execute the backwash command.

2. The cleaning device control method as described in claim 1, characterized in that, The step of repeatedly acquiring the status value of the cleaning unit during the cleaning operation includes: The status value of the cleaning unit is obtained multiple times based on the cleaning operation time of the cleaning unit.

3. The cleaning device control method as described in claim 1, characterized in that, The step of repeatedly acquiring the status value of the cleaning unit during the cleaning operation includes: Based on the cleaning operation path of the cleaning unit, the status value of the cleaning unit is obtained multiple times.

4. The cleaning device control method as described in claim 1, characterized in that, The step of repeatedly acquiring the status value of the cleaning unit during the cleaning operation includes: Before the cleaning unit performs the cleaning operation, the initial state value of the cleaning unit is obtained; While performing cleaning operations at the current location, the status detection value of the cleaning unit is acquired; The current state value is obtained based on the initial state value and the state detection value.

5. The cleaning device control method as described in claim 1, characterized in that, The cleaning device further includes a status value detection module, and the step of acquiring the status value of the cleaning unit multiple times during the cleaning operation of the cleaning unit includes: The cleaning device pauses its movement and lifts the cleaning part, and obtains the current status value of the cleaning part through the status value detection module; Determine whether the current state value is greater than or equal to the washout threshold; If not, the cleaning device lowers the cleaning section and continues the cleaning operation.

6. The cleaning device control method according to any one of claims 1 to 5, characterized in that, After the step of acquiring the status value of the cleaning unit multiple times during the cleaning operation, the method further includes: Get the current state value and the previous state value; Determine whether the difference between the current state value and the previous state value is greater than or equal to the drag-over threshold. If so, then execute the repeat cleaning command on the already cleaned floor.

7. The cleaning device control method according to any one of claims 1 to 5, characterized in that, The step of repeatedly acquiring the status value of the cleaning unit during the cleaning operation includes: The detection interval duration is obtained based on the minimum cleaning operation time, the difference between the current state value and the previous state value. After the specified detection interval, the next status value is obtained.

8. A cleaning device, characterized in that, include: Cleaning Department; The status value detection module, when the cleaning device is in the detection state, has its detection end facing the cleaning surface of the cleaning part.

9. The cleaning device as claimed in claim 8, characterized in that, Also includes: The cleaning unit and / or the status value detection module are movably connected to the body; The cleaning unit and the status detection module are capable of relative movement so that the cleaning device is in the detection state.

10. The cleaning device as claimed in claim 9, characterized in that, Also includes: The support unit is movably connected to the body, and the cleaning unit is movably connected to the support unit; The retractable section is movably connected to the support section, and the support section and the retractable section can move relative to each other so that the retractable section can be unfolded on the cleaning surface of the cleaning section or stored in the body of the machine.

11. A cleaning system, characterized in that, The system includes a cleaning device and a base station as described in any one of claims 8 to 10, wherein the base station can at least be used to maintain the cleaning part of the cleaning device, and the cleaning device further includes a processor and a memory, wherein the memory stores a cleaning device control program, and when the cleaning device control program is executed by the processor, it implements the steps of the cleaning device control method as described in any one of claims 1 to 7.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a cleaning device control program, which, when executed by a processor, implements the steps of the cleaning device control method as described in any one of claims 1 to 7.

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