Control method of sweeping and mopping integrated machine, sweeping and mopping integrated machine, storage medium

Abstract

The application provides a control method of a sweeping and mopping integrated machine, the sweeping and mopping integrated machine and a storage medium, and the method comprises the following steps: after starting the sweeping and mopping mode, starting an air conditioning device, controlling a hot end fan to blow hot air to dry the ground mopped, and controlling a cold end fan to blow air to a cold end radiator to condense water vapor; acquiring a weight change value of a water collecting tank every first preset time interval; when the weight change value is greater than an upper limit value of a preset range, acquiring a difference value between a current weight change rate and a weight change rate obtained last time, and controlling an input current of a semiconductor refrigeration sheet, a rotating speed of the hot end fan and a rotating speed of the cold end fan according to a range where the difference value is located. The control method of the sweeping and mopping integrated machine can control the drying process according to the humidity of air when mopping, and reduce energy consumption.

Description

Technical Field

[0001] This invention relates to the field of sweeping and mopping machine technology, specifically, to a control method for a sweeping and mopping machine, a sweeping and mopping machine using the control method thereon, and a computer-readable storage medium using the control method thereon. Background Technology

[0002] As people's living standards continue to improve, robot vacuums and mops are becoming increasingly common in homes. These machines can automatically move to multiple indoor areas to clean and have a recognition module to identify and avoid obstacles, greatly enhancing the convenience of cleaning for users.

[0003] One existing type of sweeper and mop combo is equipped with an air conditioner, which can be moved around to adjust the temperature. It can also use its heating function to dry the mopped floor and recover condensate from the cooling process for further mopping. However, this solution fails to consider that the evaporation of water during drying will increase indoor humidity, making it impossible to maintain a dry indoor environment. Furthermore, it doesn't consider indoor humidity levels to control the drying process, resulting in excessive energy consumption. Summary of the Invention

[0004] The primary objective of this invention is to provide a control method for a sweeping and mopping robot that can control the drying process based on the humidity of the air during mopping, thereby reducing energy consumption.

[0005] The second objective of this invention is to provide a sweeping and mopping machine that can control the drying process based on the humidity of the air during mopping, thereby reducing energy consumption.

[0006] A third objective of this invention is to provide a computer-readable storage medium that can control the drying process based on the humidity of the air during mopping, thereby reducing energy consumption.

[0007] To achieve the aforementioned first objective, the control method for the sweeping and mopping integrated machine provided by the present invention includes: after starting the sweeping and mopping mode, activating the air conditioning device, controlling the hot-end fan to blow out hot air to dry the mopped floor, and the cold-end fan to blow air towards the cold-end radiator for water vapor condensation; acquiring the weight change value of the water tank at a first preset time interval; when the weight change value is greater than the upper limit of a preset range, acquiring the difference between the current weight change rate and the previously acquired weight change rate, and controlling the input current of the semiconductor cooling chip, the speed of the hot-end fan, and the speed of the cold-end fan according to the range of the difference.

[0008] As can be seen from the above scheme, the control method of the sweeping and mopping machine of the present invention, after starting the sweeping and mopping mode, can confirm the weight of condensate water generated during mopping by acquiring the weight change value of the water collection tank. The air humidity can be obtained through the weight change. When the weight change value is greater than the upper limit of the preset range, it indicates that the air humidity is high and dehumidification is required. At this time, the difference between the current weight change rate and the previously acquired weight change rate is obtained. The difference can be used to determine whether the humidity in the air is decreasing or increasing, thereby correspondingly controlling the input current of the semiconductor cooling chip, the speed of the hot-end fan, and the speed of the cold-end fan to perform dehumidification operation and reduce energy consumption.

[0009] In a further embodiment, the steps of controlling the input current of the thermoelectric cooler, the speed of the hot-end fan, and the speed of the cold-end fan according to the range of the difference include: if the difference is greater than or equal to zero, increasing the input current by a first preset current amplitude, increasing the speed of the hot-end fan by a first preset speed amplitude, and increasing the speed of the cold-end fan by a first preset speed amplitude.

[0010] Therefore, if the difference is greater than or equal to zero, it indicates that the humidity in the air is increasing. At this time, the input current, the speed of the hot-end fan, and the speed of the cold-end fan are increased by a preset range to improve the dehumidification effect.

[0011] In a further embodiment, the step of controlling the input current of the thermoelectric cooler, the speed of the hot-end fan, and the speed of the cold-end fan according to the range of the difference also includes: if the difference is less than zero, increasing the speed of the hot-end fan by a first preset speed range and decreasing the speed of the cold-end fan by a second preset speed range, wherein the second preset speed range is less than the first preset speed range.

[0012] Therefore, if the difference is less than zero, it means that the humidity in the air is decreasing. At this time, the speed of the hot-end fan can be increased to accelerate the drying of the ground. At the same time, the speed of the cold-end fan can be decreased to slow down the airflow through the cold-end radiator, so that the water vapor in the air can be fully condensed, thereby improving the dehumidification effect.

[0013] In a further embodiment, after obtaining the weight change value of the water tank at a first preset time interval, the embodiment further includes: if the weight change value is within a preset range, reducing the input current by a first preset current amplitude and reducing the speed of the cold end fan by a second preset speed amplitude.

[0014] Therefore, if the weight change value is within the preset range, it means that no condensation is generated. At this time, the air humidity is relatively dry, which can reduce the input current and the speed of the cold end fan, thereby reducing energy consumption.

[0015] In a further embodiment, after obtaining the weight change value of the water tank at each first preset time interval, the method further includes: if the weight change value is less than the lower limit of the preset range, then determining whether the water pump is turned on; if so, maintaining the current operating state; if the water pump is not turned on, then sending a fault signal.

[0016] Therefore, if the weight change is less than the lower limit of the preset range, it indicates that the water in the water tank is decreasing. To prevent the water tank from malfunctioning, it is necessary to determine whether the decrease in water volume is caused by the water pump starting up. If not, a fault signal needs to be sent to warn the user so that they can perform maintenance.

[0017] In a further embodiment, after the sweeping and mopping mode is activated, the following steps are also included: when the weight of the water tank is greater than the preset maximum weight, the water pump is turned on to pump the water from the water tank to the mop water tank; when the weight of the water tank is less than the preset minimum weight, the water pump is turned off.

[0018] Therefore, when the weight of the water tank exceeds the preset maximum weight, it indicates that the water tank is full and needs to be drained. At this time, the water pump is turned on to pump the condensate water into the mop tank for mopping. When the weight of the water tank is less than the preset minimum weight, the water pump can be turned off.

[0019] In a further embodiment, the steps for activating the air conditioning device include: after confirming the second preset duration of the sweeping and mopping mode, activating the air conditioning device.

[0020] Therefore, it can be seen that in the initial stage of starting the sweeping and mopping mode, the sweeping and mopping robot has not yet started mopping. At this time, there is no need to start the air conditioning device, thus saving energy.

[0021] In a further embodiment, after the step of starting the air conditioning device, the following steps are also included: if a shutdown command is received, the power to the thermoelectric cooler is turned off, and the cold end fan stops operating after a third preset time.

[0022] Therefore, after receiving the shutdown command, the semiconductor cooling chip is powered off, and the cold end fan stops working after the third preset time. This allows the cold end fan to dry the water remaining in the cold end heat sink, preventing the growth of bacteria.

[0023] To achieve the second objective of the present invention, the present invention provides a sweeping and mopping machine including a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, it implements the steps of the control method of the sweeping and mopping machine described above.

[0024] To achieve the third objective of the present invention, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a controller, implements the steps of the control method for the sweeping and mopping machine described above. Attached Figure Description

[0025] Figure 1 This is a structural diagram of an embodiment of the sweeping and mopping machine of the present invention.

[0026] Figure 2 This is an exploded view of the structure of an embodiment of the sweeping and mopping machine of the present invention.

[0027] Figure 3 This is an exploded view of the structure of an embodiment of the sweeping and mopping machine of the present invention from another perspective.

[0028] Figure 4 This is an installation structure diagram of the semiconductor cooling chip, hot-end heat sink, hot-end fan, cold-end heat sink, and cold-end fan in an embodiment of the sweeping and mopping machine of the present invention.

[0029] Figure 5 This is a structural cross-sectional view of an embodiment of the sweeping and mopping machine of the present invention.

[0030] Figure 6 This is a flowchart of an embodiment of the control method for the sweeping and mopping machine of the present invention.

[0031] Figure 7 This is a flowchart illustrating the control method embodiment of the sweeping and mopping machine of the present invention, which controls the input current of the semiconductor cooling chip, the speed of the hot-end fan, and the speed of the cold-end fan according to the range of the difference.

[0032] The present invention will be further described below with reference to the accompanying drawings and embodiments. Detailed Implementation

[0033] Example of a control method for a sweeping and mopping robot:

[0034] The control method of the sweeping and mopping machine of the present invention is an application program used in the sweeping and mopping machine to control the drying process according to the humidity of the air during mopping.

[0035] In this embodiment, as Figure 1 As shown, the sweeper and mop combo includes a sweeper body 1 and an air conditioning device 2, which is installed on the top of the sweeper body 1. The sweeper body 1 is equipped with sweeping and mopping functions, and its specific structure can adopt a well-known structure, which is a technology known to those skilled in the art and will not be described in detail here. The bottom of the sweeper body 1 is also equipped with drive wheels 3 for moving the sweeper body 1.

[0036] See Figure 2 , Figure 3 and Figure 4The air conditioning unit 2 includes a housing 21, a thermoelectric cooler 22, a hot-end heat sink 23, a hot-end fan 24, a cold-end heat sink 25, and a cold-end fan 26. The thermoelectric cooler 22, hot-end heat sink 23, hot-end fan 24, cold-end heat sink 25, and cold-end fan 26 are installed inside the housing 21. The housing 21 is provided with a heating-side air inlet 211, a heating-side air outlet 212, a cooling-side air inlet 213, and a cooling-side air outlet 214. These four air inlets are located on the four side walls of the housing 21, with the heating-side air inlets 211 and 212 facing each other, and the cooling-side air inlets 213 and 214 facing each other. Vertically, the heating-side air outlet 212 is located above the cooling-side air outlet 214. The heating side air outlet 212 is equipped with an adjustable air guide device. In this embodiment, the air guide device includes a stepper motor (not shown) and a grille 215. The stepper motor drives the grille 215 to swing vertically, which can adjust the air outlet direction of the hot air.

[0037] Depend on Figure 4 It is known that the hot-end heat sink 23 is installed at the hot end of the thermoelectric cooler 22, and the cold-end heat sink 25 is installed at the cold end of the thermoelectric cooler 22. When the thermoelectric cooler 22 is energized, the hot end heats up and the cold end cools down. Installing the hot-end heat sink 23 at the hot end of the thermoelectric cooler 22 increases the area for heat dissipation, and installing the cold-end heat sink 25 at the cold end of the thermoelectric cooler 22 increases the area for cooling. Both the hot-end heat sink 23 and the cold-end heat sink 25 are provided with fins. A first air duct is provided between the fins of the hot-end heat sink 23, and a second air duct is provided between the fins of the cold-end heat sink 25. The airflow direction X of the first air duct and the airflow direction Y of the second air duct are perpendicular to each other.

[0038] The hot-end heatsink 23 is located between the heating-side air inlet 211 and the heating-side air outlet 212, with a first air duct extending from the heating-side air inlet 211 to the heating-side air outlet 212. A hot-end fan 24 is installed between the heating-side air outlet 212 and the hot-end heatsink 23 to draw air in through the heating-side air inlet 211 and blow it out through the heating-side air outlet 212. The hot-end fan 24 is positioned closer to the heating-side air outlet 212 to reduce obstruction of its airflow and increase air volume. The cold-end heatsink 25 is located between the cooling-side air inlet 213 and the cooling-side air outlet 214, with a second air duct extending from the cooling-side air inlet 213 to the cooling-side air outlet 214. The cold end fan 26 is installed between the cooling side air inlet 213 and the cold end heat sink 25. It is used to draw air in through the cooling side air inlet 213 and blow it out through the cooling side air outlet 214, and condense and dehumidify the air through the cold end heat sink 25.

[0039] Depend on Figure 5 It is known that a water receiving trough 11 is provided below the cold end radiator 25. The water receiving trough 11 is located inside the main body 1 of the sweeper, and its opening faces the cold end radiator 25 to receive condensate produced by the cold end radiator 25. The main body 1 of the sweeper is also provided with a mop water tank 12 and a water pump 13. The water inlet of the water pump 13 is connected to the water receiving trough 11, and the water outlet of the water pump 13 is connected to the mop water tank 12. The water pump 13 can be used to pump the condensate in the water receiving trough 11 into the mop water tank 12 for mopping.

[0040] In addition, the water receiving tank 11 is also equipped with a first gravity sensor (not shown) for detecting the weight of the water receiving tank 11. The first gravity sensor is located at the bottom of the water receiving tank 11. By detecting the weight of the water receiving tank 11 through the first gravity sensor, the amount of water in the water receiving tank 11 can be detected.

[0041] The mop water tank 12 is also equipped with a water level detection device (not shown) for detecting the remaining water level in the mop water tank 12 to determine whether water needs to be added. The water level detection device can use a known liquid level detection device or a gravity detection device. In this embodiment, the water level detection device includes a second gravity sensor (not shown), which is located at the bottom of the mop water tank 12. By detecting the weight of the mop water tank 12 through the second gravity sensor, the remaining water level in the mop water tank 12 can be detected.

[0042] To more clearly describe the present invention, the control method of the sweeping and mopping machine is described below.

[0043] See Figure 6 In this embodiment, when controlling the sweeper-mop combo, step S1 is executed first. After starting the sweeping and mopping mode, the air conditioning device 2 is activated, controlling the hot-end fan 24 to blow hot air to dry the mopped floor, while the cold-end fan 26 blows air towards the cold-end radiator 25 for water vapor condensation. After the sweeper-mop combo starts the sweeping and mopping mode, it performs sweeping and mopping operations. At this time, the air conditioning device 2 is activated to control the hot end of the thermoelectric cooler 22 to generate heat, which is then blown out by the hot-end fan 24. The airflow direction is adjusted by the air guide device and blown towards the area mopped, thereby drying the floor. At the same time, the cold end of the thermoelectric cooler 22 cools the floor, and the cold-end fan 26 blows air towards the cold-end radiator 25, causing the water vapor in the air to condense into condensate, thus keeping the indoor air dry. The generated condensate is collected through the water collection tank 11.

[0044] In this embodiment, the step of activating the air conditioning device 2 includes: confirming the second preset duration for activating the sweeping and mopping mode, and then activating the air conditioning device 2. The second preset duration is preset based on experimental data; preferably, it is 20 seconds. In the initial stage of activating the sweeping and mopping mode, the sweeping and mopping machine has not yet started mopping; therefore, there is no need to activate the air conditioning device 2, thus saving energy.

[0045] After activating the air conditioning device 2, step S2 is executed, where the weight change value of the water collection tank 11 is acquired at first preset time intervals. The first preset time interval is pre-set based on experimental data; in this embodiment, it is 20 seconds. The weight change value is equal to the currently acquired weight value minus the previously acquired weight value. To determine the air humidity, the weight change value of the water collection tank 11 is obtained, which confirms the weight of condensate generated during mopping, thus determining the air humidity. To reduce errors when acquiring the weight of the water collection tank 11, the measurement can be performed while the sweeping and mopping machine is stationary, or multiple weight values ​​can be acquired and averaged, with the average value used as the weight value for the current measurement.

[0046] After obtaining the weight change value of the water tank 11, step S3 is executed to determine whether the weight change value is greater than the upper limit of the preset range. When determining whether the weight change value of the water tank 11 has changed, it can be determined by comparing the currently obtained weight value with the previously obtained weight value. Considering that the weight of the sweeper and mop may fluctuate during movement, a preset range is set to determine whether the weight of the water tank 11 has changed. The preset range is pre-set based on experimental data; for example, the preset range is -10 to 10.

[0047] When the weight change value exceeds the upper limit of the preset range, step S4 is executed to obtain the difference between the current weight change rate and the previously obtained weight change rate. Based on the range of this difference, the input current of the thermoelectric cooler 22, the speed of the hot-end fan 24, and the speed of the cold-end fan 26 are controlled accordingly. The weight change rate is equal to the current weight change value divided by a first preset time duration. When the weight change value exceeds the upper limit of the preset range, it indicates that the air humidity is high and dehumidification is required. In this case, the difference between the current weight change rate and the previously obtained weight change rate is obtained. This difference confirms whether the humidity in the air is decreasing or increasing, allowing for corresponding control of the input current of the thermoelectric cooler 22, the speed of the hot-end fan 24, and the speed of the cold-end fan 26 to perform dehumidification operations and reduce energy consumption.

[0048] In this embodiment, see Figure 7When controlling the input current of the thermoelectric cooler 22, the speed of the hot-end fan 24, and the speed of the cold-end fan 26 according to the range of the difference, step S41 is first executed to determine whether the difference is greater than or equal to zero. By determining whether the difference is greater than or equal to zero, it can be determined whether the humidity in the air is decreasing or increasing.

[0049] If the difference is greater than or equal to zero, then step S42 is executed: the input current is increased by a first preset current amplitude, the speed of the hot-end fan 24 is increased by a first preset speed amplitude, and the speed of the cold-end fan 26 is increased by a first preset speed amplitude. The first preset current amplitude and the first preset speed amplitude are preset based on experimental data. In this embodiment, the first preset current amplitude is 50% of the current input current, and the first preset speed amplitude is 50% of the current speed. If the difference is greater than or equal to zero, it indicates that the humidity in the air is increasing. In this case, the input current, the speed of the hot-end fan 24, and the speed of the cold-end fan 26 are increased by the preset amplitude, thereby improving the dehumidification effect.

[0050] If the difference is less than zero, step S42 is executed, increasing the speed of the hot-end fan 24 by a first preset speed range and decreasing the speed of the cold-end fan 26 by a second preset speed range, wherein the second preset speed range is less than the first preset speed range. The second preset speed range is preset based on experimental data; in this embodiment, the second preset speed range is 30% of the current speed. A difference less than zero indicates that the humidity in the air is decreasing. At this time, the speed of the hot-end fan 24 can be increased to accelerate the drying of the ground, while the speed of the cold-end fan 26 can be decreased to slow the airflow through the cold-end radiator 25, allowing water vapor in the air to condense fully, thereby improving the dehumidification effect.

[0051] Of course, when controlling the input current, the speed of the hot-end fan 24 and the speed of the cold-end fan 26, maximum and minimum limits can be set to avoid equipment damage and insufficient operating performance. For example, when the adjusted input current is greater than the maximum limit current value, the maximum limit current value is used as the input current. When the adjusted input current is less than the minimum limit current value, the minimum limit current value is used as the input current.

[0052] After executing step S4, return to step S2 and continue to detect the weight change value of the water tank 11.

[0053] If the weight change value does not meet the upper limit of the preset range when performing step S3, then step S5 is performed to determine whether the weight change value is within the preset range.

[0054] If the weight change value is within a preset range, step S6 is executed, reducing the input current by a first preset current amplitude and decreasing the speed of the cold-end fan 26 by a second preset speed amplitude. A weight change value within the preset range indicates no condensation is generated, and the air humidity is relatively dry, allowing for a reduction in the input current and the speed of the cold-end fan 26, thus reducing energy consumption. At this time, the speed of the hot-end fan 24 can be maintained unchanged. After executing step S6, the process returns to step S2 to continue detecting the weight change value of the water collection tank 11.

[0055] If the weight change value does not meet the preset range, it is considered that the weight change value is less than the lower limit of the preset range, and step S7 is executed to determine whether the water pump is turned on. If the weight change value is less than the lower limit of the preset range, it means that the water in the water tank 11 is decreasing. In order to avoid the water tank 11 from malfunctioning, it is necessary to determine whether the decrease in water volume is caused by the water pump starting to pump water. Therefore, it is necessary to determine whether the water pump is turned on.

[0056] If the water pump is on, proceed to step S8 to maintain the current operating state. The water pump being on indicates that the water volume in the water tank 11 has decreased due to the pump starting; no adjustment is needed, and the current operating state should be maintained. After executing step S8, return to step S2 to continue monitoring the weight change value of the water tank 11. If the water pump is not on, proceed to step S9 to send a fault signal. The water pump not being on indicates that the water volume in the water tank 11 has not decreased due to the pump starting; there may be leakage or a malfunction in the gravity sensor. Therefore, a fault signal needs to be sent as a warning to facilitate user inspection. In this case, to prevent equipment damage, the integrated water heater can be shut down.

[0057] In this embodiment, after the step of starting the air conditioning device 2, the method further includes: if a shutdown command is received, the thermoelectric cooler 22 is de-energized, and the cold-end fan 26 stops operating after a third preset duration. The third preset duration is preset based on experimental data; in this embodiment, the third preset duration is 60 seconds. After receiving the shutdown command, the thermoelectric cooler 22 is de-energized, and the cold-end fan 26 stops operating after the third preset duration, allowing the cold-end fan 26 to dry any residual water in the cold-end heat sink 25, preventing bacterial growth.

[0058] Furthermore, in this embodiment, after starting the sweeping and mopping mode, the method further includes: when the weight of the water tank 11 is greater than the preset maximum weight, turning on the water pump to pump water from the water tank 11 to the mop water tank 12; when the weight of the water tank 11 is less than the preset minimum weight, turning off the water pump. When the weight of the water tank 11 is greater than the preset maximum weight, it indicates that the water tank 11 is full and needs to be drained. At this time, the water pump is turned on to pump condensate water to the mop water tank 12 for mopping. When the weight of the water tank 11 is less than the preset minimum weight, the water pump can be turned off. Of course, when turning on the water pump to pump water from the water tank 11 to the mop water tank 12, it is also necessary to determine whether the mop water tank 12 is full. If the mop water tank 12 is full, the water pump is turned off to stop pumping water. If the weight of the water tank 11 is greater than the preset maximum weight and the mop water tank 12 is full, a prompt message is sent to remind the user to perform a drainage operation.

[0059] As described above, the control method of the sweeping and mopping machine of the present invention, after starting the sweeping and mopping mode, can confirm the weight of condensate water generated during mopping by acquiring the weight change value of the water collection tank 11. The air humidity can be determined by the weight change. When the weight change value is greater than the upper limit of the preset range, it indicates that the air humidity is high and dehumidification is required. At this time, the difference between the current weight change rate and the previously acquired weight change rate is acquired. The difference can be used to determine whether the humidity in the air is decreasing or increasing, thereby correspondingly controlling the input current of the semiconductor cooling chip 22, the speed of the hot-end fan 24, and the speed of the cold-end fan 26 to perform dehumidification operation and reduce energy consumption.

[0060] Example of a sweeping and mopping robot:

[0061] The sweeper and mop combo machine in this embodiment includes a controller, which executes the steps in the control method embodiment of the sweeper and mop combo machine described above when executing a computer program.

[0062] For example, a computer program can be divided into one or more modules, one or more of which are stored in memory and executed by a controller to complete the present invention. One or more modules can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program in the sweeping and mopping machine.

[0063] A robot vacuum and mop combo may include, but is not limited to, a controller and a memory. Those skilled in the art will understand that a robot vacuum and mop combo may include more or fewer components, or a combination of certain components, or different components; for example, it may also include input / output devices, network access devices, a bus, etc.

[0064] For example, the controller can be a Central Processing Unit (CPU), or other general-purpose controllers, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose controller can be a microcontroller or any conventional controller. The controller is the control center of the sweeper and mop combo, connecting all parts of the combo combo through various interfaces and lines.

[0065] The memory can be used to store computer programs and / or modules. The controller implements various functions of the robot vacuum and mop by running or executing the computer programs and / or modules stored in the memory, and by calling the data stored in the memory. For example, the memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as sound reception function, sound-to-text function, etc.), etc.; the data storage area may store data created based on the use of the mobile phone (such as audio data, text data, etc.). In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, RAM, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0066] Examples of computer-readable storage media:

[0067] If the modules integrated in the sweeper and mop combo of the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the control method embodiments of the above sweeper and mop combo can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by the controller, it can implement the steps of the control method embodiments of the above sweeper and mop combo. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The storage medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content contained in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0068] It should be noted that the above are only preferred embodiments of the present invention, but the design concept of the invention is not limited thereto. Any non-substantial modifications made to the present invention using this concept also fall within the protection scope of the present invention.

Claims

1. A control method for a sweeping and mopping robot, characterized in that, The sweeping and mopping integrated machine comprises a sweeping machine main body and an air conditioning device, the air conditioning device comprises a semiconductor refrigerating sheet, a hot end radiator, a hot end fan, a cold end radiator and a cold end fan, the hot end radiator is installed at the hot end of the semiconductor refrigerating sheet, the cold end radiator is installed at the cold end of the semiconductor refrigerating sheet, the hot end fan is used for blowing hot air to dry the mopped ground, the cold end fan is used for blowing air to the cold end radiator for water vapor condensation, the sweeping and mopping integrated machine is further provided with a water collecting tank and a gravity sensor, the water collecting tank is used for collecting the condensed water generated by the cold end radiator, and the gravity sensor is used for detecting the weight of the water collecting tank; The method comprises: After starting the sweeping and mopping mode, the air conditioning device is started, the hot end fan blows hot air to dry the mopped ground, and the cold end fan blows air to the cold end radiator for water vapor condensation; The weight change value of the water collecting tank is obtained once every first preset time interval; When the weight change value is greater than the upper limit value of the preset range, the difference between the current weight change rate and the last obtained weight change rate is obtained, and the input current of the semiconductor refrigerating sheet, the rotating speed of the hot end fan and the rotating speed of the cold end fan are controlled according to the range where the difference is located.

2. The control method of the sweeping and mopping integrated machine according to claim 1, wherein: The step of controlling the input current of the semiconductor refrigerating sheet, the rotating speed of the hot end fan and the rotating speed of the cold end fan according to the range where the difference is located comprises: If the difference is greater than or equal to zero, the input current is increased by a first preset current amplitude, the rotating speed of the hot end fan is increased by a first preset rotating speed amplitude, and the rotating speed of the cold end fan is increased by the first preset rotating speed amplitude.

3. The control method of the sweeping and mopping integrated machine according to claim 2, wherein: The step of controlling the input current of the semiconductor refrigerating sheet, the rotating speed of the hot end fan and the rotating speed of the cold end fan according to the range where the difference is located comprises: If the difference is less than zero, the rotating speed of the hot end fan is increased by the first preset rotating speed amplitude, and the rotating speed of the cold end fan is decreased by a second preset rotating speed amplitude, wherein the second preset rotating speed amplitude is less than the first preset rotating speed amplitude.

4. The control method of the sweeping and mopping integrated machine according to claim 3, wherein after the step of obtaining the weight change value of the water collecting tank once every first preset time interval, the method further comprises: If the weight change value is in the preset range, the input current is reduced by a first preset current amplitude, and the rotating speed of the cold end fan is decreased by the second preset rotating speed amplitude. The sweeping machine main body is provided with a mop water tank and a water pump, the water inlet end of the water pump is in communication with the water collecting tank, and the water outlet end of the water pump is in communication with the mop water tank; 5. The control method of the sweeping and mopping all-in-one machine according to any one of claims 1 to 4, characterized by: After the step of obtaining the weight change value of the water collecting tank once every first preset time interval, the method further comprises: If the weight change value is less than the lower limit value of the preset range, it is judged whether the water pump is started, if yes, the current running state is maintained; If the water pump is not started, a fault signal is sent. ​ 6.The control method of the sweeping and mopping all-in-one machine according to claim 5, wherein after starting the sweeping and mopping mode, further comprising: when the weight of the water tank is greater than a preset maximum weight, starting the water pump to pump the water in the water tank to the mop water tank; and when the weight of the water tank is less than a preset minimum weight, stopping the water pump. 7.The control method of the sweeping and mopping all-in-one machine according to any one of claims 1 to 4, wherein starting the air conditioning device comprises: starting the air conditioning device after the sweeping and mopping mode is started for a second preset time period. 8.The control method of the sweeping and mopping all-in-one machine according to any one of claims 1 to 4, wherein after starting the air conditioning device, further comprising: if a shutdown instruction is obtained, powering off the semiconductor refrigeration sheet, and stopping the cold end fan after working for a third preset time period. The memory stores a computer program, and the computer program is executed by the processor to implement the steps of the control method of the sweeping and mopping all-in-one machine according to any one of claims 1 to 8. The computer program is executed by the controller to implement the steps of the control method of the sweeping and mopping all-in-one machine according to any one of claims 1 to 8. ​ 9. A sweeping and mopping all-in-one machine, comprising a processor and a memory, characterized in that: ​ 10. A computer readable storage medium having stored thereon a computer program, characterized in that: ​

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