Narrow-gap cleaning control method and device for cleaning machine and cleaning machine

Abstract

This invention relates to the field of cleaning technology, providing a method, apparatus, and cleaning machine for controlling narrow gap cleaning. The cleaning machine includes a main unit and a cleaning unit. The main unit provides suction power and cleaning fluid to the cleaning unit, which is used to clean narrow gaps. The narrow gap cleaning control method includes: responding to a narrow gap cleaning command, controlling the cleaning unit to identify narrow gap information and send the information to the main unit; controlling the main unit to adjust the cleaning mode of the cleaning unit according to the narrow gap information, including a suction mode and a cleaning mode; and during the cleaning process, controlling the main unit to follow the position of the cleaning unit. This invention can adjust the matching cleaning mode according to the narrow gap information, achieving precise cleaning of narrow gaps and effectively improving the cleaning effect; furthermore, the main unit can move automatically following the cleaning unit without user intervention, thus effectively improving the user experience.

Description

Technical Field

[0001] This invention relates to the field of cleaning technology, and in particular to a method, apparatus and cleaning machine for controlling narrow gap cleaning. Background Technology

[0002] In related technologies, cleaning machines generally only have a single cleaning method. When different narrow crevices need to be cleaned, using the same cleaning method can easily lead to unsatisfactory cleaning results. Therefore, existing cleaning methods have the problem of not being compatible with narrow crevices, resulting in poor cleaning performance. Summary of the Invention

[0003] This invention provides a method, device, and cleaning machine for controlling narrow gap cleaning, which solves the defect in related technologies that the cleaning method cannot be matched with narrow gaps. It can adjust the operation to a matching cleaning mode according to the narrow gap information, so as to achieve precise cleaning of narrow gaps and effectively improve the cleaning effect.

[0004] This invention provides a method for controlling the cleaning of narrow gaps in a cleaning machine. The cleaning machine includes a main unit and a cleaning unit. The main unit provides suction power and cleaning fluid to the cleaning unit, which is used to clean narrow gaps. The method for controlling the cleaning of narrow gaps includes:

[0005] In response to a narrow gap cleaning command, the cleaning unit is controlled to identify the narrow gap information and send the narrow gap information to the main unit;

[0006] The main unit is controlled to adjust the cleaning mode of the cleaning unit according to the narrow gap information. The cleaning mode includes a vacuuming mode and a washing mode. During the cleaning process, the main unit is controlled to follow the position of the cleaning unit.

[0007] According to the present invention, a method for controlling the cleaning of a narrow gap in a cleaning machine includes the step of controlling the main unit to adjust the cleaning mode of the cleaning unit based on the narrow gap information, specifically comprising:

[0008] The cleaning unit is controlled to acquire the shape information and stain type information of the narrow slit, and then send the shape information and stain type information of the narrow slit to the host unit;

[0009] The main unit controls the generation of a cleaning strategy based on the shape information and stain type information of the narrow slit, and adjusts the cleaning mode of the cleaning unit according to the cleaning strategy.

[0010] According to the present invention, a method for controlling the cleaning of narrow gaps in a cleaning machine includes the step of controlling the main unit to adjust the cleaning mode of the cleaning unit according to the cleaning strategy, specifically comprising:

[0011] If the cleaning unit detects that the stain type in the narrow crevice is the first stain type, the main unit controls the cleaning unit to adjust the cleaning unit to vacuum mode;

[0012] If the cleaning unit detects that the stain type in the narrow crevice is the second stain type, the main unit controls the cleaning unit to adjust the cleaning unit to the cleaning mode.

[0013] According to the present invention, a method for controlling the cleaning of narrow gaps in a cleaning machine, the step of controlling the main unit to adjust the cleaning mode of the cleaning unit according to the cleaning strategy further includes:

[0014] If the cleaning unit detects that the stain type in the narrow crevice is the third type of stain, the main unit controls the cleaning unit to adjust the cleaning unit to first run in vacuum mode for a first preset time, and then run in cleaning mode for a second preset time.

[0015] According to the present invention, a method for controlling the cleaning of narrow gaps in a cleaning machine, the step of controlling the main unit to adjust the cleaning mode of the cleaning unit according to the cleaning strategy further includes:

[0016] The morphological information of the narrow slit includes depth information, and the cleaning unit is controlled to acquire the depth information of the narrow slit;

[0017] Based on the depth information of the narrow slit, the main unit is controlled to adjust the working parameters of the cleaning unit.

[0018] According to a narrow-slit cleaning control method for a cleaning machine provided by the present invention, the step of controlling the main unit to adjust the working parameters of the cleaning unit based on the depth information of the narrow slit specifically includes:

[0019] If the depth of the slit is less than or equal to the first preset depth, the main unit is controlled to provide the cleaning unit with a first suction force and / or a first cleaning fluid volume;

[0020] If the depth of the slit is greater than the first preset depth and less than or equal to the second preset depth, the main unit is controlled to provide the cleaning unit with a second suction force and / or a second cleaning fluid volume.

[0021] If the depth of the slit is greater than the second preset depth, the main unit is controlled to provide a third suction force and / or a third cleaning fluid volume to the cleaning unit;

[0022] Wherein, the first suction power is less than the second suction power, the second suction power is less than the third suction power, and the first cleaning liquid volume is less than the second cleaning liquid volume, and the second cleaning liquid volume is less than the third cleaning liquid volume.

[0023] According to the present invention, a method for controlling the cleaning of narrow gaps in a cleaning machine includes the step of controlling the main unit to follow the movement of the cleaning unit according to its position, specifically comprising:

[0024] Obtain the position information of the cleaning unit during the cleaning process;

[0025] Based on the position information of the cleaning unit, the main unit is controlled to move to a position that reaches a target preset distance from the cleaning unit.

[0026] According to the present invention, a method for controlling the narrow gap cleaning of a cleaning machine includes the following steps for controlling the movement of the main unit:

[0027] The main control unit determines the movement area centered on the cleaning unit;

[0028] Obtain obstacle location information within the movement area, and generate the shortest movement path based on the obstacle location information;

[0029] The host unit is controlled to move along the shortest path.

[0030] The present invention also provides a narrow gap cleaning control device for a cleaning machine, the cleaning machine comprising a main unit and a cleaning unit, the main unit being used to provide suction power and cleaning fluid to the cleaning unit, the cleaning unit being used to clean narrow gaps; the narrow gap cleaning control device includes:

[0031] The first control module is used to respond to the narrow gap cleaning command, control the cleaning unit to identify the narrow gap information, and send the narrow gap information to the host unit;

[0032] The second control module is used to control the main unit to adjust the cleaning mode of the cleaning unit according to the narrow gap information. The cleaning mode includes a vacuuming mode and a washing mode. During the cleaning process, the main unit is controlled to follow the position of the cleaning unit.

[0033] The present invention also provides a cleaning machine, including: the above-described cleaning machine's narrow gap cleaning control device, or the above-described cleaning machine's narrow gap cleaning control method when performing narrow gap cleaning.

[0034] The present invention provides a method, apparatus, and cleaning machine for controlling narrow gap cleaning. The cleaning machine includes a main unit and a cleaning unit. The main unit provides suction power and cleaning fluid to the cleaning unit, which cleans narrow gaps, thus enabling multiple cleaning modes such as suction and cleaning. The narrow gap cleaning control method includes: responding to a narrow gap cleaning command, controlling the cleaning unit to identify narrow gap information and send this information to the main unit; and controlling the main unit to adjust the cleaning mode of the cleaning unit according to the narrow gap information, adapting to different narrow gaps. During the cleaning process, the main unit moves automatically following the position of the cleaning unit, eliminating the need for user movement. Therefore, the present invention can adjust the cleaning mode according to the narrow gap information, achieving precise cleaning of narrow gaps and effectively improving cleaning results. Furthermore, the main unit can move automatically following the cleaning unit, eliminating the need for user operation and thus effectively improving the user experience. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in this invention or related technologies, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the cleaning machine provided by the present invention;

[0037] Figure 2 This is one of the flowcharts illustrating the narrow-gap cleaning control method for the cleaning machine provided by the present invention;

[0038] Figure 3 This is the second flowchart of the narrow gap cleaning control method for the cleaning machine provided by the present invention;

[0039] Figure 4 This is the third flowchart of the narrow gap cleaning control method for the cleaning machine provided by the present invention;

[0040] Figure 5 This is a schematic diagram of the narrow slit partition cleaning structure provided by the present invention;

[0041] Figure 6 This is a schematic diagram of the narrow gap cleaning control device for the cleaning machine provided by the present invention.

[0042] Figure label:

[0043] 1: Main unit; 2: Cleaning unit; 3: Suction hose; 4: Cleaning fluid hose;

[0044] 5: Narrow gap; 501: First area to be cleaned; 502: Second area to be cleaned;

[0045] 503: Third area to be cleaned; 6: Sensor; 7: First control module;

[0046] 8: Second control module. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0048] In the description of the embodiments of the present invention, it should be noted that the terms "first", "second", etc. are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0049] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0050] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions 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 one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0051] The following is combined Figures 1-6 The present invention describes a method, apparatus, and cleaning machine for controlling narrow gap cleaning.

[0052] According to one embodiment of the present invention, referring to Figure 1As shown, the present invention provides a cleaning machine, which mainly includes a main unit 1 and a cleaning unit 2. The cleaning unit 2 can be connected to the main unit 1 through a suction hose 3 and a cleaning fluid hose 4. The main unit 1 can provide suction power to the cleaning unit 2 through the suction hose 3, and the main unit 1 can provide cleaning fluid to the cleaning unit 2 through the cleaning fluid hose 4. The cleaning unit 2 is used to clean narrow gaps 5, thereby enabling the cleaning unit 2 to have a suction mode and a cleaning mode. In the suction mode, it can suck out foreign objects and stains in the narrow gaps 5, and in the cleaning mode, it can perform powerful cleaning of foreign objects and stains in the narrow gaps 5.

[0053] The cleaning unit 2 can be moved by hand to clean the narrow gap 5, or the cleaning unit 2 can be moved freely by a robotic arm electrically connected to the main unit 1. That is, the main unit 1 can control the robotic arm to drive the cleaning unit 2 to move freely in multiple dimensions to clean the narrow gap 5.

[0054] Therefore, the cleaning machine of this embodiment has multiple cleaning modes such as vacuuming mode and washing mode, and can adjust the cleaning mode according to the narrow gap information to achieve precise cleaning of the narrow gap 5, thereby improving the cleaning effect.

[0055] Reference Figure 2 As shown, the narrow-gap cleaning control method for a cleaning machine provided by the present invention mainly includes the following steps:

[0056] S100: In response to the narrow gap cleaning command, the control cleaning unit 2 identifies the narrow gap information and sends the narrow gap information to the main unit 1.

[0057] For example, when a user's instruction to clean a narrow crevice is received, during the cleaning process, sensors 6, such as cameras, on the cleaning unit 2 scan the crevice 5 to be cleaned in real time, identify the information of the crevice 5, and wirelessly transmit this information to the host unit 1 for analysis and processing, thus realizing information exchange and sharing between the host unit 1 and the cleaning unit 2. The crevice information may include details such as its shape and the type of stain; the shape information may include the length, depth, and shape of the crevice.

[0058] S200, the control unit 1 adjusts the cleaning mode of the cleaning unit 2 according to the narrow gap information. The cleaning mode includes a vacuuming mode and a washing mode. During the cleaning process, the control unit 1 moves according to the position of the cleaning unit 2.

[0059] Specifically, during the cleaning process, the main unit 1 receives information about the narrow crevice to be cleaned and adjusts the cleaning mode of the cleaning unit 2 according to the information to achieve a precise match between the narrow crevice 5 and the cleaning mode, thereby improving the cleaning effect. Furthermore, since the cleaning unit 2 needs to move along the narrow crevice 5 during the cleaning process, in order to ensure that the main unit 1 can provide suction power and cleaning fluid to the cleaning unit 2 in real time and realize the vacuuming and cleaning functions of the whole machine, it is necessary to control the main unit 1 to move autonomously with the cleaning unit 2. On the one hand, this can avoid the operation being restricted due to insufficient length of the suction hose 3 and the cleaning fluid hose 4. On the other hand, it can effectively improve the user experience by eliminating the need for the user to move the main unit 1.

[0060] Therefore, the narrow-gap cleaning control method for the cleaning machine provided in this embodiment of the invention includes a main unit 1 and a cleaning unit 2. The main unit 1 provides suction power and cleaning fluid to the cleaning unit 2, which is used to clean narrow gaps, thereby realizing multiple cleaning modes such as suction mode and cleaning mode. The narrow-gap cleaning control method includes: responding to a narrow-gap cleaning command, controlling the cleaning unit 2 to identify narrow-gap information and send the information to the main unit 1; and controlling the main unit 1 to adjust the cleaning mode of the cleaning unit 2 according to the narrow-gap information, adapting to different narrow gaps. During the cleaning process, the main unit 1 moves according to the position of the cleaning unit 2, without requiring the user to move the main unit 1. Therefore, this invention can adjust the matching cleaning mode according to the narrow-gap information, achieving precise cleaning of the narrow gaps and effectively improving the cleaning effect. Furthermore, the main unit 1 can move automatically following the cleaning unit 2 without user intervention, thereby effectively improving the user experience.

[0061] According to one embodiment of the present invention, referring to Figure 3 As shown, the steps for the control unit 1 to adjust the cleaning mode of the cleaning unit 2 based on the narrow gap information specifically include:

[0062] S201, The cleaning control unit 2 obtains the shape information and stain type information of the narrow slit 5, and sends the shape information and stain type information of the narrow slit 5 to the host unit 1;

[0063] S202, the control unit 1 generates a cleaning strategy based on the shape information and stain type information of the narrow slit 5, and adjusts the cleaning mode of the cleaning unit 2 according to the cleaning strategy.

[0064] Specifically, during the cleaning process, the camera and other sensors 6 on the cleaning unit 2 can scan the narrow gap 5 to be cleaned, obtain the shape information and stain type information of the current area to be cleaned in the narrow gap 5 in real time, and send the obtained information to the host unit 1 in real time. The host unit 1 adjusts the corresponding cleaning mode of the cleaning unit 2 in real time according to the obtained narrow gap information, thereby effectively improving the cleaning effect of the narrow gap 5.

[0065] According to one embodiment of the present invention, referring to Figure 4 As shown, the steps for the control unit 1 to adjust the cleaning mode of the cleaning unit 2 according to the cleaning strategy specifically include:

[0066] S2021. If the cleaning unit 2 obtains that the stain type of the narrow crevices 5 is the first stain type, the control unit 1 adjusts the cleaning unit 2 to operate in the vacuuming mode.

[0067] S2022. If the cleaning unit 2 obtains that the stain type of the narrow crevices 5 is the second stain type, the control unit 1 adjusts the cleaning unit 2 to the cleaning mode.

[0068] For example, during the cleaning of the entire narrow crevice, when the cleaning unit 2 identifies the type of stain in the narrow crevice 5 as the first type of stain, such as dust or paper scraps, which are easy to absorb, the control unit 1 adjusts the cleaning unit 2 to the vacuuming mode to perform vacuuming and cleaning; when the cleaning unit 2 identifies the type of stain in the narrow crevice 5 as the second type of stain, such as oil, water, or mud, which are difficult to absorb, the control unit 1 adjusts the cleaning unit 2 to the cleaning mode to perform powerful cleaning with cleaning fluid.

[0069] The cleaning unit 2 can use sensors such as cameras 6 to scan the stain images in the narrow gap 5 in real time and compare them with a preset stain image database to identify the current stain type.

[0070] Therefore, in the process of cleaning the entire narrow gap, the present invention can instantly identify different types of stains in the narrow gap 5 and run the corresponding cleaning mode for precise cleaning according to the different types of stains, thereby effectively improving the cleaning effect.

[0071] According to one embodiment of the present invention, referring to Figure 4 As shown, the step of controlling the main unit 1 to adjust the cleaning mode of the cleaning unit 2 according to the cleaning strategy further includes:

[0072] S2023. If the cleaning unit 2 obtains that the stain type of the narrow crevices 5 is the third stain type, the control unit 1 adjusts the cleaning unit 2 to first run in vacuum mode for a first preset time, and then run in cleaning mode for a second preset time.

[0073] The first and second preset times are generally related to the amount or area of ​​the stain. The more stains or the larger the stain area, the longer the cleaning time. The specific time can be designed according to actual needs.

[0074] Specifically, during the cleaning process of the entire narrow gap, when the cleaning unit 2 identifies that the stain type of the narrow gap 5 is a third stain type that is a mixture of the first stain type and the second stain type, such as a stain of paper scraps mixed with oil and water, the cleaning unit 2 is controlled to first run in vacuum mode for a first preset time to suck out the paper scraps, and then run in cleaning mode for a second preset time to complete the oil and water cleaning, thereby completing the precise cleaning of the narrow gap 5 and realizing the coordinated operation of multiple cleaning modes.

[0075] Therefore, the embodiments of the present invention can realize multiple cleaning modes such as vacuuming mode, cleaning mode and vacuuming and cleaning combined mode according to different types of stains in the narrow gap 5, and can run to the matching cleaning mode according to different stain types for precise cleaning, thereby effectively improving the cleaning effect of the narrow gap 5.

[0076] According to one embodiment of the present invention, the step of controlling the host unit 1 to adjust the cleaning mode of the cleaning unit 2 according to the cleaning strategy further includes: the shape information of the slit 5 includes depth information, controlling the cleaning unit 2 to acquire the depth information of the slit 5; and controlling the host unit 1 to adjust the working parameters of the cleaning unit 2 according to the depth information of the slit 5.

[0077] The step of controlling the main unit 1 to adjust the working parameters of the cleaning unit 2 based on the depth information of the narrow slit 5 specifically includes: if the depth of the narrow slit 5 is less than or equal to a first preset depth, the main unit 1 provides the cleaning unit 2 with a first suction force and / or a first cleaning fluid volume; if the depth of the narrow slit 5 is greater than the first preset depth and less than or equal to a second preset depth, the main unit 1 provides the cleaning unit 2 with a second suction force and / or a second cleaning fluid volume; if the depth of the narrow slit 5 is greater than the second preset depth, the main unit 1 provides the cleaning unit 2 with a third suction force and / or a third cleaning fluid volume; wherein the first suction force is less than the second suction force, the second suction force is less than the third suction force, and the first cleaning fluid volume is less than the second cleaning fluid volume, and the second cleaning fluid volume is less than the third cleaning fluid volume.

[0078] Therefore, in the process of cleaning the entire narrow gap, the corresponding cleaning parameters can be adjusted in real time according to the depth of different areas of the narrow gap 5. That is, the deeper the narrow gap 5 is, the greater the suction power and the more cleaning liquid is provided, thereby further improving the cleaning accuracy and cleaning effect of the entire narrow gap 5.

[0079] Unlike the embodiments described above, referring to Figure 5As shown, the steps of the control host unit 1 adjusting the cleaning mode of the cleaning unit 2 according to the narrow gap information in this embodiment of the invention specifically include: the narrow gap information includes narrow gap length information, and the control cleaning unit 2 obtains the narrow gap length information; the control host unit 1 divides the narrow gap 5 into multiple areas to be cleaned according to the narrow gap length information; during the cleaning process, the control cleaning unit 2 identifies the type of stain in the current area to be cleaned and sends the stain type of the current area to be cleaned to the host unit 1; the control host unit 1 adjusts the cleaning mode of the cleaning unit 2 according to the stain type of the current area to be cleaned.

[0080] For example, the narrow crevice 5 is divided into three areas to be cleaned. When the cleaning unit 2 identifies the type of stain in the first area to be cleaned 501, it sends the type of stain in the first area to be cleaned 501 to the main unit 1. After the main unit 1 identifies the type of stain in the first area to be cleaned 501, it adjusts the cleaning mode of the cleaning unit 2 to achieve a precise match between the type of stain in the first area to be cleaned 501 and the cleaning mode, thus completing the cleaning of that area of ​​the narrow crevice 5.

[0081] When the cleaning unit 2 finishes cleaning the first area to be cleaned 501 and moves to the second area to be cleaned 502 and the third area to be cleaned 503, it repeats the above cleaning control process until the precise cleaning of each area of ​​the entire narrow slit 5 is completed.

[0082] Therefore, by designing the narrow slit 5 into zones based on its length information and employing matching cleaning modes for different areas of the narrow slit 5 to perform precise cleaning, the present invention can effectively improve the cleaning effect of the narrow slit 5.

[0083] According to an embodiment of the present invention, the step of controlling the host unit 1 to adjust the cleaning mode of the cleaning unit 2 according to the type of stain in the current area to be cleaned specifically includes: if the cleaning unit 2 identifies the type of stain in the current area to be cleaned as a first type of stain, the host unit 1 adjusts the cleaning unit 2 to operate in a vacuuming mode; if the cleaning unit 2 identifies the type of stain in the current area to be cleaned as a second type of stain, the host unit 1 adjusts the cleaning unit 2 to operate in a cleaning mode.

[0084] For example, when the cleaning unit 2 identifies the stain type of the current area to be cleaned as the first type of stain, such as dust or paper scraps, which are easy to absorb, the control unit 1 adjusts the cleaning unit 2 to the vacuuming mode to perform vacuuming and cleaning; when the cleaning unit 2 identifies the stain type of the current area to be cleaned as the second type of stain, such as oil, water, or mud, which are difficult to absorb, the control unit 1 adjusts the cleaning unit 2 to the cleaning mode to perform powerful cleaning with cleaning fluid.

[0085] The cleaning unit 2 can use sensors such as cameras 6 to scan the stain image information of the current area to be cleaned in real time, and compare it with the preset stain image database to identify the current stain type.

[0086] Therefore, embodiments of the present invention can identify different types of stains in different areas to be cleaned within the narrow gap 5, and run to the matching cleaning mode according to different stain types for precise cleaning, thereby effectively improving the cleaning effect.

[0087] According to an embodiment of the present invention, the step of adjusting the cleaning mode of the cleaning unit 2 according to the type of stain in the current area to be cleaned by the control host unit 1 further includes: if the cleaning unit 2 identifies that the type of stain in the current area to be cleaned is a third type of stain, the control host unit 1 adjusts the cleaning unit 2 to first run in vacuum mode for a first preset time, and then run in cleaning mode for a second preset time.

[0088] The first and second preset times are generally related to the amount or area of ​​the stain. The more stains or the larger the stain area, the longer the cleaning time. The specific time can be designed according to actual needs.

[0089] Specifically, when the cleaning unit 2 identifies that the stain type of the current area to be cleaned is a third stain type that is a mixture of the first stain type and the second stain type, such as a stain of paper scraps mixed with oil and water, the cleaning unit 2 is controlled to first run in vacuum mode for a first preset time to suck up the paper scraps, and then run in cleaning mode for a second preset time to complete the oil and water cleaning, thus realizing the coordinated operation of multiple cleaning modes.

[0090] Therefore, the embodiments of the present invention can realize multiple cleaning modes such as vacuuming mode, cleaning mode and vacuuming and cleaning combined mode according to different stain types in different areas to be cleaned within the narrow gap 5. Furthermore, it can run to the matching cleaning mode according to different stain types for precise cleaning, thereby effectively improving the cleaning effect of the narrow gap 5.

[0091] In practical applications, since the slit 5 has a certain depth, and the depth of different areas of the slit 5 may vary within a certain length, if the same working parameters are used to clean the area to be cleaned within the slit 5 when the depths within the slit 5 are different, there will be a problem of poor cleaning effect.

[0092] Therefore, after the step of controlling the host unit 1 to adjust the cleaning mode of the cleaning unit 2 according to the type of stain in the current area to be cleaned, the method further includes the steps of: controlling the cleaning unit 2 to obtain the depth information of the current area to be cleaned; and controlling the host unit 1 to adjust the working parameters of the cleaning unit 2 according to the depth information of the current area to be cleaned.

[0093] For example, when the cleaning unit 2 identifies the stain type as the first type of paper lint in the area to be cleaned, it adjusts to the vacuuming mode, then detects the depth information of the area to be detected, and adjusts the suction power of the cleaning unit 2 according to the depth information of the area, so that it can quickly and effectively suck up the paper lint stains at that depth, thereby ensuring the cleaning effect. The same principle applies when the stain type is the second or third type, and will not be elaborated here.

[0094] Therefore, by dividing the length of the narrow slit 5 into sections and then further detecting the depth of the area to be cleaned, the present invention can further improve the cleaning accuracy and cleaning effect of each area to be cleaned.

[0095] According to an embodiment of the present invention, the step of controlling the host unit 1 to adjust the working parameters of the cleaning unit 2 based on the depth information of the current area to be cleaned specifically includes: if the depth of the current area to be cleaned is less than or equal to a first preset depth, the host unit 1 provides the cleaning unit 2 with a first suction force and / or a first cleaning fluid volume; if the depth of the current area to be cleaned is greater than the first preset depth and less than or equal to a second preset depth, the host unit 1 provides the cleaning unit 2 with a second suction force and / or a second cleaning fluid volume; if the depth of the current area to be cleaned is greater than the second preset depth, the host unit 1 provides the cleaning unit 2 with a third suction force and / or a third cleaning fluid volume; wherein the first suction force is less than the second suction force, the second suction force is less than the third suction force, and the first cleaning fluid volume is less than the second cleaning fluid volume, and the second cleaning fluid volume is less than the third cleaning fluid volume. It is understood that the depth value for the same area to be detected can be an average value.

[0096] For example, when cleaning unit 2 identifies the stain type in the area to be cleaned as the third stain type, it controls cleaning unit 2 to switch to a combined vacuuming and cleaning mode. Then, it detects the depth information of the area to be cleaned and adjusts the suction power and cleaning fluid volume of cleaning unit 2 accordingly, enabling it to quickly and effectively extract and clean stains at that depth, thus ensuring cleaning effectiveness. The same principle applies when the stain type is the first or second stain type, and will not be elaborated here.

[0097] Therefore, by further segmenting the depth of the area to be cleaned and further controlling the working parameters of the cleaning unit 2 according to different depth values, the present invention can further improve the precise cleaning effect on the narrow slit 5.

[0098] According to one embodiment of the present invention, the morphology information of the slit 5 may further include the shape information of the slit 5. During the cleaning process of the slit, the working parameters of the cleaning unit 2 can be further controlled according to the shape information of the slit.

[0099] For example, when the slit 5 is a straight strip, the control unit 1 provides the cleaning unit 2 with a stable suction force and cleaning fluid volume to ensure cleaning stability.

[0100] For example, when the slit 5 is curved, whenever the cleaning part 2 moves to the curvature of the slit 5, it can increase the suction power and the amount of cleaning liquid, thereby ensuring the cleaning effect.

[0101] According to an embodiment of the present invention, the step of controlling the host unit 1 to follow the position of the cleaning unit 2 specifically includes: acquiring the position information of the cleaning unit 2 during the cleaning process; and controlling the host unit 1 to move to a position that reaches a target preset distance from the cleaning unit 2 based on the position information of the cleaning unit 2.

[0102] Specifically, during the process of moving and cleaning the narrow gap 5, the real-time position of the cleaning unit 2 is sent to the main unit 1, and the main unit 1 is controlled to follow the real-time position of the cleaning unit 2 to ensure that the distance between the two can meet the operation requirements.

[0103] For example, if the target preset distance is 1 meter, when the cleaning unit 2 finishes cleaning the first area 501 to be cleaned in the narrow gap 5 and moves to the second area 502 to be cleaned, the main unit 1 also moves the corresponding distance. When the cleaning unit 2 does not move during the cleaning process, the main unit 1 remains stationary, so that the distance between the two remains 1 meter.

[0104] According to an embodiment of the present invention, the step of controlling the movement of the host unit 1 specifically includes: controlling the host unit 1 to determine a movement area with the cleaning unit 2 as the center; acquiring obstacle location information within the movement area; generating the shortest movement path based on the obstacle location information; and controlling the host unit 1 to move along the shortest movement path.

[0105] The embodiments of the present invention can realize obstacle avoidance movement of the main unit 1, and can achieve the shortest distance movement according to the position information of the obstacle, thereby improving the movement efficiency of the main unit 1.

[0106] It is understood that the narrow gap 5 in the embodiments of the present invention can be a gap in the floor tiles, a gap between objects, or a gap between an object and a wall, etc., without any particular limitation.

[0107] The narrow gap cleaning control device for the cleaning machine provided by the present invention will be described below. The narrow gap cleaning control device for the cleaning machine described below can be referred to in correspondence with the narrow gap cleaning control method for the cleaning machine described above.

[0108] According to one embodiment of the present invention, referring to Figure 6As shown, the present invention also provides a narrow gap cleaning control device for a cleaning machine, wherein the cleaning machine includes a main unit 1 and a cleaning unit 2. The main unit 1 is used to provide suction power and cleaning fluid to the cleaning unit 2, and the cleaning unit 2 is used to clean narrow gaps 5. The narrow gap cleaning control device mainly includes: a first control module 7 and a second control module 8. The first control module 1 is mainly used to respond to the narrow gap cleaning command, control the cleaning unit 2 to identify the narrow gap information, and send the narrow gap information to the main unit 1. The second control module 8 is mainly used to control the main unit 1 to adjust the cleaning mode of the cleaning unit 2 according to the narrow gap information. The cleaning mode includes a suction mode and a cleaning mode, and during the cleaning process, the main unit 1 is controlled to follow the position of the cleaning unit 2.

[0109] The narrow gap cleaning control device for the cleaning machine provided in this embodiment of the invention can, through the first control module 7 and the second control module 8, enable the cleaning machine to operate in a cleaning mode that matches the narrow gap according to the narrow gap information, thereby achieving precise cleaning of the narrow gap 5 and effectively improving the cleaning effect; and the main unit 1 of the cleaning machine can move automatically with the cleaning unit 2 without the need for user operation, thereby effectively improving the user experience.

[0110] Specifically, the second control module 8 controls the host unit 1 to adjust the cleaning mode of the cleaning unit 2 according to the narrow gap information. This includes: the first control module 1 controlling the cleaning unit 2 to acquire the shape information and stain type information of the narrow gap 5, and sending the shape information and stain type information of the narrow gap 5 to the host unit 1; the second control module 8 controlling the host unit 1 to generate a cleaning strategy according to the shape information and stain type information of the narrow gap 5, and adjusting the cleaning mode of the cleaning unit 2 according to the cleaning strategy.

[0111] The second control module 8 controls the main unit 1 to adjust the cleaning mode of the cleaning unit 2 according to the cleaning strategy. Specifically, if the cleaning unit 2 detects that the stain type of the narrow crevice 5 is the first stain type, the second control module 8 controls the main unit 1 to adjust the cleaning unit 2 to the vacuuming mode; if the cleaning unit 2 detects that the stain type of the narrow crevice 5 is the second stain type, the second control module 8 controls the main unit 1 to adjust the cleaning unit 2 to the cleaning mode; if the cleaning unit 2 detects that the stain type of the narrow crevice 5 is the third stain type, the second control module 8 controls the main unit 1 to adjust the cleaning unit 2 to first run in the vacuuming mode for a first preset time, and then run in the cleaning mode for a second preset time.

[0112] Furthermore, the second control module 8 can also control the main unit 1 to adjust the working parameters of the cleaning unit 2 according to the depth information of the narrow slit 5. Specifically, if the depth of the narrow slit 5 is less than or equal to the first preset depth, the main unit 1 provides the cleaning unit 2 with a first suction force and / or a first cleaning fluid volume; if the depth of the narrow slit 5 is greater than the first preset depth and less than or equal to the second preset depth, the main unit 1 provides the cleaning unit 2 with a second suction force and / or a second cleaning fluid volume; if the depth of the narrow slit 5 is greater than the second preset depth, the main unit 1 provides the cleaning unit 2 with a third suction force and / or a third cleaning fluid volume; wherein, the first suction force is less than the second suction force, the second suction force is less than the third suction force, and the first cleaning fluid volume is less than the second cleaning fluid volume, and the second cleaning fluid volume is less than the third cleaning fluid volume.

[0113] Therefore, the control device of this embodiment can adjust different cleaning modes and working parameters to perform precise cleaning based on different types of stains and morphological depth information within the narrow slit 5, thereby effectively improving the cleaning effect of the narrow slit 5.

[0114] According to one embodiment of the present invention, the present invention also provides a cleaning machine, mainly comprising: a narrow gap cleaning control device for the cleaning machine of the above embodiment, or, when performing narrow gap cleaning, employing the narrow gap cleaning control method of the cleaning machine of the above embodiment.

[0115] Since the cleaning machine of the present invention includes the narrow gap cleaning control device or method of the cleaning machine of the above embodiments, it has all the technical effects of the narrow gap cleaning control device or method of the cleaning machine of the above embodiments, which will not be elaborated here.

[0116] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling narrow gap cleaning in a cleaning machine, characterized in that, The cleaning machine includes a main unit and a cleaning unit. The main unit provides suction power and cleaning fluid to the cleaning unit, which is used to clean narrow crevices. The narrow crevices cleaning control method includes: In response to a narrow gap cleaning command, the cleaning unit is controlled to identify the narrow gap information and send the narrow gap information to the main unit; The main unit is controlled to adjust the cleaning mode of the cleaning unit according to the narrow gap information. The cleaning mode includes a vacuuming mode and a washing mode. During the cleaning process, the main unit is controlled to follow and move according to the position of the cleaning unit. The step of controlling the main unit to follow the position of the cleaning unit specifically includes: Obtain the position information of the cleaning unit during the cleaning process; Based on the position information of the cleaning unit, the main unit is controlled to move to a position that reaches a target preset distance from the cleaning unit.

2. The narrow-slit cleaning control method for a cleaning machine according to claim 1, characterized in that, The step of controlling the main unit to adjust the cleaning mode of the cleaning unit according to the narrow slit information specifically includes: The cleaning unit is controlled to acquire the shape information and stain type information of the narrow slit, and then send the shape information and stain type information of the narrow slit to the host unit; The main unit controls the generation of a cleaning strategy based on the shape information and stain type information of the narrow slit, and adjusts the cleaning mode of the cleaning unit according to the cleaning strategy.

3. The narrow-slit cleaning control method for a cleaning machine according to claim 2, characterized in that, The step of controlling the main unit to adjust the cleaning mode of the cleaning unit according to the cleaning strategy specifically includes: If the cleaning unit detects that the stain type in the narrow crevice is the first stain type, the main unit controls the cleaning unit to adjust the cleaning unit to vacuum mode; If the cleaning unit detects that the stain type in the narrow crevice is the second stain type, the main unit controls the cleaning unit to adjust the cleaning unit to the cleaning mode.

4. The narrow-slit cleaning control method for the cleaning machine according to claim 3, characterized in that, The step of controlling the main unit to adjust the cleaning mode of the cleaning unit according to the cleaning strategy further includes: If the cleaning unit detects that the stain type in the narrow crevice is the third type of stain, the main unit controls the cleaning unit to adjust the cleaning unit to first run in vacuum mode for a first preset time, and then run in cleaning mode for a second preset time.

5. The method for controlling narrow gap cleaning of a cleaning machine according to any one of claims 2-4, characterized in that, The step of controlling the main unit to adjust the cleaning mode of the cleaning unit according to the cleaning strategy further includes: The morphological information of the narrow slit includes depth information, and the cleaning unit is controlled to acquire the depth information of the narrow slit; Based on the depth information of the narrow slit, the main unit is controlled to adjust the working parameters of the cleaning unit.

6. The narrow-slit cleaning control method for a cleaning machine according to claim 5, characterized in that, The step of controlling the main unit to adjust the working parameters of the cleaning unit based on the depth information of the narrow slit specifically includes: If the depth of the slit is less than or equal to the first preset depth, the main unit is controlled to provide the cleaning unit with a first suction force and / or a first cleaning fluid volume; If the depth of the slit is greater than the first preset depth and less than or equal to the second preset depth, the main unit is controlled to provide the cleaning unit with a second suction force and / or a second cleaning fluid volume. If the depth of the slit is greater than the second preset depth, the main unit is controlled to provide a third suction force and / or a third cleaning fluid volume to the cleaning unit; Wherein, the first suction power is less than the second suction power, the second suction power is less than the third suction power, and the first cleaning liquid volume is less than the second cleaning liquid volume, and the second cleaning liquid volume is less than the third cleaning liquid volume.

7. The method for controlling narrow gap cleaning of a cleaning machine according to any one of claims 1-4, characterized in that, The steps for controlling the movement of the main unit specifically include: The main control unit determines the movement area centered on the cleaning unit; Obtain obstacle location information within the movement area, and generate the shortest movement path based on the obstacle location information; The host unit is controlled to move along the shortest path.

8. A narrow-slit cleaning control device for a cleaning machine, characterized in that, The cleaning machine includes a main unit and a cleaning unit. The main unit provides suction power and cleaning fluid to the cleaning unit, which is used to clean narrow crevices. The narrow crevices cleaning control device includes: The first control module is used to respond to the narrow gap cleaning command, control the cleaning unit to identify the narrow gap information, and send the narrow gap information to the host unit; The second control module is used to control the main unit to adjust the cleaning mode of the cleaning unit according to the narrow gap information. The cleaning mode includes a vacuuming mode and a washing mode. During the cleaning process, the main unit is controlled to follow and move according to the position of the cleaning unit. The step of controlling the main unit to follow the position of the cleaning unit specifically includes: Obtain the position information of the cleaning unit during the cleaning process; Based on the position information of the cleaning unit, the main unit is controlled to move to a position that reaches a target preset distance from the cleaning unit.

9. A cleaning machine, characterized in that, include: The narrow gap cleaning control device of the cleaning machine according to claim 8, or the narrow gap cleaning control method of the cleaning machine according to any one of claims 1-7, when performing narrow gap cleaning.

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