Control method of a self-moving device, device, and storage medium

Abstract

The application relates to a control method, device and storage medium of a self-moving device, and belongs to the technical field of computers. The control method comprises the following steps: determining whether to work in a first working mode; in the case of determining to work in the first working mode, controlling the self-moving device to travel through a to-be-cleaned surface, and controlling an output component and a cleaning piece to operate, so that a target medium is applied to the to-be-cleaned surface; the problem that an existing self-moving device cannot automatically apply the target medium to the to-be-cleaned surface can be solved; the target medium can be automatically applied to the to-be-cleaned surface, and the function of the self-moving device is expanded.

Description

Technical Field

[0001] This application belongs to the field of computer technology, and specifically relates to control methods, devices, and storage media for self-moving devices. Background Technology

[0002] Currently, self-moving devices refer to electronic devices that can move automatically without requiring user power. Examples include robotic vacuum cleaners and robotic mops.

[0003] Generally, self-moving devices can clean the surface to be cleaned while moving.

[0004] However, in addition to cleaning the surface, some functional operations may also be required, such as waxing and disinfection, which existing self-moving equipment cannot perform. Summary of the Invention

[0005] The technical problems to be solved by this application include the inability of existing self-moving devices to perform functional operations.

[0006] To address the aforementioned technical problems, this application provides, on one hand, a control method for a self-moving device, the self-moving device including a cleaning component and an output component; the cleaning component is adapted to contact the surface to be cleaned of the self-moving device to perform work on the surface to be cleaned; the output component is used to output a target medium; the method includes:

[0007] Determine whether to use the first working mode; the self-moving device includes the first working mode and the second working mode, wherein the first working mode refers to the working mode in which the target medium is applied to the surface to be cleaned; and the second working mode refers to the working mode in which the target medium is not used.

[0008] When it is determined that the first working mode is to be used, the self-moving device is controlled to travel through the surface to be cleaned, and the output component and the cleaning component are controlled to operate so as to apply the target medium to the surface to be cleaned.

[0009] Optionally, determining whether to use the first working mode includes:

[0010] Obtain the status data of the surface to be cleaned;

[0011] Based on the status data, determine whether to use the first working mode.

[0012] Optionally, the status data is used to indicate the progress of cleaning the surface to be cleaned using the second working mode;

[0013] The step of determining whether to use the first working mode based on the status data includes:

[0014] Determine whether the progress indicates cleaning is complete; if the progress indicates cleaning is complete, use the first working mode; if the progress indicates cleaning is not complete, do not use the first working mode.

[0015] Optionally, determining whether to use the first working mode based on the status data further includes:

[0016] When the progress indicates that cleaning is complete, the self-moving device is controlled to perform self-cleaning on the cleaning component;

[0017] Determine whether self-cleaning is complete; if self-cleaning is complete, use the first working mode; if self-cleaning is incomplete, do not use the first working mode.

[0018] Optionally, the status data is used to indicate a first material of the surface to be cleaned, and determining whether to use the first working mode based on the status data includes:

[0019] Determine whether the first material matches the second material applicable to the target medium; if the first material matches the second material, use the first working mode; if the first material does not match the second material, do not use the first working mode.

[0020] Optionally, the status data is used to indicate the degree of dirt on the surface to be cleaned, and determining whether to use the first working mode based on the status data includes:

[0021] Determine whether the degree of contamination is less than or equal to the contamination threshold corresponding to the target medium; if the degree of contamination is less than or equal to the contamination threshold corresponding to the target medium, use the first working mode; if the degree of contamination is greater than the contamination threshold corresponding to the target medium, do not use the first working mode.

[0022] Optionally, determining whether to use the first working mode includes:

[0023] Obtain the environmental type of the environment in which the surface to be cleaned is located;

[0024] Determine whether to use the first working mode based on the environment type.

[0025] Optionally, determining whether to use the first working mode includes:

[0026] Get the running time of the last run of the first working mode;

[0027] Based on the time interval between the running time and the current time, it is determined whether to use the first working mode. If the time interval is greater than a preset interval duration, the first working mode is used; if the time interval is less than or equal to the preset interval duration, the first working mode is not used.

[0028] Optionally, the target medium includes at least two types, and the first working mode is different for different target media;

[0029] When it is determined that the first operating mode is being used, controlling the operation of the output component and the cleaning component includes:

[0030] If it is determined that at least two target media are used in the first working mode, the first working mode corresponding to each target media is executed sequentially according to the preset execution order.

[0031] Optionally, the target medium includes a wax medium and a sterilizing medium, and the execution sequence includes the first working mode corresponding to the wax medium taking precedence over the first working mode corresponding to the sterilizing medium.

[0032] Optionally, controlling the operation of the output component and the cleaning component includes:

[0033] Determine the output of the target medium and / or the operating parameters of the cleaning component;

[0034] Control the operation of the output component and the cleaning component according to the output quantity and / or the operating parameters.

[0035] Optionally, determining the output of the target medium and / or the operating parameters of the cleaning component includes:

[0036] The output quantity and / or the operating parameters are determined based on the roughness of the surface to be cleaned;

[0037] And / or,

[0038] The output quantity and / or the operating parameters are determined based on the environmental type of the environment in which the surface to be cleaned is located.

[0039] The operating parameters include the pressure between the cleaning component and the surface to be cleaned, and / or the rotational speed of the cleaning component.

[0040] Optionally, if it is determined that the first operating mode is used, the method further includes:

[0041] During the traversal, it is determined whether there is a target surface area on the surface to be cleaned in the current direction of travel. The target surface area refers to a surface area that is not suitable for working in the first working mode but is suitable for working in the second working mode.

[0042] If a target area exists on the surface to be cleaned, the self-moving device is controlled to leave the target surface area.

[0043] On the other hand, this application also provides an electronic device comprising: a processor and a memory; the memory storing a program loaded and executed by the processor to implement the self-moving device control method provided above.

[0044] Optionally, the electronic device includes a self-moving device, which includes a cleaning component and an output component; the cleaning component is adapted to contact the surface to be cleaned of the self-moving device to perform work on the surface to be cleaned; the output component is used to output a target medium.

[0045] Optionally, the output component is located directly in front of the cleaning component in the direction of travel of the self-moving device.

[0046] In another aspect, this application also provides a computer-readable storage medium, characterized in that the storage medium stores a program that, when executed by a processor, implements the self-moving device control method provided in the above aspects.

[0047] The technical solution provided in this application has at least the following advantages: by determining whether to use the first working mode; when it is determined that the first working mode is used, the self-moving device is controlled to travel and traverse the surface to be cleaned, and the output component and cleaning component are controlled to operate so as to apply the target medium to the surface to be cleaned; this can solve the problem that existing self-moving devices cannot automatically apply the target medium to the surface to be cleaned; it can realize the automatic application of the target medium to the surface to be cleaned, thus expanding the function of the self-moving device.

[0048] Furthermore, by preventing the first working mode from starting until the second working mode is completed, it is ensured that the first and second working modes do not interfere with each other. Simultaneously, by starting the first working mode only after the second working mode is completed, rather than interrupting the second working mode to start the first working mode, it is ensured that the surface to be cleaned has already been cleaned by the second working mode when the first working mode starts, thus improving the effectiveness of the first working mode.

[0049] In addition, by first performing self-cleaning on the cleaning parts through self-cleaning mode after the cleaning mode is completed, and then executing the first working mode only after self-cleaning is completed, it can be ensured that the surface to be cleaned and the cleaning parts are as clean as possible when the first working mode is executed, which can further improve the implementation effect of the first working mode.

[0050] Furthermore, since the working area of ​​the self-moving device may include surfaces of different materials, and some surfaces do not require the first working mode to be executed, determining whether to use the first working mode by checking whether the first material of the surface to be cleaned matches the second material suitable for the target medium can prevent the problem of accidentally activating the first working mode and improve the accuracy of activating the first working mode.

[0051] In addition, by not using the first working mode when the degree of dirtiness is greater than the dirt threshold corresponding to the target medium, the problem of the target medium potentially scratching the surface to be cleaned or wasting the target medium when it acts on a relatively dirty surface can be prevented, thus ensuring the effectiveness of the first working mode.

[0052] Furthermore, since the work area where the self-moving device is located may include multiple sub-areas of different environment types, and some sub-areas of certain environment types do not require the first working mode to be executed, determining whether to use the first working mode based on the environment type can improve the accuracy of enabling the first working mode.

[0053] Furthermore, since the functional operations performed in the first operating mode do not require frequent execution, the device resources of the self-moving device can be saved by only using the first operating mode when the time interval is longer than a preset interval.

[0054] In addition, by executing the first working mode corresponding to each target medium in a preset execution order, it can be ensured that multiple first working modes can be implemented normally, and that the target medium that has been applied to the surface to be cleaned will not affect the effect of the target medium that has not yet been applied.

[0055] In addition, by determining the output of the target medium and / or the operating parameters of the cleaning components, the self-moving device can adaptively adjust the operating parameters in the first working mode for different types of surfaces to be cleaned, thereby improving the intelligence level of the self-moving device.

[0056] In addition, by bypassing the target area on the surface to be cleaned in the current direction of travel during the traversal, the first working mode and the second working mode can be operated independently without affecting the working effect of the first working mode. Attached Figure Description

[0057] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0058] Figure 1 This is a schematic diagram of the structure of a self-moving device provided in one embodiment of this application;

[0059] Figure 2 This is a flowchart of a control method for a self-moving device provided in one embodiment of this application;

[0060] Figure 3 This is a block diagram of a control device for a self-moving device according to an embodiment of this application;

[0061] Figure 4 This is a block diagram of an electronic device provided in one embodiment of this application. Detailed Implementation

[0062] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. The application will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0063] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0064] In this application, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this application.

[0065] In this application, a self-moving device refers to a device that combines cleaning capabilities with self-movement capabilities. Examples include robot vacuums, robot mops, and window cleaning robots. This embodiment does not limit the type of self-moving device.

[0066] The self-moving device in this application has at least two operating modes:

[0067] The first mode is the cleaning mode (also known as the second working mode below). In cleaning mode, the self-moving device mainly performs cleaning work on the surface to be cleaned, that is, removes dirt from the surface.

[0068] The second type: Functional mode (i.e., the first working mode below). In functional mode, the self-moving device mainly performs functional operations other than cleaning on the surface to be cleaned. For example, waxing, sterilization, etc. This embodiment does not limit the implementation method of functional operations.

[0069] It should be noted that this application only uses the two working modes mentioned above as examples. In actual implementation, the self-moving device may also have a self-cleaning mode, that is, a working mode that cleans the mechanisms on the self-moving device; and / or, it may also have a mapping mode, that is, a working mode in which the self-moving device builds a map of the current working area. This embodiment does not list all the working modes of the self-moving device. It is worth noting that the functional modes are different from the existing working modes on existing self-moving devices.

[0070] Generally, the implementation of a functional operation requires the use of a target medium, which is then applied to the surface to be cleaned. For example, waxing requires the use of a wax medium, and sterilization requires the use of a sterilization medium. This embodiment only uses wax and / or sterilization media as examples of target media. In actual implementation, depending on the functional operation, the target medium can also be other types of media, which will not be listed in this embodiment.

[0071] To enable functional operation, the self-moving device is equipped with an output component to output the target medium. The self-moving device will be described in detail below.

[0072] Figure 1 This is a schematic diagram of the structure of a self-moving device provided in one embodiment of this application. Figure 1 As can be seen, the self-moving device includes: a cleaning component 110, an output component 120, and a controller (not shown in the figure).

[0073] The cleaning component 110 is adapted to contact the surface to be cleaned of the self-moving device in order to perform cleaning on the surface. The surface to be cleaned can be a floor, window, tabletop, wall, etc., and this embodiment does not limit the type of surface to be cleaned.

[0074] Optionally, the cleaning component 110 includes, but is not limited to, a rag, a brush, and / or a roller brush. This embodiment does not limit the type of the cleaning component 110.

[0075] In one example, the cleaning component 110 includes a first cleaning component 111 (such as a rag) and a second cleaning component 112 (such as a brush), the first cleaning component 111 being different from the second cleaning component 112. When the self-moving device performs a cleaning task (i.e., operates in a cleaning mode), the first cleaning component 111 and the second cleaning component 112 typically work together.

[0076] Optionally, the self-moving device includes at least one cleaning component 110 that, during operation, maintains continuous contact between its working surface and the surface to be cleaned, with the force between the working surface and the surface to be cleaned being substantially consistent at all points, ensuring that the cleaning component 110 can evenly apply the target medium to the surface to be cleaned. For example, the cleaning component 110 may be a cloth that rotates around a central axis perpendicular to the surface to be cleaned during operation. Another example is a soft-bristled roller brush with high bristle density that rotates around a central axis parallel to the surface to be cleaned during operation.

[0077] Output component 120 is used to output the target medium.

[0078] In one example, the output component 120 includes a media receiving cavity (not shown) and an output mechanism 121 connected to the media receiving cavity for outputting the target media stored in the media receiving cavity. The output mechanism 121 includes a first end connected to the media receiving cavity and a second end extending to the outer surface of the self-moving device to output the target media outside the self-moving device.

[0079] Optionally, the second end of the output mechanism 121 outputs the target medium toward the surface to be cleaned, or the second end of the output mechanism 121 may output the target medium toward the cleaning component 110. This embodiment does not limit the direction in which the output mechanism 121 outputs the target medium.

[0080] The second end can be implemented in ways including but not limited to: a nozzle for spraying liquid or gaseous target medium from the self-moving device; and / or a fixing member for fixing the solid target medium and extending it outside the self-moving device. This embodiment does not limit the implementation of the second end.

[0081] Optionally, when the target medium includes at least two types, the medium receiving cavity includes at least two, and different medium receiving cavities are used to store different target media. In this case, different medium receiving cavities can share the same output mechanism 121, or different medium receiving cavities can correspond to different output mechanisms 121. This embodiment does not limit the implementation of the output component 120.

[0082] For example: the target media include wax media and sterilization media, with wax media corresponding to the wax media receiving cavity and sterilization media corresponding to the sterilization media receiving cavity.

[0083] Both the output component 120 and the cleaning component 110 are mounted on the bottom of the self-moving device. In one example, the output component 120 is positioned directly in front of the cleaning component 110 in the direction of travel of the self-moving device. This ensures that as much of the target medium output by the output component 120 as possible is applied to the surface to be cleaned by the cleaning component 110.

[0084] Optionally, the installation distance between the output component 120 and the cleaning component 110 is less than a preset distance. This ensures that the target medium output by the output component 120 can be applied to the surface to be cleaned by the cleaning component 110 as quickly as possible.

[0085] In cases where the cleaning component 110 includes at least two types, there is no second cleaning component 112 between the first cleaning component 111 for applying the target medium to the surface to be cleaned and the output component 120, so as to prevent the second cleaning component 112 from contacting the output target medium and reducing the effectiveness of the functional mode.

[0086] The controller is connected to the cleaning component 110 and the output component 120 respectively to control the cleaning component 110 and the output component 120.

[0087] In this embodiment, the controller is used to: determine whether to use the first working mode; if it is determined that the first working mode is used, control the self-moving device to travel through the surface to be cleaned, and control the output component 120 and the cleaning component 110 to operate so as to apply the target medium to the surface to be cleaned.

[0088] The self-moving device includes a first working mode and a second working mode. The first working mode refers to the working mode in which the target medium is applied to the surface to be cleaned. The second working mode refers to the working mode in which the target medium is not used. The second working mode includes at least a cleaning mode. In other embodiments, the second working mode may also include the self-cleaning mode, mapping mode, etc. mentioned above. This embodiment does not limit the implementation of the second working mode.

[0089] It should be noted that the self-moving device also includes other components required to realize the cleaning and mobility functions, such as the mobility component, drive component, and power supply component connected to the controller, which will not be described in detail in this embodiment.

[0090] In this embodiment, by controlling the self-moving device to travel across the surface to be cleaned while operating in the first working mode, and simultaneously controlling the output component and the cleaning component to apply the target medium to the surface to be cleaned, the self-moving device can perform functional operations, thereby expanding the functionality of the self-moving device.

[0091] The control method for the self-moving device provided in this application is described below. This embodiment uses this method for... Figure 1 The self-moving device shown is used as an example for illustration. In other embodiments, the control method for the self-moving device can also be used in other devices that are communicatively connected to the self-moving device, such as mobile phones, wearable devices, computers, tablets, etc. This embodiment does not limit the device type of other devices.

[0092] Figure 2 This is a flowchart of a control method for a self-moving device provided in one embodiment of this application. The method includes at least the following steps:

[0093] Step 201: Determine whether to use the first working mode.

[0094] The self-moving device includes a first working mode and a second working mode. The first working mode refers to the working mode in which the target medium is applied to the surface to be cleaned; the second working mode refers to the working mode in which the target medium is not used.

[0095] In one example, the self-moving device responds to a startup command for a first operating mode and determines to operate in the first operating mode.

[0096] The start command for the first working mode can be sent by the control device or generated based on the trigger operation of the start button on the self-moving device. This embodiment does not limit the method of obtaining the start command.

[0097] In another example, the self-moving device can automatically determine whether to use the first operating mode without requiring a startup command for the first operating mode. In this case, determining whether to use the first operating mode includes at least one of the following implementation methods:

[0098] The first method involves acquiring the status data of the surface to be cleaned from the self-moving device and determining whether to use the first working mode based on the status data.

[0099] Status data includes, but is not limited to, at least one of the following:

[0100] 1. Status data is used to indicate the progress of cleaning the surface to be cleaned using the second working mode. Progress includes at least "completed" and "incomplete." For incomplete cases, it can be further subdivided into percentages. This embodiment does not limit the method of progress division. In this case, status data can be represented by 1 to indicate completion and 0 to indicate incomplete; or, 100% to indicate completion and values ​​less than 100% to indicate incomplete. This embodiment does not limit the method by which status data indicates progress.

[0101] 2. The status data is used to indicate the first material of the surface to be cleaned. The status data may indicate the first material itself (i.e., the specific material, such as flooring, tiles, etc.), and / or may indicate the properties of the first material, such as the roughness of the first material. This embodiment does not limit the way the status data indicates the first material.

[0102] 3. Status data is used to indicate the degree of dirt on the surface to be cleaned. The degree of dirt can be classified into two levels: dirty and not dirty, or it can include more than two levels of dirt classification. This embodiment does not limit the way the degree of dirt is classified.

[0103] The following sections will describe the methods for determining whether to use the first working mode for each of the three types of status data mentioned above.

[0104] For the first type of status data, determine whether to use the first working mode based on the status data, including: determining whether the progress is cleaning completed; if the progress is cleaning completed, use the first working mode; if the progress is not cleaning completed, do not use the first working mode.

[0105] In this embodiment, to ensure that the first working mode and the second working mode do not interfere with each other, the first working mode will not be started until the second working mode is completed. Furthermore, by starting the first working mode only after the second working mode is completed, rather than interrupting the second working mode to start the first working mode, it can be ensured that the surface to be cleaned has already been cleaned by the second working mode when the first working mode is started, thus improving the effectiveness of the first working mode.

[0106] Optionally, to further improve the effectiveness of the first working mode, when the progress indicates cleaning is complete, the self-moving device controls itself to perform self-cleaning on the cleaning component; it then determines whether self-cleaning is complete; if self-cleaning is complete, the first working mode is used; if self-cleaning is incomplete, the first working mode is not used. In this case, the second working mode includes both the cleaning mode and the self-cleaning mode.

[0107] In this embodiment, by first performing self-cleaning on the cleaning component through self-cleaning mode after the cleaning mode is completed, and then executing the first working mode after self-cleaning is completed, it can be ensured that the surface to be cleaned and the cleaning component are as clean as possible when the first working mode is executed, which can further improve the implementation effect of the first working mode.

[0108] For the second type of status data, determining whether to use the first working mode based on the status data includes: determining whether the first material matches the second material applicable to the target medium; using the first working mode if the first material matches the second material; and not using the first working mode if the first material does not match the second material.

[0109] Since the working area of ​​the self-moving device may include surfaces of different materials, and some surfaces do not require the first working mode to be executed. For example, for a ceramic tile surface, waxing is not required. Based on this, in this embodiment, by determining whether the first working mode should be used, the system determines whether the first working mode should be used by checking whether the first material of the surface to be cleaned matches the second material applicable to the target medium. This prevents the problem of accidentally activating the first working mode and improves the accuracy of activating the first working mode.

[0110] The second material applicable to the target medium is pre-stored in the self-moving device. Optionally, when there are at least two target media, the second materials applicable to different target media may be the same or different. In this case, if the first material matches the second material applicable to any one of the target media, the first operating mode corresponding to the matching target medium is determined.

[0111] For the third type of status data, determine whether to use the first working mode based on the status data, including: determining whether the degree of contamination is less than or equal to the contamination threshold corresponding to the target medium; if the degree of contamination is less than or equal to the contamination threshold corresponding to the target medium, use the first working mode; if the degree of contamination is greater than the contamination threshold corresponding to the target medium, do not use the first working mode.

[0112] The dirt threshold is pre-stored in the self-moving device. Optionally, when there are at least two target media, the dirt thresholds corresponding to different target media may be the same or different.

[0113] Optionally, when the state data includes at least two of the above three types, for each first working mode, the first working mode is determined to be used only when all state data meet the conditions corresponding to the first working mode; if any state data does not meet the conditions corresponding to the first working mode, the first working mode is not used.

[0114] The second method involves acquiring the environment type of the surface to be cleaned from the mobile device and determining whether to use the first working mode based on the environment type.

[0115] Since the work area where the self-moving device is located may include multiple sub-areas of different environment types, and some sub-areas of certain environment types do not require the execution of the first working mode. For example, a bathroom sub-area does not require waxing. Therefore, in this embodiment, determining whether to use the first working mode based on the environment type can improve the accuracy of activating the first working mode.

[0116] The self-moving device acquires the environmental type of the environment in which the surface to be cleaned is located, including: acquiring an environmental image of the environment in which the surface to be cleaned is located; and identifying the environmental image to obtain the environmental type. Alternatively, it acquires the location of the surface to be cleaned in a region map, which is marked with the environmental types of various regions, and obtains the environmental type of the region to which the location belongs from the region map. In actual implementation, the self-moving device can also acquire the environmental type in other ways, which will not be listed in this embodiment.

[0117] The self-operated device determines whether to use a first working mode based on the environment type, including: for each first working mode, obtaining the whitelisted environment type corresponding to that first working mode; if the environment type belongs to the whitelisted environment type, determining to use the first working mode; if the environment type does not belong to the whitelisted environment type, determining not to use the first working mode. The whitelisted environment types corresponding to different first working modes may be the same or different.

[0118] Alternatively, obtain the blacklist environment type corresponding to the first working mode; if the environment type is a blacklist environment type, determine not to use the first working mode; if the environment type is not a blacklist environment type, determine to use the first working mode. Different first working modes may correspond to the same or different blacklist environment types.

[0119] In actual implementation, the self-moving device may determine whether to use the first working mode based on the environment type in other ways. As long as the environment type is used to determine when to start the first working mode, it is within the scope of this embodiment.

[0120] The third method involves the self-moving device determining whether to use the first working mode, including: obtaining the running time of the last run of the first working mode; determining whether to use the first working mode based on the time interval between the running time and the current time; using the first working mode if the time interval is greater than a preset interval duration; and not using the first working mode if the time interval is less than or equal to the preset interval duration.

[0121] Since the functional operations performed in the first working mode do not require frequent execution, in this embodiment, by using the first working mode only when the time interval is longer than a preset interval, device resources of the self-moving device can be saved.

[0122] The preset interval duration is pre-stored in the self-moving device. This preset interval duration can be one week, one month, etc., and the preset interval duration corresponding to the first working mode for different target media may be different or the same. For example, the preset interval duration corresponding to the first working mode for wax media is one month, and the preset interval duration corresponding to the first working mode for sterilization media is one week. This embodiment does not limit the setting method of the preset interval duration.

[0123] Optionally, when the self-moving device determines whether to use the first working mode through at least two of the above three methods, the first working mode is used only when all methods determine that the first working mode is to be used; if any one method determines that the first working mode is not to be used, then the first working mode is not used.

[0124] Step 202: When it is determined that the first working mode is to be used, control the self-moving device to travel through the surface to be cleaned, and control the output components and cleaning components to apply the target medium to the surface to be cleaned.

[0125] In one example, the target media includes at least two types, and the first operating mode corresponds to different target media. In this case, when it is determined that the first operating mode is being used, controlling the operation of the output component and the cleaning component includes: when it is determined that the first operating modes corresponding to at least two target media are being used, executing the first operating mode corresponding to each target media sequentially according to a preset execution order.

[0126] The execution order of each first working mode is pre-stored in the self-moving device. The execution order can be set by the user, or it can be stored in the self-moving device by default. This embodiment does not limit the way the execution order is set.

[0127] Generally, the execution order is determined based on the material of the target medium. This execution order ensures that the target medium that has been applied to the surface to be cleaned will not affect the effect of the target medium that has not yet been applied.

[0128] For example, if the target medium includes a wax medium and a bactericidal medium, and the first working mode corresponding to the bactericidal medium takes precedence over the first working mode corresponding to the wax medium, the bactericidal medium may cause the surface to be cleaned to become wet, potentially affecting the effectiveness of the wax medium. Therefore, in this embodiment, the execution order prioritizes the first working mode corresponding to the wax medium over the first working mode corresponding to the bactericidal medium. This ensures that the wax medium, once applied to the surface to be cleaned, will not affect the effectiveness of the bactericidal medium.

[0129] Optionally, when it is determined that a first working mode corresponding to a target medium is used, the self-moving device can directly control the self-moving device to travel across the surface to be cleaned and control the operation of the output components and cleaning parts, without needing to determine the execution order of the first working mode.

[0130] In one example, the operating parameters of the output component and the cleaning component are fixed in the first operating mode. However, different forces and / or speeds may be needed to apply the target medium to the surface to be cleaned for different types of surfaces.

[0131] Based on this, in another example, controlling the operation of the output component and the cleaning component includes: determining the output quantity of the target medium and / or the operating parameters of the cleaning component; and controlling the operation of the output component and the cleaning component according to the output quantity and / or operating parameters.

[0132] Optionally, the output volume of the target medium and / or the operating parameters of the cleaning component are determined, including: determining the output volume and / or operating parameters based on the roughness of the surface to be cleaned; and / or, determining the output volume and / or operating parameters based on the environmental type of the environment in which the surface to be cleaned is located.

[0133] The operating parameters include the pressure between the cleaning component and the surface to be cleaned, and / or the rotational speed of the cleaning component.

[0134] Schematic, roughness is positively correlated with output, that is, the rougher the surface to be cleaned, the greater the output; and / or roughness is positively correlated with pressure, that is, the rougher the surface to be cleaned, the greater the pressure; and / or roughness is negatively correlated with rotation speed, that is, the rougher the surface to be cleaned, the slower the rotation speed.

[0135] Optionally, when the cleaning component includes a first cleaning component and a second cleaning component, wherein the first cleaning component refers to a cleaning component suitable for uniformly applying the target medium to the surface to be cleaned, and the second cleaning component refers to other cleaning components besides the first cleaning component, in this case, the cleaning component mentioned in step 202 refers to the first cleaning component, and the self-moving device controls the second cleaning component to stop running in order to save equipment resources.

[0136] Optionally, when it is determined that the first working mode is to be used, during the traversal, the self-moving device will also determine whether there is a target surface area on the surface to be cleaned in the current direction of travel; if there is a target area on the surface to be cleaned, the self-moving device will be controlled to leave the target surface area. In this way, it can be ensured that the first working mode and the second working mode operate independently without affecting the working effect of the first working mode.

[0137] The target surface area refers to the surface area that is not suitable for working in the first working mode but is suitable for working in the second working mode.

[0138] The target surface area includes, but is not limited to: areas where the degree of dirtiness is greater than a preset threshold, and / or areas where the material is a third material. The preset threshold may be the same as or different from the dirt threshold mentioned above, and the third material may be different from the second material mentioned above. This embodiment does not limit the way the preset threshold is determined or the content of the third material.

[0139] In summary, the control method for the self-moving device provided in this embodiment determines whether to use a first working mode; when it is determined that the first working mode is used, it controls the self-moving device to travel and traverse the surface to be cleaned, and controls the output component and cleaning component to operate, so as to apply the target medium to the surface to be cleaned; it can solve the problem that existing self-moving devices cannot automatically apply the target medium to the surface to be cleaned; it can realize the automatic application of the target medium to the surface to be cleaned, thus expanding the functionality of the self-moving device.

[0140] Furthermore, by preventing the first working mode from starting until the second working mode is completed, it is ensured that the first and second working modes do not interfere with each other. Simultaneously, by starting the first working mode only after the second working mode is completed, rather than interrupting the second working mode to start the first working mode, it is ensured that the surface to be cleaned has already been cleaned by the second working mode when the first working mode starts, thus improving the effectiveness of the first working mode.

[0141] In addition, by first performing self-cleaning on the cleaning parts through self-cleaning mode after the cleaning mode is completed, and then executing the first working mode only after self-cleaning is completed, it can be ensured that the surface to be cleaned and the cleaning parts are as clean as possible when the first working mode is executed, which can further improve the implementation effect of the first working mode.

[0142] Furthermore, since the working area of ​​the self-moving device may include surfaces of different materials, and some surfaces do not require the first working mode to be executed, determining whether to use the first working mode by checking whether the first material of the surface to be cleaned matches the second material suitable for the target medium can prevent the problem of accidentally activating the first working mode and improve the accuracy of activating the first working mode.

[0143] In addition, by not using the first working mode when the degree of dirtiness is greater than the dirt threshold corresponding to the target medium, the problem of the target medium potentially scratching the surface to be cleaned or wasting the target medium when it acts on a relatively dirty surface can be prevented, thus ensuring the effectiveness of the first working mode.

[0144] Furthermore, since the work area where the self-moving device is located may include multiple sub-areas of different environment types, and some sub-areas of certain environment types do not require the first working mode to be executed, determining whether to use the first working mode based on the environment type can improve the accuracy of enabling the first working mode.

[0145] Furthermore, since the functional operations performed in the first operating mode do not require frequent execution, the device resources of the self-moving device can be saved by only using the first operating mode when the time interval is longer than a preset interval.

[0146] In addition, by executing the first working mode corresponding to each target medium in a preset execution order, it can be ensured that multiple first working modes can be implemented normally, and that the target medium that has been applied to the surface to be cleaned will not affect the effect of the target medium that has not yet been applied.

[0147] In addition, by determining the output of the target medium and / or the operating parameters of the cleaning components, the self-moving device can adaptively adjust the operating parameters in the first working mode for different types of surfaces to be cleaned, thereby improving the intelligence level of the self-moving device.

[0148] In addition, by bypassing the target area on the surface to be cleaned in the current direction of travel during the traversal, the first working mode and the second working mode can be operated independently without affecting the working effect of the first working mode.

[0149] Figure 3 This is a block diagram of a control device for a self-moving device according to an embodiment of this application. The self-moving device includes a cleaning component and an output component; the cleaning component is adapted to contact the surface to be cleaned of the self-moving device to perform work on the surface to be cleaned; the output component is used to output a target medium, and the device includes at least the following modules: a determination module 310 and a control module 320.

[0150] The determining module 310 is used to determine whether to use the first working mode; the self-moving device includes the first working mode and the second working mode, wherein the first working mode refers to the working mode in which the target medium is applied to the surface to be cleaned; and the second working mode refers to the working mode in which the target medium is not used.

[0151] The control module 320 is configured to, when determining that the first working mode is being used, control the self-moving device to traverse the surface to be cleaned, and control the output component and the cleaning component to operate so as to apply the target medium to the surface to be cleaned.

[0152] For relevant details, please refer to the above embodiments.

[0153] It should be noted that the control device for the self-moving device provided in the above embodiments is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the control device for the self-moving device can be divided into different functional modules to complete all or part of the functions described above. In addition, the control device for the self-moving device provided in the above embodiments and the control method embodiments for the self-moving device belong to the same concept, and the specific implementation process is detailed in the method embodiments, which will not be repeated here.

[0154] Figure 4 This is a block diagram of an electronic device provided in one embodiment of this application. The electronic device may be... Figure 1 The self-moving device, the electronic device, includes at least a processor 401 and a memory 402.

[0155] Processor 401 may include one or more processing cores, such as a quad-core processor or an octa-core processor. Processor 401 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 401 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 401 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 401 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0156] The memory 402 may include one or more computer-readable storage media, which may be non-transitory. The memory 402 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 402 are used to store at least one instruction, which is executed by the processor 401 to implement the control method for the self-moving device provided in the method embodiments of this application.

[0157] In some embodiments, the electronic device may also optionally include: a peripheral device interface and at least one peripheral device. The processor 401, memory 402, and peripheral device interface can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface via a bus, signal line, or circuit board. Indicatively, peripheral devices include, but are not limited to: radio frequency circuitry, a touch display screen, audio circuitry, and a power supply.

[0158] Of course, electronic devices may also include fewer or more components, and this embodiment does not limit this.

[0159] Optionally, this application also provides a computer-readable storage medium storing a program that is loaded and executed by a processor to implement the self-moving device control method of the above method embodiments.

[0160] Optionally, this application also provides a computer product including a computer-readable storage medium storing a program that is loaded and executed by a processor to implement the self-moving device control method of the above method embodiments.

[0161] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0162] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

[0163] Obviously, the embodiments described above are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, those skilled in the art can make other variations or modifications without creative effort, and all such variations or modifications should fall within the scope of protection of this application.

Claims

1. A control method for a self-moving device, characterized in that, The self-moving device includes a cleaning component and an output component; the cleaning component is adapted to contact the surface to be cleaned of the self-moving device in order to perform work on the surface to be cleaned. The output component is used to output a target medium; the method includes: Determine whether to use the first working mode; the self-moving device includes the first working mode and the second working mode, wherein the first working mode refers to the working mode in which the target medium is applied to the surface to be cleaned; and the second working mode refers to the working mode in which the target medium is not used. When it is determined that the first working mode is to be used, the self-moving device is controlled to travel through the surface to be cleaned, and the output component and the cleaning component are controlled to operate so as to apply the target medium to the surface to be cleaned. The step of determining whether to use the first working mode includes: acquiring the status data of the surface to be cleaned; determining whether to use the first working mode based on the status data; the status data is used to indicate the progress of cleaning the surface to be cleaned using the second working mode; The step of determining whether to use the first working mode based on the status data includes: determining whether the progress indicates cleaning is complete; using the first working mode if the progress indicates cleaning is complete; and not using the first working mode if the progress indicates cleaning is not complete. The step of determining whether to use the first working mode based on the status data further includes: when the progress indicates that cleaning is complete, controlling the self-moving device to perform self-cleaning on the cleaning component; determining whether self-cleaning is complete; using the first working mode when self-cleaning is complete; and not using the first working mode when self-cleaning is incomplete.

2. The method according to claim 1, characterized in that, The target medium includes at least two types, and the first working mode is different for different target media; When it is determined that the first operating mode is being used, controlling the operation of the output component and the cleaning component includes: If it is determined that at least two target media are used in the first working mode, the first working mode corresponding to each target media is executed sequentially according to the preset execution order.

3. The method according to claim 1, characterized in that, Controlling the operation of the output component and the cleaning component includes: Determine the output of the target medium and / or the operating parameters of the cleaning component; Control the operation of the output component and the cleaning component according to the output quantity and / or the operating parameters.

4. The method according to claim 3, characterized in that, Determining the output of the target medium and / or the operating parameters of the cleaning component includes: The output quantity and / or the operating parameters are determined based on the roughness of the surface to be cleaned; And / or, The output quantity and / or the operating parameters are determined based on the environmental type of the environment in which the surface to be cleaned is located. The operating parameters include the pressure between the cleaning component and the surface to be cleaned, and / or the rotational speed of the cleaning component.

5. The method according to claim 1, characterized in that, If it is determined that the first operating mode is used, the method further includes: During the traversal, it is determined whether there is a target surface area on the surface to be cleaned in the current direction of travel. The target surface area refers to a surface area that is not suitable for working in the first working mode but is suitable for working in the second working mode. If a target area exists on the surface to be cleaned, the self-moving device is controlled to leave the target surface area.

6. An electronic device, characterized in that, The electronic device includes a processor and a memory connected to the processor, the memory storing a program, which the processor executes to implement the control method for the self-moving device as described in any one of claims 1 to 5.

7. The electronic device according to claim 6, characterized in that, The electronic device includes a self-moving device, which includes a cleaning component and an output component; the cleaning component is adapted to contact the surface to be cleaned of the self-moving device to perform work on the surface to be cleaned. The output component is used to output the target medium.

8. A computer-readable storage medium, characterized in that, The storage medium stores a program that, when executed by a processor, is used to implement the control method for the self-moving device as described in any one of claims 1 to 5.

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