Cleaning machine control method, device, electronic equipment and program product

Abstract

The application discloses a cleaning machine control method and device, electronic equipment and program product, and is characterized in that: a horizontal distance and a height obtained based on a distance detection device; in response to the height being less than a first height preset threshold, the cleaning machine is controlled to work in a first cleaning mode; in response to the height being greater than or equal to the first height preset threshold, the cleaning machine is controlled to work in a second cleaning mode; wherein the distance detection device is arranged at the front end of a floor brush module of the cleaning machine, and the detection direction thereof is tilted downward at a preset angle. The cleaning machine control method and device, electronic equipment and program product can identify various scenes, including solid stains, water stains, and large dust, etc., according to the changes of the height distance, the horizontal distance and the turbidity, and can improve the cleaning efficiency and effect according to the different scene transformation control.

Description

Technical Field

[0001] This invention relates to a cleaning device, and more particularly to a cleaning machine control method, apparatus, electronic equipment, and program product. Background Technology

[0002] As people's living standards improve, floor scrubbers or robot vacuum cleaners are becoming increasingly common. Typical home environments are complex, with various floor materials such as carpets and tiles. Different environments also present different types of stains, such as solid stains or dirty water. In these situations, robots need to be able to automatically identify multiple scenarios and adjust accordingly. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the defects in the prior art and provide a cleaning machine control method, device, electronic device and program product that can automatically identify cleaning scenarios with various stains.

[0004] The present invention solves the above-mentioned technical problems through the following technical solution: a cleaning machine control method, comprising,

[0005] Based on the horizontal distance and height obtained by the distance detection device;

[0006] In response to the height being less than a first height preset threshold, the cleaning machine is controlled to operate in a first cleaning mode;

[0007] In response to the height being greater than or equal to a first preset height threshold, the cleaning machine is controlled to operate in a second cleaning mode;

[0008] The distance detection device is located at the front end of the floor brush module of the cleaning machine, and its detection direction is tilted downward at a preset angle.

[0009] Preferably, the step of controlling the cleaning machine to operate in a first cleaning mode in response to the height being less than a first preset height threshold includes:

[0010] In response to the turbidity of the dirt sucked in by the cleaning machine being greater than or equal to a first preset threshold, the power of the main fan is reduced by a first preset ratio;

[0011] In response to the turbidity of the dirt sucked in by the cleaning machine being greater than or equal to the second preset threshold, the water outlet system is controlled to stop discharging water, and the power of the main fan is reduced by the second preset ratio.

[0012] Wherein the first preset threshold is greater than the second preset threshold, and the first preset ratio is less than the second preset ratio.

[0013] Preferably, the step of controlling the cleaning machine to operate in the first cleaning mode in response to the height being less than a first height preset threshold further includes:

[0014] In response to the fact that the turbidity of the dirt sucked in by the cleaning machine is less than the second preset threshold and the horizontal distance is less than the first preset distance, the power of the main fan is increased by a third preset ratio;

[0015] In response to the cleaning machine sucking up dirt with a turbidity less than the second preset threshold, and the horizontal distance being greater than or equal to the first preset distance, and the suction dirt with a turbidity greater than or equal to the third preset threshold, the main fan power is increased by a fourth preset ratio, and the water output is increased by a preset ratio.

[0016] In response to the cleaning machine sucking in stains with a turbidity less than the second preset threshold, and the horizontal distance being greater than or equal to the first preset distance, and the sucking in stains with a turbidity less than the third preset threshold, the current control mode is maintained;

[0017] The third preset threshold is less than the second preset threshold, the third preset ratio is positively correlated with the turbidity, and the third preset ratio is greater than the fourth preset ratio.

[0018] Preferably, the step of controlling the cleaning machine to operate in a second cleaning mode in response to the height being greater than or equal to a first preset threshold includes:

[0019] In response to the height being greater than or equal to a second preset height threshold, the water outlet of the control system is stopped, and the power of the main fan is increased by a fifth preset ratio.

[0020] In response to the height being less than a second preset height threshold and the horizontal distance being less than a first preset distance, the power of the main fan is increased by a third preset ratio;

[0021] In response to the fact that the height is less than a second preset height threshold, the horizontal distance is greater than or equal to a first preset distance, and the turbidity of the dirt sucked in by the cleaning machine is greater than a third preset threshold, the main fan power is increased by a fourth preset ratio, and the water output is increased by a preset ratio; the preset ratio is positively correlated with the turbidity.

[0022] In response to the fact that the height is less than a second preset height threshold, the horizontal distance is greater than or equal to a first preset distance, and the turbidity of the dirt sucked in by the cleaning machine is less than a third preset threshold, the current control mode is maintained.

[0023] The second preset height threshold is greater than the first preset height threshold.

[0024] Preferably, the method for obtaining horizontal distance and height based on the distance detection device includes:

[0025] The straight-line distance is obtained based on the distance detection device;

[0026] Based on the straight-line distance and the preset angle, it is decomposed into height and horizontal distance.

[0027] The preset angle is the angle between the detection direction and the vertical direction.

[0028] In another aspect, the present invention provides a cleaning machine control device, comprising,

[0029] A distance acquisition module is used to acquire horizontal distance and height based on the distance detection device;

[0030] The first response module is used to control the cleaning machine to operate in the first cleaning mode in response to the height being less than a first height preset threshold.

[0031] The second response module is used to control the cleaning machine to work in the second cleaning mode in response to the height being greater than or equal to the first height preset threshold.

[0032] The distance detection device is located at the front end of the floor brush module of the cleaning machine, and its detection direction is tilted downward at a preset angle.

[0033] Preferably, the first response module includes,

[0034] The first turbidity judgment module is used to determine the relationship between the turbidity of the inhaled stain and the first preset threshold, the second preset threshold and the third preset threshold;

[0035] The first fan control module is used to increase or decrease the power of the main fan.

[0036] The first water outlet control module is used to control the water outlet volume of the water outlet system;

[0037] The first horizontal distance determination module is used to determine the relationship between the horizontal distance and the first preset distance;

[0038] Preferably, the second response module includes,

[0039] A height determination module is used to determine the relationship between the height and a second height threshold.

[0040] The second horizontal distance determination module is used to determine the relationship between the horizontal distance and the first preset distance;

[0041] The second turbidity judgment module is used to determine the relationship between the turbidity of the inhaled stain and the first preset threshold, the second preset threshold and the third preset threshold;

[0042] The second fan control module is used to increase or decrease the power of the main fan.

[0043] The second water outlet control module is used to control the water output of the water outlet system.

[0044] In another aspect, the present invention provides an electronic device comprising:

[0045] At least one processor; and

[0046] A memory communicatively connected to the at least one processor; wherein,

[0047] The memory stores instructions for execution by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform any of the methods described above.

[0048] In another aspect, the present invention provides a computer program product comprising a computer program / instructions, characterized in that the computer program / instructions, when executed by a processor, implement the steps of the method described in any one of the above descriptions.

[0049] The positive and progressive effects of this invention are as follows: the cleaning machine control method, device, electronic equipment and program product can identify various scenarios, including solid stains, water stains and large dust, based on changes in height, horizontal distance and turbidity, and change the control according to different scenarios to improve cleaning efficiency and effect. Attached Figure Description

[0050] Figure 1 This is a schematic diagram of the distance detection device of the cleaning machine in the cleaning machine control method provided in Embodiment 1 of the present invention;

[0051] Figure 2 This is a flowchart illustrating the cleaning machine control method provided in Embodiment 1 of the present invention;

[0052] Figure 3 This is a flowchart illustrating step S200 of the cleaning machine control method provided in Embodiment 1 of the present invention;

[0053] Figure 4 This is a flowchart illustrating step S300 of the cleaning machine control method provided in Embodiment 1 of the present invention;

[0054] Figure 5 This is a schematic block diagram of the cleaning machine control device provided in Embodiment 2 of the present invention;

[0055] Figure 6 This is a schematic block diagram of an example electronic device 500 provided in Embodiment 3 of the present invention. Detailed Implementation

[0056] The present invention is further illustrated by way of examples below, which however shall not be construed as limiting the scope of the present invention to the described examples.

[0057] Example 1

[0058] As shown in Figure 1 , the cleaning machine of this Example 1 includes a distance detection device and a turbidity sensor. The distance detection device is arranged at the front end of the floor brush module. When the cleaning machine is placed horizontally, its detection direction is inclined downward at a preset angle θ, as shown in Figure 1 , the detection direction forms an angle θ with the vertical direction, and is used for detecting distance changes in front of and below the floor brush module. Through this distance detection device, the height H from the ground can be obtained. Since the distance detection device has a certain measurement range, the maximum horizontal distance of its detection window from the front end of the floor brush module is l. As the detection direction is inclined downward, H×tanθ<l, which is used to ensure that obstacles can be detected.

[0059] When there is an obstacle significantly higher than the ground in front of the cleaning machine, and the distance between the obstacle and the floor brush module is less than l, the horizontal distance L can be measured. When there is no obstacle in front, the horizontal distance measured by the distance detection device is l. The distance detection device may adopt an ultrasonic sensor.

[0060] The turbidity sensor is arranged at a position close to the sewage suction port on the sewage suction pipeline, and is used for detecting the turbidity of the sucked-in stains.

[0061] The horizontal distance and height obtained based on the distance detection device can specifically obtain the straight-line distance first. Since the detection direction of the distance detection device is inclined downward, the obtained straight-line distance d is the distance inclined toward the ground. After obtaining the straight-line distance, the straight-line distance d is decomposed according to the preset angle to obtain the height H and the horizontal distance L. The preset angle θ is the angle between the detection direction and the vertical direction.

[0062] Specifically, the horizontal distance L is d×cosθ, and the height H is d×sinθ

[0063] As shown in Figure 2 , the control method for the cleaning machine includes:

[0064] S100: Obtain the horizontal distance and the height based on the distance detection device;

[0065] S200: In response to the height being less than a first preset height threshold, control the cleaning machine to operate in a first cleaning mode;

[0066] S300: In response to the height being greater than or equal to the first preset height threshold, control the cleaning machine to operate in a second cleaning mode;

[0067] The distance detection device is located at the front end of the floor brush module of the cleaning machine, and its detection direction is tilted downward at a preset angle.

[0068] When the detected height H is less than the first preset height threshold H1, it indicates that the cleaning machine is moving on a relatively level surface and can operate normally in the first cleaning mode. However, when the detected height is greater than or equal to H1 (H≥H1), it indicates that there is a step in front of the cleaning machine, the cleaning machine's floor brush is lifted, it is on an inclined surface, or it has come into contact with an obstacle that is significantly higher than the ground. In this case, the cleaning machine should be switched to the second cleaning mode.

[0069] By identifying different scenarios using sensors, the system can then adjust its control logic accordingly, thereby improving the effectiveness and efficiency of cleaning.

[0070] In one implementation, step S200 involves controlling the cleaning machine to operate in a first cleaning mode in response to the height being less than a first height preset threshold; specifically, as follows: Figure 3 As shown,

[0071] S201 responds to the cleaning machine sucking in stains with a turbidity greater than or equal to a first preset threshold A1 by reducing the main fan power by a first preset ratio. In this case, it indicates that there are large solid stains in front of the cleaning machine, so it is necessary to control the main fan power to reduce it to avoid instantaneously sucking in a large amount of stains and causing pipe blockage. The first preset ratio is 1%-50%.

[0072] S202, in response to the turbidity of the dirt sucked in by the cleaning machine being greater than or equal to the second preset threshold A2, the water outlet system is controlled to stop discharging water, and the main fan power is reduced by a second preset ratio. This indicates that a large amount of water has appeared in front of the cleaning machine, so it is necessary to control the water outlet system to stop discharging water and simultaneously reduce the power of the main fan to prevent sewage from being sucked into the main fan. Although the main fan power is reduced, the machine still needs to maintain its water suction capacity and the water suction speed must be maintained to prevent the sewage tank from overflowing before the full water alarm. The second preset ratio is 30%-80%.

[0073] Wherein the first preset threshold A1 is greater than the second preset threshold A2, and the first preset ratio is less than the second preset ratio.

[0074] This step S200 also includes, for example Figure 3 As shown,

[0075] S203, in response to the cleaning machine sucking in stains with a turbidity less than the second preset threshold A2 and a horizontal distance less than the first preset distance L1, the main fan power is increased by a third preset ratio. At this time, if the turbidity of the stains sucked in by the cleaning machine is less than the second preset threshold A2, it indicates that there are no special stains in front of it. However, if it is determined that the horizontal distance is less than the first preset distance L1, it indicates that the cleaning machine is close to a wall or other structure. In this case, the main fan power needs to be increased to improve the cleaning effect on corners and other hard-to-clean areas. The third preset ratio is greater than or equal to 50%.

[0076] S204, in response to the turbidity of the dirt sucked in by the cleaning machine being less than the second preset threshold A2, and the horizontal distance being greater than or equal to the first preset distance, and the turbidity of the dirt sucked in being greater than or equal to the third preset threshold A3, the main fan power is increased by a fourth preset ratio, and the water output is increased by a preset ratio; at this time, it only indicates that there is a lot of dust in front of the cleaning machine, so increasing the fan power also increases the water output.

[0077] The third preset ratio is greater than or equal to 50%. The fourth preset ratio is less than the third preset ratio, for example, it can be less than 50%. The preset ratio is positively correlated with the turbidity, ensuring sufficient ground wetting while increasing the main fan power, and also ensuring that there is not much residual water after the water is cleaned. For example, when the turbidity is greater than the third preset threshold A3, the water output increases proportionally with the turbidity. The first preset threshold A1 of turbidity > the second preset threshold A2 > the third preset threshold A3.

[0078] S205, in response to the cleaning machine sucking in stains with a turbidity less than the second preset threshold, a horizontal distance greater than or equal to the first preset distance, and a turbidity less than the third preset threshold, it indicates that the cleaning machine is in a normal operating environment, neither near a wall nor with significant dust. Therefore, maintaining the current operating mode is sufficient.

[0079] As another optional implementation, step S300, which responds to the height being greater than or equal to a first preset threshold by controlling the cleaning machine to operate in a second cleaning mode, may specifically include, for example... Figure 4 As shown,

[0080] S301 responds to the height being greater than or equal to the second height preset threshold by controlling the water supply to stop and increasing the main fan power by a fifth preset ratio; wherein, the second height preset threshold H2 is greater than the first height preset threshold H1, which indicates that there is a step in front of the machine or the floor brush is lifted, and the water supply needs to be stopped by controlling the system to prevent residual water stains on the ground. At the same time, in order to increase the suction power, the main fan power is increased by a fourth preset ratio, and the fifth preset ratio is greater than or equal to 50%.

[0081] S302 responds to the fact that the height is less than the second preset height threshold H2 and the horizontal distance is less than the first preset distance L1, by increasing the power of the main fan by a third preset ratio; that is, if the height is between H1 and H2 and the horizontal distance is less than the first preset distance L1, it means that the cleaning machine is only tilted and the cleaning machine is close to the wall or other structures. In order to improve the cleaning effect on the corners of the wall, it is necessary to increase the suction of the main fan and increase the power of the main fan. The third preset ratio is 10%-50%.

[0082] S303 responds to the following: the height is less than a second preset height threshold, the horizontal distance is greater than or equal to a first preset distance, and the turbidity of the dirt sucked in by the cleaning machine is greater than a third preset threshold A3. In this case, the main fan power is increased by a fourth preset ratio, and the water output is increased by a preset ratio. This preset ratio is positively correlated with the turbidity, ensuring the ground is fully wetted. Increasing the main fan power also ensures that no water residue remains after cleaning. In this case, it indicates that the cleaning machine is not close to the wall, but the ground is heavily dusty. Therefore, the main fan power needs to be increased by the third preset ratio to improve suction. The fourth preset ratio is less than the third preset ratio, for example, less than 50%, and the preset ratio for increasing the water output is 50%-100%.

[0083] S304, in response to the fact that the height is less than the second height preset threshold, the horizontal distance is greater than or equal to the first preset distance, and the turbidity of the dirt sucked in by the cleaning machine is less than the third preset threshold, the current control mode is maintained;

[0084] The second preset height threshold is greater than the first preset height threshold.

[0085] This cleaning machine control method can identify various scenarios based on changes in height, horizontal distance, and turbidity, including solid stains, water stains, and larger dust particles, and adjust the control according to different scenarios to improve cleaning efficiency and effectiveness.

[0086] Example 2

[0087] like Figure 5 As shown, the cleaning machine control device includes,

[0088] Distance acquisition module 1 is used to acquire horizontal distance and height based on the distance detection device;

[0089] First response module 2 is used to control the cleaning machine to work in a first cleaning mode in response to the height being less than a first height preset threshold.

[0090] The second response module 3 is used to control the cleaning machine to work in the second cleaning mode in response to the height being greater than or equal to the first height preset threshold.

[0091] The distance detection device is located at the front end of the floor brush module of the cleaning machine, and its detection direction is tilted downward at a preset angle.

[0092] When the detected height H is less than the first preset height threshold H1, it indicates that the cleaning machine is moving on a relatively flat surface and can operate normally in the first cleaning mode. When the detected height is greater than or equal to H1, i.e., H≥H1, it indicates that there is a step in front of the cleaning machine, the cleaning machine's floor brush is lifted, or it may be on a sloping surface. In this case, the cleaning machine should be controlled to operate in the second cleaning mode.

[0093] By identifying different scenarios using sensors, the system can then adjust its control logic accordingly, thereby improving the effectiveness and efficiency of cleaning.

[0094] The first response module 2 includes,

[0095] The first turbidity judgment module 21 is used to determine the relationship between the turbidity of the inhaled stain and the first preset threshold, the second preset threshold and the third preset threshold;

[0096] The first fan control module 22 is used to increase or decrease the power of the main fan.

[0097] The first water outlet control module 23 is used to control the water outlet system to stop water outlet;

[0098] The first horizontal distance judgment module 24 is used to judge the relationship between the horizontal distance and the first preset distance.

[0099] Specifically, if the first turbidity judgment module 21 determines that the turbidity of the stain sucked in by the cleaning machine is greater than or equal to the first preset threshold, the first fan control module 22 reduces the power of the main fan by the first preset ratio.

[0100] If the first turbidity judgment module 21 determines that the turbidity of the dirt sucked in by the cleaning machine is greater than or equal to the second preset threshold, the first water outlet control module 23 controls the water outlet system to stop water outlet, and at the same time the first fan control module 22 reduces the power of the main fan by the second preset ratio.

[0101] Wherein the first preset threshold is greater than the second preset threshold, and the first preset ratio is less than the second preset ratio.

[0102] If the first turbidity judgment module 21 determines that the turbidity of the dirt sucked in by the cleaning machine is less than the second preset threshold, and the first horizontal distance judgment module 24 determines that the horizontal distance is less than the first preset distance, the first fan control module 22 controls the main fan power to be increased by a third preset ratio.

[0103] If the first turbidity judgment module 21 determines that the turbidity of the dirt sucked in by the cleaning machine is less than the second preset threshold, and the first horizontal distance judgment module 24 determines that the horizontal distance is greater than or equal to the first preset distance, and at the same time the first turbidity judgment module 21 determines that the turbidity of the dirt sucked in by the cleaning machine is greater than or equal to the third preset threshold, then the first fan control module 22 increases the main fan power by a fourth preset ratio, and the first water outlet control module 23 increases the water outlet volume by a preset ratio.

[0104] If the turbidity of the dirt sucked in by the cleaning machine by the first turbidity judgment module 21 is less than the second preset threshold, and the first horizontal distance judgment module 24 determines that the horizontal distance is greater than or equal to the first preset distance, and at the same time the first turbidity judgment module 21 determines that the turbidity of the dirt sucked in by the cleaning machine is less than the third preset threshold, then the current control mode is maintained.

[0105] The third preset threshold is less than the second preset threshold, and the third preset ratio is positively correlated with the turbidity.

[0106] Specifically, the second response module 3 includes,

[0107] Height determination module 31 is used to determine the relationship between the height and the second height threshold;

[0108] The second horizontal distance judgment module 32 is used to judge the relationship between the horizontal distance and the first preset distance;

[0109] The second turbidity judgment module 33 is used to determine the relationship between the turbidity of the inhaled stain and the first preset threshold, the second preset threshold and the third preset threshold;

[0110] The second fan control module 34 is used to increase or decrease the power of the main fan.

[0111] The second water outlet control module 35 is used to control the water outlet system to stop water outlet.

[0112] If the height determination module 31 determines that the height is greater than or equal to the second height preset threshold, the second water outlet control module 35 controls the system to stop water outlet, and the second fan control module 34 increases the main fan power by a fifth preset ratio; the fifth preset ratio is greater than or equal to 50%.

[0113] If the height judgment module 31 determines that the height is less than the second height preset threshold, and the second horizontal distance judgment module 32 determines that the horizontal distance is less than the first preset distance, then the second fan control module 34 increases the main fan power by a third preset ratio.

[0114] If the height determination module 31 determines that the height is less than the second height preset threshold, and the second horizontal distance determination module 32 determines that the horizontal distance is greater than or equal to the first preset distance, and the second turbidity determination module 33 determines that the turbidity of the dirt sucked in by the cleaning machine is greater than the third preset threshold, the second fan control module 34 increases the main fan power by a fourth preset ratio, and the second water outlet control module 35 increases the water outlet by a preset ratio; the preset ratio is positively correlated with the turbidity.

[0115] If the height judgment module 31 determines that the height is less than the second height preset threshold, and the second horizontal distance judgment module 32 determines that the horizontal distance is greater than or equal to the first preset distance, and the second turbidity judgment module 33 determines that the turbidity of the stain sucked in by the cleaning machine is less than the third preset threshold, then the current control mode is maintained.

[0116] The second preset height threshold is greater than the first preset height threshold.

[0117] Specifically, the control method of this control device can be found in Example 1.

[0118] This cleaning machine control device can identify various scenarios based on changes in height, horizontal distance, and turbidity, including solid stains, water stains, and larger dust particles. It can then adjust the control according to different scenarios to improve cleaning efficiency and effectiveness.

[0119] Example 3

[0120] According to Embodiment 3 of the present invention, the present invention also provides an electronic device, a readable storage medium, and a computer program product. Figure 6 A schematic block diagram of an example electronic device 500 that can be used to implement embodiments of the present invention is shown. Device 500 includes a computing unit 501, which can perform various appropriate actions and processes according to a computer program stored in ROM (Read-Only Memory) 502 or loaded from storage unit 508 into RAM (Random Access Memory) 503. Various programs and data required for the operation of device 500 may also be stored in RAM 503. The computing unit 501, ROM 502, and RAM 503 are interconnected via bus 504. An I / O (Input / Output) interface 505 is also connected to bus 504.

[0121] Multiple components in device 500 are connected to I / O interface 505, including: input unit 506, such as keyboard, mouse, etc.; output unit 507, such as various types of monitors, speakers, etc.; storage unit 508, such as disk, optical disk, etc.; and communication unit 509, such as network card, modem, wireless transceiver, etc. Communication unit 509 allows device 500 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0122] The computing unit 501 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, CPUs (Central Processing Units), GPUs (Graphics Processing Units), various special-purpose AI (Artificial Intelligence) computing chips, various computing units running machine learning model algorithms, DSPs (Digital Signal Processors), and any suitable processor, controller, microcontroller, etc. The computing unit 501 performs the various methods and processes described above, such as the cleaning machine control method. For example, in some embodiments, the cleaning machine control method may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 508. In some embodiments, part or all of the computer program may be loaded and / or installed on device 500 via ROM 502 and / or communication unit 509. When the computer program is loaded into RAM 503 and executed by the computing unit 501, one or more steps of the methods described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to perform the aforementioned cleaning machine control method by any other suitable means (e.g., by means of firmware).

[0123] Example 4

[0124] A computer program product is provided, including a computer program / instructions, specifically, the computer program / instructions, when executed by a processor, implement the steps of the method described in Embodiment 1.

[0125] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0126] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0127] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0128] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. A cleaning machine control method, characterized in that, include, Based on the horizontal distance and height obtained by the distance detection device; In response to the height being less than a first height preset threshold, the cleaning machine is controlled to operate in a first cleaning mode; In response to the height being greater than or equal to a first preset height threshold, the cleaning machine is controlled to operate in a second cleaning mode; The distance detection device is located at the front end of the floor brush module of the cleaning machine, and its detection direction is tilted downward at a preset angle. In response to the height being less than a first preset height threshold, the cleaning machine is controlled to operate in a first cleaning mode. include, In response to the turbidity of the dirt sucked in by the cleaning machine being greater than or equal to a first preset threshold, the power of the main fan is reduced by a first preset ratio; In response to the turbidity of the dirt sucked in by the cleaning machine being greater than or equal to a second preset threshold, the water outlet system is controlled to stop discharging water, and the power of the main fan is reduced by a second preset ratio. Wherein the first preset threshold is greater than the second preset threshold, and the first preset ratio is less than the second preset ratio; In response to the height being greater than or equal to a first preset height threshold, the cleaning machine is controlled to operate in a second cleaning mode. include, In response to the height being greater than or equal to a second preset height threshold, the water outlet of the control system is stopped, and the power of the main fan is increased by a fifth preset ratio. In response to the height being less than a second preset height threshold and the horizontal distance being less than a first preset distance, the power of the main fan is increased by a third preset ratio; In response to the fact that the height is less than a second preset height threshold, the horizontal distance is greater than or equal to a first preset distance, and the turbidity of the dirt sucked in by the cleaning machine is greater than a third preset threshold, the main fan power is increased by a fourth preset ratio, and the water output is increased by a preset ratio; the preset ratio is positively correlated with the turbidity. In response to the fact that the height is less than a second preset height threshold, the horizontal distance is greater than or equal to a first preset distance, and the turbidity of the dirt sucked in by the cleaning machine is less than a third preset threshold, the current control mode is maintained. The second preset height threshold is greater than the first preset height threshold.

2. The cleaning machine control method as described in claim 1, characterized in that, The step of controlling the cleaning machine to operate in a first cleaning mode in response to the height being less than a first preset height threshold also includes... In response to the fact that the turbidity of the dirt sucked in by the cleaning machine is less than the second preset threshold and the horizontal distance is less than the first preset distance, the power of the main fan is increased by a third preset ratio; In response to the cleaning machine sucking up dirt with a turbidity less than the second preset threshold, and the horizontal distance being greater than or equal to the first preset distance, and the suction dirt with a turbidity greater than or equal to the third preset threshold, the main fan power is increased by a fourth preset ratio, and the water output is increased by a preset ratio. In response to the cleaning machine sucking in stains with a turbidity less than the second preset threshold, and the horizontal distance being greater than or equal to the first preset distance, and the sucking in stains with a turbidity less than the third preset threshold, the current control mode is maintained; The third preset threshold is less than the second preset threshold, the preset ratio is positively correlated with the turbidity, and the third preset ratio is greater than the fourth preset ratio.

3. The cleaning machine control method as described in claim 1, characterized in that, The horizontal distance and height obtained based on the distance detection device include, The straight-line distance is obtained based on the distance detection device; Based on the straight-line distance and the preset angle, it is decomposed into height and horizontal distance. The preset angle is the angle between the detection direction and the vertical direction.

4. A cleaning machine control device, characterized in that, include, The distance acquisition module is used to acquire horizontal distance and height based on the distance detection device; The first response module is used to control the cleaning machine to operate in the first cleaning mode in response to the height being less than a first height preset threshold. In response to the height being less than a first preset height threshold, the cleaning machine is controlled to operate in a first cleaning mode. include, In response to the turbidity of the dirt sucked in by the cleaning machine being greater than or equal to a first preset threshold, the power of the main fan is reduced by a first preset ratio; In response to the turbidity of the dirt sucked in by the cleaning machine being greater than or equal to a second preset threshold, the water outlet system is controlled to stop discharging water, and the power of the main fan is reduced by a second preset ratio. Wherein the first preset threshold is greater than the second preset threshold, and the first preset ratio is less than the second preset ratio; The second response module is used to control the cleaning machine to work in the second cleaning mode in response to the height being greater than or equal to the first height preset threshold. The step of controlling the cleaning machine to operate in a second cleaning mode in response to the height being greater than or equal to a first preset height threshold includes: In response to the height being greater than or equal to a second preset height threshold, the water outlet of the control system is stopped, and the power of the main fan is increased by a fifth preset ratio. In response to the height being less than a second preset height threshold and the horizontal distance being less than a first preset distance, the power of the main fan is increased by a third preset ratio; In response to the fact that the height is less than a second preset height threshold, the horizontal distance is greater than or equal to a first preset distance, and the turbidity of the dirt sucked in by the cleaning machine is greater than a third preset threshold, the main fan power is increased by a fourth preset ratio, and the water output is increased by a preset ratio; the preset ratio is positively correlated with the turbidity. In response to the fact that the height is less than a second preset height threshold, the horizontal distance is greater than or equal to a first preset distance, and the turbidity of the dirt sucked in by the cleaning machine is less than a third preset threshold, the current control mode is maintained. Wherein the second preset height threshold is greater than the first preset height threshold; The distance detection device is located at the front end of the floor brush module of the cleaning machine, and its detection direction is tilted downward at a preset angle.

5. The cleaning machine control device as described in claim 4, characterized in that, The first response module includes, The first turbidity judgment module is used to determine the relationship between the turbidity of the inhaled stain and the first preset threshold, the second preset threshold and the third preset threshold; The first fan control module is used to increase or decrease the power of the main fan. The first water outlet control module is used to control the water outlet volume of the water outlet system; The first horizontal distance judgment module is used to determine the relationship between the horizontal distance and the first preset distance.

6. The cleaning machine control device as described in claim 4, characterized in that, The second response module includes, A height determination module is used to determine the relationship between the height and a second height threshold. The second horizontal distance determination module is used to determine the relationship between the horizontal distance and the first preset distance; The second turbidity judgment module is used to determine the relationship between the turbidity of the inhaled stain and the first preset threshold, the second preset threshold and the third preset threshold; The second fan control module is used to increase or decrease the power of the main fan. The second water outlet control module is used to control the water output of the water outlet system.

7. An electronic device, comprising: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions for execution by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-3.

8. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method as described in any one of claims 1-3.

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