Cleaning equipment, control method and device thereof, readable storage medium and program product

Abstract

The invention relates to a control method and device of cleaning equipment, the cleaning equipment, a computer readable storage medium and a computer program product. The cleaning equipment comprises a power assisting assembly, and the operation mode of the cleaning equipment at least comprises a power assisting mode. The method comprises the steps that in a power assisting mode, environment parameters of the environment where the cleaning equipment is located are obtained; determining a target assistance parameter based on the environmental parameter; and controlling the power-assisted assembly to operate according to the target power-assisted parameter. By adopting the method, the target power assisting parameter of the power assisting assembly can be accurately adjusted according to the environment parameters of different scenes, the power assisting effect of the cleaning equipment in different use scenes is improved, and then the operation convenience and cleaning efficiency of the cleaning equipment are improved.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a control method and device for cleaning equipment, cleaning equipment, a computer-readable storage medium, and a computer program product. Background Art

[0002] Cleaning equipment refers to equipment that has the function of cleaning the surface to be cleaned, such as floor scrubbers, sweeping and mopping robots, etc. Taking floor scrubbers as an example, with the gradual development of technology, some high-end floor scrubbers are equipped with power-assisted wheels, which provide users with power-assisted functions during the floor scrubbing process, allowing users to use the floor scrubbers more easily.

[0003] However, in current cleaning equipment, the power-assisting effect of the power-assisting wheels is single and cannot meet the usage requirements in different usage scenarios. Summary of the invention

[0004] Based on this, it is necessary to provide a control method, device, cleaning equipment, computer-readable storage medium and computer program product for cleaning equipment that can improve the power-assisting effect in different usage scenarios in response to the above-mentioned technical problems.

[0005] In a first aspect, the present application provides a control method for a cleaning device, wherein the cleaning device includes a power-assisting component, and the operation mode of the cleaning device includes at least a power-assisting mode; the method includes:

[0006] In the power-assisted mode, obtaining environmental parameters of the environment in which the cleaning device is located;

[0007] Determining a target power-assisting parameter based on the environmental parameter;

[0008] The operation of the power assist component is controlled according to the target power assist parameter.

[0009] In one embodiment, the environmental parameter includes a dirtiness parameter of the ground; and determining the target power-assisting parameter based on the environmental parameter includes:

[0010] Determining a dirtiness level of the ground based on the dirtiness parameters of the ground;

[0011] A power assist parameter that matches the dirtiness level of the ground is determined as the target power assist parameter.

[0012] In one embodiment, the environmental parameter includes a material parameter of the ground; and determining the target power-assisting parameter based on the environmental parameter includes:

[0013] Determine the material of the ground based on the material parameters of the ground;

[0014] A power assist parameter that matches the material of the ground is determined as the target power assist parameter.

[0015] In one embodiment, after obtaining the environmental parameters of the environment where the cleaning device is located, the method further includes:

[0016] Obtaining a target running direction of the cleaning device;

[0017] The step of determining a target power-assisting parameter of the cleaning device based on the environmental parameter includes:

[0018] Based on the environmental parameters and the target running direction, a target power assist parameter is determined.

[0019] In one embodiment, determining the target power-assisting parameter based on the environmental parameter includes:

[0020] Based on the environmental parameters and the initial power-assisting parameters, a target power-assisting parameter is determined.

[0021] In one embodiment, after obtaining the environmental parameters of the environment where the cleaning device is located, the method further includes:

[0022] Acquire user information of a user who uses the cleaning device;

[0023] The determining of the target power-assisting parameter based on the environmental parameter comprises:

[0024] Based on the environmental parameters and the user information, a target assistance parameter is determined.

[0025] In one embodiment, the method further comprises:

[0026] Obtaining energy-saving power of the cleaning equipment;

[0027] The power level of the cleaning device is obtained, and when the power level of the cleaning device is lower than the energy-saving power level, the power-assisting mode is exited.

[0028] In one embodiment, before obtaining the energy-saving power of the cleaning device, the method further includes:

[0029] Determining whether the cleaning device is in energy-saving mode;

[0030] If the cleaning device is in the energy-saving mode, the step of obtaining the energy-saving power of the cleaning device is performed.

[0031] In a second aspect, the present application further provides a control device for a cleaning device, wherein the cleaning device includes a power-assisting component, and the operation mode of the cleaning device includes at least a power-assisting mode; the device includes:

[0032] A parameter acquisition module, used for acquiring environmental parameters of the environment where the cleaning device is located in the power-assisted mode;

[0033] A power assistance determination module, used to determine a target power assistance parameter based on the environmental parameter;

[0034] The power assist control module is used to control the operation of the power assist component according to the target power assist parameter.

[0035] In a third aspect, the present application further provides a cleaning device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0036] In the power-assisted mode, obtaining environmental parameters of the environment in which the cleaning device is located;

[0037] Determining a target power-assisting parameter based on the environmental parameter;

[0038] The operation of the power assist component is controlled according to the target power assist parameter.

[0039] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0040] In the power-assisted mode, obtaining environmental parameters of the environment in which the cleaning device is located;

[0041] Determining a target power-assisting parameter based on the environmental parameter;

[0042] The operation of the power assist component is controlled according to the target power assist parameter.

[0043] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0044] In the power-assisted mode, obtaining environmental parameters of the environment in which the cleaning device is located;

[0045] Determining a target power-assisting parameter based on the environmental parameter;

[0046] The operation of the power assist component is controlled according to the target power assist parameter.

[0047] The control method, device, cleaning device, computer-readable storage medium and computer program product of the cleaning device are as follows: the cleaning device includes a power-assisting component, and the operation mode of the cleaning device includes at least a power-assisting mode; the control method of the cleaning device includes: in the power-assisting mode, obtaining environmental parameters of the environment in which the cleaning device is located; determining target power-assisting parameters based on the environmental parameters; and controlling the operation of the power-assisting component according to the target power-assisting parameters. Thus, the target power-assisting parameters of the power-assisting component can be accurately adjusted according to the environmental parameters of different scenarios, improving the power-assisting effect of the cleaning device in different usage scenarios, thereby improving the convenience of operation and cleaning efficiency of the cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 A diagram showing an application environment of a method for controlling a cleaning device in an embodiment;

[0050] Figure 2 A schematic flow chart of a control method for a cleaning device in one embodiment;

[0051] Figure 3 A schematic diagram of a process for determining target power-assisting parameters based on environmental parameters according to an embodiment;

[0052] Figure 4 A schematic diagram of a flow chart of determining target power-assisting parameters based on environmental parameters in another embodiment;

[0053] Figure 5 A schematic flow chart of a control method for a cleaning device in another embodiment;

[0054] Figure 6 is a flow chart of a control method of a cleaning device in yet another embodiment;

[0055] Figure 7 A partial flow chart of a method for controlling a cleaning device in one embodiment;

[0056] Figure 8 FIG. 1 is a diagram showing the internal structure of a control device of a cleaning device in one embodiment. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0058] As described in the background technology, due to the inherent characteristics of the product functions, the cleaning equipment has a heavy body weight, and users are tired when moving the whole machine for a long time during cleaning. At present, some cleaning equipment has gradually added power-assisted functions, allowing users to easily move the whole machine during cleaning. The power-assisted control mode with better experience currently uses a power-assisted drive wheel, and can provide two-way power assistance. The power-assisted wheel can drive the floor scrubber forward or backward, allowing users to easily move the whole machine during cleaning.

[0059] However, the power assist function in the related art adopts a fixed power assist mode, and the power assist size cannot be adjusted according to the actual scenario. Since different users have different requirements for power assist standards in different usage scenarios, the power assist mode with a single function cannot meet the usage needs in different usage scenarios.

[0060] Based on this, the control method of the cleaning device provided in the embodiment of the present application can be applied to the cleaning device, the cleaning device includes a power-assisting component, and the operation mode of the cleaning device at least includes a power-assisting mode.

[0061] In actual implementation, Figure 1 As shown, the cleaning device includes a memory 102 and a processor 104. The memory 102 stores a computer program. When the processor 104 executes the computer program, it can obtain environmental parameters of the environment where the cleaning device is located in the power-assisted mode; determine the target power-assisted parameters based on the environmental parameters; and control the operation of the power-assisted component according to the target power-assisted parameters. The cleaning device may include but is not limited to a floor scrubber, a floor sweeper, a sweeping and mopping robot, etc.

[0062] In an exemplary embodiment, Figure 2 As shown, a control method for a cleaning device is provided, and the method is applied to Figure 1 The processor 104 in FIG. 1 is taken as an example to illustrate the method, which includes the following steps 202 to 206. Among them:

[0063] Step 202: In the power-assisted mode, obtain environmental parameters of the environment where the cleaning device is located.

[0064] When the cleaning device is running in the power-assisted mode, the processor controls the power-assisted component to operate to improve the mobility of the whole machine, reduce the burden on the user when pushing or operating the cleaning device, and improve the convenience of user operation. The structure of the power-assisted component can be set according to actual needs. For example, the power-assisted component can include a roller brush, a power-assisted wheel and a driving component. The driving component can include a motor and a transmission system connected to the processor to drive the roller brush or the power-assisted wheel to operate. The power-assisted component can also include other auxiliary components, such as shock absorbers, anti-skid pads, etc.

[0065] In some embodiments, the cleaning device also includes an environmental parameter detection module connected to the processor, and the environmental parameter detection module is used to detect the environmental parameters of the environment where the cleaning device is located, and transmit it to the processor. The environmental parameter detection module may include one or more sensors connected to the processor. In other embodiments, the cleaning device also includes an input module connected to the processor, and the user inputs the environmental parameters of the current environment to the processor through the input module. In other embodiments, the memory stores default environmental parameters, and the processor, when not receiving the environmental parameter detection module or the environmental parameters transmitted by the user, will obtain the default environmental parameters as the environmental parameters of the environment where the cleaning device is located.

[0066] Step 204, determining the target assistance parameter based on the environmental parameter.

[0067] There is no unique way to determine the target power-assisting parameters based on environmental parameters. In some embodiments, the power-assisting parameters corresponding to the parameter values ​​of the environmental parameters may be pre-stored in the memory. After the processor obtains the environmental parameters, it obtains the power-assisting parameters that match the specific parameter values ​​of the environmental parameters from the memory as the target power-assisting parameters. The power-assisting parameter generation algorithm may also be pre-stored in the memory. After the processor obtains the environmental parameters, it determines the target power-assisting parameters based on the power-assisting parameter generation algorithm.

[0068] In other embodiments, such as an embodiment in which an environmental parameter detection module detects the environmental parameters of the environment in which the cleaning device is located and transmits them to a processor, the processor may also prompt the environmental parameters to the user after acquiring the environmental parameters, and receive the target power-assisting parameters input by the user that match the current environmental parameters. Among them, the manner in which the environmental parameters are prompted to the user does not need to be limited. Exemplarily, the cleaning device may include a display screen connected to the processor, and the processor displays the environmental parameter value or the gear corresponding to the environmental parameter through the display screen to prompt the user. The cleaning device may also include a voice prompt module connected to the processor, and the processor broadcasts the environmental parameter value or the gear corresponding to the environmental parameter through the voice prompt module to prompt the user. The cleaning device may also include a communication module connected to the processor, which is communicatively connected to a user terminal device (such as a mobile phone, a tablet computer, a smart wearable device, etc.) to prompt the user through the user terminal device.

[0069] Step 206, controlling the operation of the power assist component according to the target power assist parameter.

[0070] The processor can adjust the operating power of the power-assisting component (power-assisting wheel or drive system) according to the target power-assisting parameters to achieve the power-assisting function.

[0071] The control method of the cleaning device described above, when the cleaning device is in the power-assist mode, obtains the environmental parameters of the environment in which the cleaning device is located; determines the target power-assist parameters based on the environmental parameters; and controls the operation of the power-assist component according to the target power-assist parameters. Thus, the target power-assist parameters of the power-assist component can be accurately adjusted according to the environmental parameters of different scenes, so that the operating power of the power-assist component can adapt to the cleaning needs under different environmental conditions. Thus, adaptive power-assist adjustment under different environmental conditions is achieved, the power-assist effect of the cleaning device in different usage scenarios is improved, and the operating convenience and cleaning efficiency of the cleaning device are improved.

[0072] In one embodiment, the environmental parameters include ground dirtiness parameters; Figure 3 As shown, step 204 may specifically include the following steps 302 and 304 .

[0073] Step 302: Determine the dirtiness level of the ground based on the dirtiness parameters of the ground.

[0074] In some embodiments, the cleaning device may include a dirtiness detection sensor connected to the processor, which is used to detect dirtiness parameters of the ground and transmit them to the processor. The processor further determines the dirtiness level of the ground based on the dirtiness parameters of the ground. The dirtiness level can be divided according to the degree of dirtiness of the ground. Optionally, the dirtiness level can be divided into 3 levels or 5 levels or other levels. The memory pre-stores a dirtiness parameter range corresponding to each level, and the processor determines the dirtiness level of the ground based on the dirtiness parameter range in which the acquired dirtiness parameter is located. Optionally, the dirtiness detection sensor can be an infrared emission pair tube.

[0075] In other embodiments, after receiving the dirtiness parameters of the floor transmitted by the dirtiness detection sensor, the processor may also prompt the dirtiness parameters to the user and receive the dirtiness level of the floor input by the user according to the dirtiness parameters. Exemplarily, the input module includes a dirtiness button connected to the processor, and the user selects the dirtiness level of the floor through the button.

[0076] In other embodiments, the processor may receive the dirtiness parameter of the floor input by the user through a dirtiness key, and then determine the dirtiness level of the floor based on the dirtiness parameter ranges corresponding to the dirtiness levels pre-stored in the memory.

[0077] In some embodiments, a default dirtiness parameter is stored in the memory. When the processor does not receive the dirtiness parameter input by the dirtiness detection sensor or the user, the processor may determine the dirtiness level of the floor as the level corresponding to the default dirtiness parameter.

[0078] Step 304: determine a power assist parameter that matches the dirt level of the ground as a target power assist parameter.

[0079] There is no unique way to determine the power-assisting parameters that match the dirt level of the ground. In some embodiments, the power-assisting parameters corresponding to each dirt level may be pre-stored in the memory (such as pre-set by the user based on each dirt level), and the processor determines the corresponding power-assisting parameters based on the dirt level. Alternatively, the power-assisting parameter generation algorithm may be pre-stored in the memory, and the processor determines the corresponding power-assisting parameters based on the parameter generation algorithm and the dirt level. Thus, the processor can determine the corresponding power-assisting parameters based on the dirt level without complex calculations or user interaction, thereby achieving a quick response.

[0080] In other embodiments, such as the embodiment in which the processor obtains the dirtiness parameters of the ground through the dirtiness detection sensor, after determining the dirtiness level of the ground, the processor can also prompt the dirtiness level of the ground to the user, and receive the power-assistance parameters input by the user that match the dirtiness level of the ground. Since each user may have different needs and preferences for the push-pull rate, by prompting the user with the dirtiness level and allowing the user to adjust the power-assistance parameters according to their needs, this method provides a high degree of user customization. Users can choose appropriate power-assistance parameters according to their push-pull rate requirements, cleaning habits, ground material or specific stain types, and can obtain more expected power-assistance effects and cleaning efficiency.

[0081] In this embodiment, by adjusting the power-assisting parameters according to the degree of dirt on the ground, the power of the power-assisting wheel can be adjusted in real time according to the degree of dirt on the ground, so as to cope with various cleaning scenarios more efficiently. For example, when facing heavy dirt, increasing the power of the power-assisting wheel can drive the whole machine to clean more deeply; while in relatively clean areas, the power is reduced to save energy. This reduces the burden on users and improves the cleaning efficiency of the cleaning equipment.

[0082] In one embodiment, the environmental parameters include material parameters of the ground; Figure 4 As shown, step 204 may specifically include the following steps 402 and 404 .

[0083] Step 402: Determine the material of the ground based on the material parameters of the ground.

[0084] In some embodiments, the cleaning device may include a floor material detection sensor connected to the processor, which is used to detect material parameters of the floor and transmit them to the processor. The processor further determines the material of the floor based on the material parameters of the floor. The floor material detection sensor may be an ultrasonic sensor to identify the material of the floor, such as carpet, floor, or floor tile.

[0085] In other embodiments, the processor may receive the ground material parameters input by the user, and then determine the ground material based on the material parameter values ​​corresponding to the material parameters pre-stored in the memory. Alternatively, a material generation algorithm is pre-stored in the memory, and the processor determines the ground material based on the material parameter values.

[0086] In some embodiments, a default floor material is stored in the memory. When the processor does not receive floor material detection sensors or floor material parameters input by the user, the processor uses the default floor material as the floor material of the current environment.

[0087] Step 404: Determine a power assist parameter that matches the material of the ground as a target power assist parameter.

[0088] There is no unique way to determine the power-assisting parameters that match the material of the ground. In some embodiments, the power-assisting parameters corresponding to various materials may be pre-stored in the memory (such as pre-set by the user based on various materials), and the processor determines the corresponding power-assisting parameters based on the material of the ground. Alternatively, the power-assisting parameter generation algorithm is pre-stored in the memory, and the processor obtains the power-assisting parameters based on the material of the ground and the algorithm. As a result, the processor can respond immediately without complex calculations or user interaction, thereby achieving a fast response.

[0089] In other embodiments, such as the embodiment in which the processor obtains the material parameters of the floor through the sensor, after determining the material of the floor, the processor may also prompt the user of the material of the floor and receive the power-assistance parameters matched with the material of the floor input by the user. Since each user may have different requirements and preferences for the push-pull rate, by prompting the user of the material of the floor and allowing the user to adjust the power-assistance parameters according to their own needs, the user can select the appropriate power-assistance parameters according to their own push-pull rate requirements, cleaning habits, floor material or specific stain types, thereby obtaining the expected power-assistance effect and cleaning efficiency.

[0090] Since different floor materials have different requirements for cleaning, for example, tile floors may require stronger suction and brush speed to remove stubborn stains, while wooden floors may require a gentler cleaning method to avoid scratches. Cleaning equipment can more accurately meet the cleaning needs of various floor materials by automatically matching the power assistance parameters, improving the power assistance effect, enhancing cleaning efficiency while avoiding unnecessary damage to the floor, protecting the integrity and aesthetics of the floor material, thereby improving the reliability of the cleaning equipment.

[0091] In some embodiments, the environmental parameter may further include a ground humidity parameter, and step 204 may further include: determining a power assist parameter that matches the ground humidity parameter as a target power assist parameter.

[0092] It is understandable that ground humidity is one of the factors that affect power assistance, and a too wet or too dry ground may affect the power assistance efficiency of the cleaning device. In this embodiment, by matching the power assistance parameters according to the ground humidity, it can be ensured that the cleaning device can achieve the best power assistance effect on the ground with different humidity.

[0093] In one embodiment, Figure 5 As shown, after step 202, the control method of the cleaning device further includes step 502: obtaining a target running direction of the cleaning device.

[0094] Step 204 may specifically include step 504: determining a target assist parameter based on the environmental parameters and the target running direction.

[0095] When the cleaning equipment is running, its running directions include forward and backward. When moving forward, the cleaning equipment needs sufficient traction to overcome the friction of the ground and the inertia of the equipment so that the whole machine can move forward stably. When moving backward, the cleaning equipment also needs to overcome the friction of the ground, but because the cleaning equipment already has a certain amount of kinetic energy and the direction is opposite, it needs to have a certain amount of force to overcome the forward force when moving backward, resulting in an unpleasant experience of being stuck at the moment of moving backward. Therefore, the traction required during the backward process will be different from that during the forward movement, that is, forward and backward have different power assistance requirements. Generally, the power assistance for moving backward is greater than that for moving forward.

[0096] Based on this, the processor can first obtain the target running direction of the cleaning equipment, and when the target running direction is forward, determine the target power assist parameters that match the environmental parameters in the forward state; when the target running direction is backward, determine the target power assist parameters that match the environmental parameters in the backward state.

[0097] In some embodiments, the input module includes a forward button and a backward button connected to the processor, and when the processor receives a signal that the forward button or the backward button is triggered, it determines that the target running direction is forward or backward, and then prompts the user with environmental parameters to receive the power-assisting parameters in the forward or backward direction set by the user based on the environmental parameters as the target power-assisting parameters.

[0098] In a specific implementation, the input module may also include a "+" (plus) button and a "-" (minus) button connected to the processor; the user can use these two buttons to adjust the forward or backward power assist parameters separately, or they can adjust them together in a linked manner. When the forward and backward power assist parameters are adjusted in a linked manner, they can be increased or decreased synchronously, and the minimum power assist parameter can be set to 0.

[0099] In other embodiments, the memory stores power assist parameters corresponding to the dirtiness level of the ground and the material of the ground according to the forward and backward directions, or stores a parameter generation algorithm; after obtaining the target running direction of the cleaning equipment, a target power assist parameter matching the target running direction is further generated.

[0100] In this embodiment, the target running direction of the cleaning equipment is first determined, and then a target power assist parameter that better matches the running direction is obtained, so that a better power assist effect can be achieved in different running directions, further improving the ease of use and cleaning efficiency of the cleaning equipment.

[0101] In one embodiment, step 204 may further include: determining a target power-assisting parameter based on the environmental parameter and the initial power-assisting parameter.

[0102] The initial power-assist parameter may be a default power-assist parameter stored in the memory, or a custom power-assist parameter input by the user, and the minimum initial power-assist parameter may be 0. The custom power-assist parameter may be input by the user during the current use, or may be input and saved by the user before the current use of the cleaning device.

[0103] The environmental parameters may include at least one of the ground dirt parameters, material parameters and ground humidity parameters. After acquiring the environmental parameters, the processor adjusts the initial power-assisting parameters in a targeted manner to obtain the target power-assisting parameters. The power-assisting parameters at this time enable the cleaning device to adapt to different cleaning environments more efficiently, thereby improving the power-assisting effect and the cleaning effect.

[0104] In one embodiment, Figure 6 As shown, after step 202, the control method of the cleaning device further includes step 602: obtaining user information of a user using the cleaning device. Step 204 may also include step 604: determining a target power assist parameter based on the user information.

[0105] In some embodiments, the cleaning device may include a user information acquisition module connected to the processor, such as an image acquisition module or other sensors. The user information acquisition module is used to collect relevant information of the user and transmit it to the processor, and the processor can identify the user information based on a certain algorithm. In other embodiments, when the user uses the cleaning device, the input module sends a corresponding signal to the processor, and the processor confirms the user information through the signal.

[0106] After determining the user information, the processor can also obtain the initial power assist parameters corresponding to the user (for example, the power assist parameters entered and saved by the user the last time he used the cleaning device), and then determine the target power assist parameters corresponding to the user based on the environmental parameters and the initial power assist parameters.

[0107] In this embodiment, the target assist parameter is determined by user information. When assisting is provided based on the target assist parameter, the assist state is more in line with the current user's usage habits and cleaning preferences, thereby enhancing the user's sense of convenience when using the cleaning equipment.

[0108] Further, in one embodiment, if Figure 7 As shown, the control method of the cleaning device also includes: step 702 and step 704.

[0109] Step 702, obtaining energy-saving power of the cleaning equipment.

[0110] Step 704, obtaining the power of the cleaning device, and exiting the power-assisting mode when the power of the cleaning device is lower than the energy-saving power.

[0111] The energy-saving power may be a default power threshold stored in the memory, for example, the default power threshold may be 30% of the full power of the cleaning device when it is fully charged. The energy-saving power may also be set by the user through the input module, such as 10%-70% of the full power. When the user sets the energy-saving power through the input module, the user may first press the energy-saving button connected to the processor to start setting the energy-saving power, and then use the "+" and "-" keys to adjust the power value of the energy-saving power. The initial default value of the energy-saving power may be 30%. When the energy-saving button is pressed again, the processor confirms that the user has completed the energy-saving power setting.

[0112] The energy-saving power can also be determined by the processor in combination with the current target power-assistance parameter. For example, if the power of the power-assistance component is large when it is running based on the current target power-assistance parameter, that is, the power consumption is large, the processor can set the energy-saving power to be larger. If the power of the power-assistance component is small when it is running based on the current target power-assistance parameter, the processor can set the energy-saving power to be relatively small.

[0113] In this embodiment, when the cleaning device is operating in the power-assist mode, the processor will also obtain the current power of the cleaning device in real time. When the power of the cleaning device is lower than the energy-saving power, the target power-assist parameter is set to 0, that is, the power-assist mode is exited.

[0114] When the power of the cleaning equipment is lower than the energy-saving power, timely exiting the power-assist mode can significantly reduce the energy consumption of the power-assist components. This measure ensures that even if the power is low, the equipment can maintain basic cleaning work, so as to successfully complete the cleaning task and thus improve the user's cleaning experience. At the same time, timely exiting the power-assist mode avoids the equipment from continuing to run at high power when the power is too low, effectively reducing excessive discharge of the battery, thereby reducing the cost of frequent battery replacement or frequent charging of the cleaning equipment, and significantly improving the convenience of the equipment.

[0115] In one embodiment, Figure 7 As shown, before step 702, the control method of the cleaning device further includes: determining whether the cleaning device is in the energy-saving mode; if the cleaning device is in the energy-saving mode, executing step 702.

[0116] In actual implementation, the user can control the cleaning device to enter the energy-saving mode by pressing the energy-saving button; when the user presses the energy-saving button again, the cleaning device exits the energy-saving mode. That is, when the processor receives a signal that the energy-saving button is triggered, it determines to enter the energy-saving mode; when it receives a signal that the energy-saving button is triggered again, it determines to exit the energy-saving mode. Thus, the processor can determine whether it is currently in the energy-saving mode based on the received signal that the energy-saving button is triggered. Furthermore, when the processor determines that the cleaning device is in the energy-saving mode, when it receives a signal that the "+" key or the "-" key is triggered, it adjusts the energy-saving power.

[0117] In this embodiment, when the cleaning device is in energy-saving mode, whether to exit the power-assist mode is determined based on the energy-saving power. This allows the user to choose whether to enable the energy-saving mode based on actual needs, so as to better meet the user's usage expectations, thereby further improving the convenience of using the cleaning device.

[0118] In order to better understand the above embodiment, a specific embodiment is described in detail below. In one embodiment, the cleaning device may be a floor scrubber, and the roller brush of the floor scrubber provides a certain amount of assistance to the floor scrubber moving forward, but provides a certain amount of resistance to the floor scrubber moving backward.

[0119] In this embodiment, the user can define the power-assisting parameters for the forward or backward directions separately through the corresponding buttons. The user can also adjust the power-assisting scheme according to his or her needs based on the degree of dirtiness of the ground or the material of the floor, and can set the energy-saving mode according to the battery power. The power-assisting parameters set by the user can be stored in the memory, and the user can call the previously stored parameters when needed. The input module includes a memory button, a call button, a selection button, etc. connected to the processor. In specific implementation, after the power-assisting or energy-saving parameters are set, press the memory button to store the currently set parameters. Press the call button to select the previously stored memory parameters. The selection button can be reused with the "+" key and the "-" key. After the selection is completed, press the call button again to complete the call of the memory storage parameters.

[0120] The power assist parameters for forward or backward movement can be defined by the user separately. At the same time, the dirt detection sensor and the floor material detection sensor can be combined to intelligently identify the use environment, and the user can adjust the power assist parameters according to their needs.

[0121] Specifically, after the user presses the power button connected to the processor, when the user does not operate the power-assisting and energy-saving related buttons, the target power-assisting parameter size of the power-assisting wheel is set according to the default parameters pre-stored in the memory.

[0122] When the user sets the power assist parameters, the forward or backward power assist parameters can be adjusted separately or together. During the linkage adjustment, the forward and backward power assist parameters can be increased or decreased synchronously. The minimum power assist parameter can be set to 0.

[0123] The user can also define the power-assistance parameters according to the degree of dirtiness. Different power-assistance parameters can be customized for different dirty floors. Specifically, the user presses the dirtiness button, selects the dirtiness level, and then sets the power-assistance parameters for that level. The minimum power-assistance parameter can be 0. The processor, combined with the dirtiness detection sensor, can determine the dirtiness level of the floor, and then obtain the power-assistance parameter set by the user corresponding to the dirtiness level, i.e., the target power-assistance parameter. Optionally, the user can long press the dirtiness button to turn off the dirtiness intelligent recognition power-assistance function.

[0124] Users can also define power-assist parameters according to the floor material to meet the user's different push-pull rate requirements for different floor materials. Specifically, the user can press the floor material button, select the floor material, and then set the power-assist parameter for the floor material. The minimum power-assist parameter can be 0. The processor combined with the floor material detection sensor can realize floor material detection, and then obtain the power-assist parameter corresponding to the material set by the user, that is, the target power-assist parameter. If the user has not defined the floor material, the default floor material can be used. Optionally, the user can long press the floor material button to turn off the floor material intelligent recognition power-assist function.

[0125] The user can also trigger the energy-saving button to put the cleaning device in energy-saving mode. In this mode, the power-assist function can be turned on or off (with or without power-assist) according to different battery levels. Specifically, the user presses the energy-saving button to enter the energy-saving mode setting, and uses the "+" key to increase the energy-saving power setting, and the "-" key to reduce the energy-saving power. The starting default value of the energy-saving power is 30%. Pressing the energy-saving button again completes the energy-saving mode parameter (energy-saving power) setting. Optionally, when the user presses the energy-saving button and does not set the energy-saving power (such as no operation for 1 minute), the power-assist parameter of the energy-saving mode is 0 when the default power level is less than 30%.

[0126] In the control method of the above cleaning equipment, the user can define the forward or backward power-assist parameters separately, so that the forward and backward power-assist effects are improved. The user can also adjust the power-assist scheme according to his own needs (combined with the degree of dirt on the ground or the material of the floor) to better meet the user's expectations. At the same time, the energy-saving power-assist mode can be set according to the battery power to improve the reliability of the whole machine.

[0127] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0128] Based on the same inventive concept, the embodiment of the present application also provides a control device for a cleaning device for implementing the control method for the cleaning device involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the embodiments of the control device for one or more cleaning devices provided below can refer to the limitations of the control method for the cleaning device above, and will not be repeated here.

[0129] In an exemplary embodiment, Figure 8 As shown, a control device for a cleaning device is provided, wherein the cleaning device includes a power-assisting component, and the operation mode of the cleaning device includes at least a power-assisting mode. The control device for the cleaning device includes: a parameter acquisition module 802, a power-assisting determination module 804, and a power-assisting control module 806, wherein:

[0130] The parameter acquisition module 802 is used to acquire the environmental parameters of the environment where the cleaning device is located in the power-assisted mode.

[0131] The power assistance determination module 804 is used to determine the target power assistance parameter based on the environmental parameters.

[0132] The power assist control module 806 is used to control the operation of the power assist component according to the target power assist parameter.

[0133] In one embodiment, the power assist determination module 804 is further configured to determine the dirtiness level of the ground based on the dirtiness parameter of the ground; and determine the power assist parameter that matches the dirtiness level of the ground as the target power assist parameter.

[0134] In one embodiment, the assisting force determining module 804 is further configured to determine the material of the ground based on the material parameters of the ground; and determine the assisting force parameters that match the material of the ground as the target assisting force parameters.

[0135] In one embodiment, the parameter acquisition module 802 is also used to acquire the target running direction of the cleaning device.

[0136] The power assist determination module 804 is further configured to determine a target power assist parameter based on environmental parameters and a target running direction.

[0137] In one embodiment, the assist determining module 804 is further configured to determine a target assist parameter based on the environmental parameter and the initial assist parameter.

[0138] In one embodiment, the parameter acquisition module 802 is further used to acquire user information of a user using the cleaning device.

[0139] The assistance determination module 804 is further used to determine target assistance parameters based on environmental parameters and user information.

[0140] In one embodiment, the parameter acquisition module 802 is also used to obtain the energy-saving power of the cleaning device.

[0141] The power-assisting control module 806 is also used to obtain the power of the cleaning device and exit the power-assisting mode when the power of the cleaning device is lower than the energy-saving power.

[0142] In one embodiment, the parameter acquisition module 802 is further used to determine whether the cleaning device is in the energy-saving mode; if the cleaning device is in the energy-saving mode, the energy-saving power of the cleaning device is acquired.

[0143] Each module in the control device of the cleaning device can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0144] In an exemplary embodiment, a cleaning device is provided, the cleaning device comprising a power-assisting component, a memory, and a processor, wherein the operation mode of the cleaning device at least comprises a power-assisting mode; a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0145] In the power-assist mode, obtain the environmental parameters of the environment where the cleaning equipment is located;

[0146] Determine target assistance parameters based on environmental parameters;

[0147] The operation of the power assist component is controlled according to the target power assist parameters.

[0148] In one embodiment, when the processor executes the computer program, the following steps are further implemented: determining the dirt level of the ground based on the dirt parameters of the ground; and determining a power assist parameter that matches the dirt level of the ground as a target power assist parameter.

[0149] In one embodiment, when the processor executes the computer program, the following steps are further implemented: determining the material of the ground based on the material parameters of the ground; and determining a power assist parameter that matches the material of the ground as a target power assist parameter.

[0150] In one embodiment, when the processor executes the computer program, it also implements the following steps: obtaining the target running direction of the cleaning device; determining the target power assist parameters of the cleaning device based on the environmental parameters, including: determining the target power assist parameters based on the environmental parameters and the target running direction.

[0151] In one embodiment, when the processor executes the computer program, the following steps are further implemented: determining the target assisting parameter based on the environmental parameter and the initial assisting parameter.

[0152] In one embodiment, when the processor executes the computer program, the following steps are also implemented: obtaining user information of a user using the cleaning device; and determining target power assist parameters based on environmental parameters and user information.

[0153] In one embodiment, when the processor executes the computer program, the following steps are also implemented: obtaining the energy-saving power of the cleaning device; obtaining the power of the cleaning device, and exiting the power-assist mode when the power of the cleaning device is lower than the energy-saving power.

[0154] In one embodiment, when the processor executes the computer program, the following steps are also implemented: determining whether the cleaning device is in the energy-saving mode; if the cleaning device is in the energy-saving mode, obtaining the energy-saving power of the cleaning device.

[0155] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0156] In the power-assist mode, obtain the environmental parameters of the environment where the cleaning equipment is located;

[0157] Determine target assistance parameters based on environmental parameters;

[0158] The operation of the power assist component is controlled according to the target power assist parameters.

[0159] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: determining the dirt level of the ground based on the dirt parameter of the ground; and determining a power assist parameter that matches the dirt level of the ground as a target power assist parameter.

[0160] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: determining the material of the ground based on the material parameters of the ground; and determining a power assist parameter that matches the material of the ground as a target power assist parameter.

[0161] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: obtaining the target running direction of the cleaning device; and determining the target power assist parameter based on the environmental parameters and the target running direction.

[0162] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: based on the environmental parameters and the initial power-assisting parameters, a target power-assisting parameter is determined.

[0163] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: obtaining user information of a user using the cleaning device; determining a target power assist parameter based on the environmental parameter, including:

[0164] Determine target assistance parameters based on environmental parameters and user information.

[0165] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: obtaining the energy-saving power of the cleaning device; obtaining the power of the cleaning device, and exiting the power-assisting mode when the power of the cleaning device is lower than the energy-saving power.

[0166] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: determining whether the cleaning device is in energy-saving mode; if the cleaning device is in energy-saving mode, obtaining the energy-saving power of the cleaning device.

[0167] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0168] In the power-assist mode, obtain the environmental parameters of the environment where the cleaning equipment is located;

[0169] Determine target assistance parameters based on environmental parameters;

[0170] The operation of the power assist component is controlled according to the target power assist parameters.

[0171] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: determining the dirt level of the ground based on the dirt parameter of the ground; and determining a power assist parameter that matches the dirt level of the ground as a target power assist parameter.

[0172] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: determining the material of the ground based on the material parameters of the ground; and determining a power assist parameter that matches the material of the ground as a target power assist parameter.

[0173] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: obtaining the target running direction of the cleaning device; and determining the target power assist parameter based on the environmental parameters and the target running direction.

[0174] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: based on the environmental parameters and the initial power-assisting parameters, a target power-assisting parameter is determined.

[0175] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: obtaining user information of a user using the cleaning device; and determining target power assist parameters based on environmental parameters and user information.

[0176] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: obtaining the energy-saving power of the cleaning device; obtaining the power of the cleaning device, and exiting the power-assist mode when the power of the cleaning device is lower than the energy-saving power.

[0177] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: determining whether the cleaning device is in the energy-saving mode; if the cleaning device is in the energy-saving mode, obtaining the energy-saving power of the cleaning device.

[0178] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0179] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0180] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, 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 application.

[0181] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for controlling a cleaning device, characterized in that: The cleaning device includes a power-assisting component, and the operation mode of the cleaning device includes at least a power-assisting mode; the method includes: In the power-assisted mode, obtaining environmental parameters of the environment in which the cleaning device is located; Determining a target power-assisting parameter based on the environmental parameter; The operation of the power assist component is controlled according to the target power assist parameter.

2. The method according to claim 1, characterized in that The environmental parameters include ground dirtiness parameters; and determining the target power-assisting parameters based on the environmental parameters includes: Determining a dirtiness level of the ground based on the dirtiness parameters of the ground; A power assist parameter that matches the dirtiness level of the ground is determined as the target power assist parameter.

3. The method according to claim 1, characterized in that The environmental parameters include material parameters of the ground; and determining the target power-assisting parameters based on the environmental parameters includes: Determine the material of the ground based on the material parameters of the ground; A power assist parameter that matches the material of the ground is determined as the target power assist parameter.

4. The method according to claim 1, characterized in that: After obtaining the environmental parameters of the environment where the cleaning device is located, the method further includes: Obtaining a target running direction of the cleaning device; The step of determining a target power-assisting parameter of the cleaning device based on the environmental parameter includes: Based on the environmental parameters and the target running direction, a target power assist parameter is determined.

5. The method according to claim 1, characterized in that The determining of the target power-assisting parameter based on the environmental parameter comprises: Based on the environmental parameters and the initial power-assisting parameters, a target power-assisting parameter is determined.

6. The method according to claim 1, characterized in that After obtaining the environmental parameters of the environment where the cleaning device is located, the method further includes: Acquire user information of a user who uses the cleaning device; The determining of the target power-assisting parameter based on the environmental parameter comprises: Based on the environmental parameters and the user information, a target assistance parameter is determined.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: Obtaining energy-saving power of the cleaning equipment; The power level of the cleaning device is obtained, and when the power level of the cleaning device is lower than the energy-saving power level, the power-assisting mode is exited.

8. The method according to claim 7, characterized in that Before obtaining the energy-saving power of the cleaning device, the method further includes: Determining whether the cleaning device is in energy-saving mode; If the cleaning device is in the energy-saving mode, the step of obtaining the energy-saving power of the cleaning device is performed.

9. A control device for a cleaning device, characterized in that: The cleaning device comprises a power-assisting component, and the operation mode of the cleaning device comprises at least a power-assisting mode; the device comprises: A parameter acquisition module, used for acquiring environmental parameters of the environment where the cleaning device is located in the power-assisted mode; A power assistance determination module, used to determine a target power assistance parameter based on the environmental parameter; The power assist control module is used to control the operation of the power assist component according to the target power assist parameter.

10. A cleaning device, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

12. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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