Control method of cleaning equipment, electronic equipment, cleaning equipment, system and medium

Abstract

The invention discloses a control method of cleaning equipment, electronic equipment, the cleaning equipment, a cleaning system and a storage medium, and the control method comprises the steps: obtaining preset electrical parameters corresponding to a first preset cleaning task, and the preset electrical parameters comprise state parameters of a battery after the cleaning equipment completes the cleaning task; or the preset electrical parameters comprise the state parameters of the battery before the cleaning equipment starts the cleaning task and after the cleaning equipment finishes the corresponding cleaning task; according to preset electric parameters corresponding to the first preset cleaning tasks, determining target electric quantity and controlling the battery to be charged to the target electric quantity; wherein the first preset cleaning task is at least two cleaning tasks, and is the last cleaning task and at least the previous cleaning task adjacent to the last cleaning task. According to the technical scheme, the service life and reliability of the battery of the cleaning equipment are effectively prolonged.

Description

Technical Field

[0001] The present disclosure relates to the technical field of cleaning equipment, and in particular to a control method for cleaning equipment, electronic equipment, cleaning equipment, a cleaning system and a storage medium. Background Art

[0002] The current charging methods for lithium batteries mainly include constant current charging, constant current and constant voltage, multi-stage constant current charging, pulse charging, constant polarization voltage charging, etc. Due to cost constraints and system architecture limitations, most of the cleaning equipment on the market currently uses constant current and constant voltage or simple constant current methods. When charging reaches a certain voltage or reaches other upper limit conditions, charging stops; when charging stops, the battery is generally in a fully charged state, which will cause the battery of the cleaning equipment to be at a high level when it is idle.

[0003] However, compared to storing at a slightly lower power level, storing at full power is not conducive to the battery life, and the battery reliability will also decrease. For users with small households, the cleaning equipment does not consume too much power to complete a cleaning task. If the above traditional charging method is used, the battery will always circulate in the high power range, and the battery life will decay faster. Therefore, for some users, the upper limit of charging power can be lowered instead of fully charging the battery every time. This can not only meet the needs, but also benefit the battery life and reliability. Summary of the invention

[0004] The present disclosure provides a control method for a cleaning device, which improves the battery life and reliability of the cleaning device while ensuring normal use of the cleaning device.

[0005] To achieve the above-mentioned purpose, the present disclosure provides a control method for a cleaning device, wherein the cleaning device includes a battery, the battery is used to power the cleaning device, the battery is communicatively connected to a display module, and the display module is used to display the power of the battery. The control method for the cleaning device includes:

[0006] Obtaining preset electrical parameters corresponding to each of the first preset cleaning tasks, wherein the preset electrical parameters include the state parameters of the battery after the cleaning device completes the cleaning task, or the preset electrical parameters include the state parameters of the battery before the cleaning device starts the cleaning task and after completing the corresponding cleaning task;

[0007] According to the preset electrical parameters corresponding to the first preset cleaning tasks, a target power is determined and the battery is controlled to be charged to the target power;

[0008] The first preset cleaning tasks are at least two cleaning tasks, which are the most recent cleaning task and at least the previous cleaning task adjacent to the most recent cleaning task.

[0009] In some embodiments, obtaining the preset electrical parameters corresponding to each of the first preset cleaning tasks includes:

[0010] Obtaining a first state parameter corresponding to each of the first preset cleaning tasks, wherein the first state parameter is the battery power displayed by the display module after the cleaning device completes the corresponding cleaning task, or the first state parameter is the lowest voltage among the voltages of each string of cells of the battery after the cleaning device completes the corresponding cleaning task;

[0011] The determining the target power and controlling the battery to be charged to the target power according to the preset electrical parameters corresponding to the first preset cleaning tasks respectively includes:

[0012] confirming whether the first state parameters of the first preset cleaning task are all greater than a first threshold;

[0013] When confirming that the first state parameters of the first preset cleaning task are all greater than a first threshold, taking a second threshold as the target power and controlling the battery to be charged to the second threshold;

[0014] The first threshold is greater than zero power, and the second threshold is less than full power.

[0015] In some embodiments, obtaining the preset electrical parameters corresponding to each of the first preset cleaning tasks includes:

[0016] Obtaining a second state parameter and a third state parameter corresponding to each of the first preset cleaning tasks, wherein the second state parameter is the battery power displayed by the display module before the cleaning device starts the cleaning task, and the third state parameter is the battery power displayed by the display module after the cleaning device completes the corresponding cleaning task;

[0017] The determining the target power and controlling the battery to be charged to the target power according to the preset electrical parameters corresponding to the first preset cleaning tasks respectively includes:

[0018] determining the power consumption of the first preset cleaning task according to the second state parameter and the third state parameter respectively corresponding to the first preset cleaning task;

[0019] confirming whether the power consumption of the first preset cleaning task is less than a third threshold;

[0020] When it is confirmed that the power consumption of the first preset cleaning task is less than the third threshold, the target power is determined to be the fourth threshold and the battery is controlled to be charged to the fourth threshold; or, when it is confirmed that at least one of the power consumptions of the first preset cleaning task is not less than the third threshold, the target power is determined to be the full power or the sixth threshold and the battery is controlled to be charged to the full power or the sixth threshold;

[0021] Among them, the third threshold and the fourth threshold are both smaller than the full-charge power, and the sixth threshold is larger than the fourth threshold.

[0022] In some embodiments, obtaining the preset electrical parameters corresponding to each of the first preset cleaning tasks includes:

[0023] Obtaining a second state parameter and a third state parameter corresponding to each of the first preset cleaning tasks, where the second state parameter and the third state parameter are the battery power displayed by the display module before the cleaning device starts the cleaning task and after the cleaning device completes the corresponding cleaning task;

[0024] The determining the target power and controlling the battery to be charged to the target power according to the preset electrical parameters corresponding to the first preset cleaning tasks respectively includes:

[0025] Determining the power consumption corresponding to each of the first preset cleaning tasks according to the second state parameter and the third state parameter corresponding to each of the first preset cleaning tasks;

[0026] Determine a representative power consumption according to the power consumption of the first preset cleaning task;

[0027] Determining a first power level corresponding to the representative power consumption according to the mapping relationship between the power consumption and the power level;

[0028] According to the mapping relationship between the power level and the charging threshold, a seventh threshold corresponding to the first power level is determined, and the battery is controlled to charge to the seventh threshold.

[0029] In some embodiments, determining the representative power consumption according to the power consumption of the first preset cleaning task includes:

[0030] Determine the maximum power consumption, the average power consumption, or the most frequently occurring power consumption among the power consumptions of the first preset cleaning task, and determine one of the maximum power consumption, the average power consumption, and the most frequently occurring power consumption as the representative power consumption; or,

[0031] Determine the range of the power consumption of the first preset cleaning task. When the range is greater than a first preset value, determine the maximum power consumption among the power consumption of the first preset cleaning task as the representative power consumption. When the range is not greater than the first preset value, determine the average power consumption among the power consumption of the first preset cleaning task as the representative power consumption.

[0032] In some embodiments, after controlling the battery to be charged to the seventh threshold, the method further includes:

[0033] When the cleaning device runs out of power or automatically shuts down during a cleaning task performed after the battery is charged to the seventh threshold, the battery is controlled to be charged to the fifth threshold, where the fifth threshold is greater than the seventh threshold; and / or

[0034] In a cleaning task performed by the cleaning device after the battery is charged to the seventh threshold, when the cleaning device runs out of power or automatically shuts down for a second consecutive preset cleaning task, the battery is controlled to be charged to the full charge, and the second preset number of times is at least two times.

[0035] In some embodiments, the obtaining of the preset electrical parameters corresponding to each of the first preset cleaning tasks includes:

[0036] Obtaining a fourth state parameter corresponding to each of the first preset cleaning tasks, wherein the fourth state parameter is the lowest voltage among the voltages of the battery cells in each string of the battery after the cleaning device completes the cleaning task;

[0037] The determining the target power and controlling the battery to be charged to the target power according to the preset electrical parameters corresponding to the first preset cleaning tasks respectively includes:

[0038] confirming whether the fourth state parameters of the first preset cleaning task are all greater than the second preset value;

[0039] When it is confirmed that the fourth state parameters of the first preset cleaning task are all greater than the second preset value, the power at the time of the previous charging is lowered by the fourth preset value as the target power, and the battery is controlled to charge to the target power; or,

[0040] When it is confirmed that the fourth state parameters of the first preset cleaning task are all greater than the second preset value, the minimum value of the fourth state parameters of the first preset cleaning task is determined, and an adjustment value is determined according to the minimum value, and the power when the previous charging is completed is reduced by the adjustment value as the target power, and the battery is controlled to charge to the target power.

[0041] In some embodiments, determining a target power and controlling the battery to charge to the target power according to the preset electrical parameters corresponding to each of the first preset cleaning tasks further includes:

[0042] When at least one of the fourth state parameters of the first preset cleaning task is not less than the third preset value and not greater than the second preset value, the power at the time of the previous charging is taken as the target power, and the battery is controlled to be charged to the target power.

[0043] In some embodiments, controlling the battery to charge to the target power level includes:

[0044] Determine a first upper limit voltage corresponding to the target power;

[0045] During the process of controlling the charging of the battery, when the highest cell voltage of the battery does not reach the first upper limit voltage, if the battery power level displayed by the display module has reached the target power level, the battery power level displayed by the display module is controlled to remain unchanged, and charging is continued until the highest cell voltage reaches the first upper limit voltage; or,

[0046] During the process of controlling the charging of the battery, when the battery power displayed by the display module does not reach the target power, if it is determined that the highest cell voltage of the battery has reached the first upper limit voltage, charging is stopped and the battery power displayed by the display module is controlled to change smoothly to the target power.

[0047] In some embodiments, controlling the battery to charge to the target power level includes:

[0048] Determine the maximum voltage difference between the voltages of the battery cells in each string;

[0049] According to the first pressure difference threshold and the second pressure difference threshold corresponding to the current maximum cell voltage in each string of cell voltages of the battery, when the maximum pressure difference is greater than the first pressure difference threshold, the balancing optimization is started; or when the maximum pressure difference is not greater than the second pressure difference threshold, the balancing optimization is turned off.

[0050] In some embodiments, the control method further includes:

[0051] In response to the first instruction, the step of obtaining the preset electrical parameters corresponding to each of the first preset cleaning tasks is performed, and / or, in response to the second instruction, the battery is controlled to be charged to the full power;

[0052] Among them, the first instruction is issued by the cleaning device and / or the base station and / or the terminal, the second instruction is issued by the cleaning device and / or the base station and / or the terminal, the base station is communicatively connected to the cleaning device and is used to maintain the cleaning device, and the terminal is communicatively connected to the cleaning device and / or the base station.

[0053] The present disclosure also proposes an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the above-mentioned control method of the cleaning device when executed by the processor.

[0054] The present disclosure also proposes a cleaning device, which includes the above-mentioned electronic device and a battery, wherein the battery is communicatively connected to the electronic device and is used to supply power to the cleaning device.

[0055] In some embodiments, the cleaning device further includes: a first display module, wherein the first display module is communicatively connected to the battery and is used to display the power level of the battery.

[0056] The present disclosure also proposes a cleaning system, which includes the above-mentioned cleaning device and a base station. The base station is communicatively connected to the cleaning device and is used to maintain the cleaning device.

[0057] In some embodiments, the base station further includes: a second display module, wherein the second display module is used to display the power level of the battery.

[0058] The present disclosure also provides a storage medium having a computer program stored thereon, and the computer program implements the above-mentioned control method of the cleaning device when executed by a processor.

[0059] The technical solution of the control method of the cleaning equipment disclosed in the present invention obtains the preset electrical parameters corresponding to the most recent cleaning tasks when charging the battery of the cleaning equipment, and obtains the power consumption of the user's recent use of the cleaning equipment to complete the cleaning tasks based on these preset electrical parameters, so as to predict the power consumption range of the user's next use of the cleaning equipment to complete the cleaning task, and then reasonably determines the upper limit power of this charging (that is, the target power), and controls the battery to be charged to the target power, so that the battery power can meet the user's next use of the cleaning equipment to complete the cleaning task. Therefore, the target power can be lower than the full power of the battery, which effectively avoids the battery power being at a high level when idle, thereby effectively improving the battery life and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 The process of the control method embodiment of the cleaning equipment disclosed in the present invention is as follows Figure 1 ;

[0061] Figure 2 The process of the control method embodiment of the cleaning equipment disclosed in the present invention is as follows Figure 2 ;

[0062] Figure 3 The process of the control method embodiment of the cleaning equipment disclosed in the present invention is as follows Figure 3 ;

[0063] Figure 4 The process of the control method embodiment of the cleaning equipment disclosed in the present invention is as follows Figure 4 ;

[0064] Figure 5 The process of the control method embodiment of the cleaning equipment disclosed in the present invention is as follows Figure 5 ;

[0065] Figure 6 The process of the control method embodiment of the cleaning equipment disclosed in the present invention is as follows Figure 6 ;

[0066] Figure 7 The process of the control method embodiment of the cleaning equipment disclosed in the present invention is as follows Figure 7 ;

[0067] Figure 8 The process of the control method embodiment of the cleaning equipment disclosed in the present invention is as follows Figure 8 ;

[0068] Fig. 9 The process of the control method embodiment of the cleaning equipment disclosed in the present invention is as follows Figure 9 ;

[0069] Fig.10 It is a schematic diagram of the structure of an electronic device in a hardware operating environment involved in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0070] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0071] The present disclosure proposes a control method for a cleaning device, wherein the cleaning device includes a battery, the battery is used to power the cleaning device, the battery is connected to a display module, and the display module is used to display the battery power. The cleaning device may be a floor scrubber, a vacuum cleaner, a cleaning robot, etc.; the display module may be a display screen, a power indicator light group, etc. The implementation terminal of the control method for the cleaning device disclosed in the present disclosure may be a cleaning device or an electronic device, and the electronic device may be a control panel of the cleaning device, a desktop computer, a laptop computer, a tablet computer, a server, and other computing devices. In this article, the implementation terminal takes the electronic device as an example to explain the control method for the cleaning device in detail.

[0072] like Figure 1 As shown, Figure 1 The process of the control method embodiment of the cleaning equipment disclosed in the present invention is as follows Figure 1 .

[0073] In this embodiment, the control method of the cleaning device includes:

[0074] Step S10, obtaining the preset electrical parameters corresponding to each of the first preset cleaning tasks, wherein the preset electrical parameters include the state parameters of the battery after the cleaning device completes the cleaning task, or the preset electrical parameters include the state parameters of the battery before the cleaning device starts the cleaning task and after completing the corresponding cleaning task;

[0075] Among them, the first preset cleaning task is at least two cleaning tasks, and is the most recent cleaning task and at least the previous cleaning task adjacent to it. For example, the cleaning equipment completed a cleaning task in the morning, noon, and afternoon of today, and completed a cleaning task in the morning and afternoon of yesterday; if the first preset cleaning task is the two most recent cleaning tasks, then it is the cleaning task of this afternoon and the cleaning task of today noon; if the first preset cleaning task is the three most recent cleaning tasks, then it is the cleaning task of this afternoon, the cleaning task of today noon, and the cleaning task of this morning; if the first preset cleaning task is the five most recent cleaning tasks, then it is the cleaning task of this afternoon, the cleaning task of today noon, the cleaning task of this morning, the cleaning task of yesterday afternoon, and the cleaning task of yesterday morning.

[0076] Among them, the battery status parameters include parameters that can directly or indirectly reflect the battery power status, for example, the battery power (for example, the battery power displayed by the display module), the voltage of each string of battery cells, the minimum voltage value in each string of battery cells, etc.; the display module can display the battery power by displaying the power percentage, voltage value or current value, etc.

[0077] The electronic device will record the preset electrical parameters of the cleaning device for each cleaning task (i.e., the battery status parameters before the cleaning task begins, or the battery status parameters before and after the cleaning task begins). These preset electrical parameters can reflect the battery power status of the cleaning device. Through the preset electrical parameters of the cleaning task, the battery status of the cleaning device after completing the cleaning task (such as the remaining power, the voltage of each string of battery cells, etc.) or the battery changes before and after the cleaning device completes the cleaning task (such as power consumption) can be known. When the cleaning device is charging, the electronic device obtains the preset electrical parameters corresponding to each of the first preset cleaning tasks to obtain the battery status or battery changes of the cleaning device when completing the first preset cleaning tasks, and then statistically analyzes the power consumption of the user's recent use of the cleaning device to complete cleaning tasks.

[0078] Step S20, determining a target power level and controlling the battery to charge to the target power level according to the preset electrical parameters corresponding to each of the first preset cleaning tasks;

[0079] Among them, the target power is the upper limit of the battery's charge, that is, the charge cut-off power. After the electronic device obtains the preset power parameters corresponding to each of the first preset cleaning tasks, it can obtain the power usage of the user's recent use of the cleaning device to complete the cleaning task based on these preset power parameters, that is, the user's recent habits of using the cleaning device can be learned. According to the user's usage habits, the power usage range of the user's next use of the cleaning device to complete the cleaning task can be predicted, and then the upper limit of the charge (target power) of this charge can be reasonably determined, and the battery can be controlled to charge to the target power, so that the battery power can ensure that the user can complete the cleaning task next time using the cleaning device.

[0080] For example: 1. The first preset cleaning task is the last 5 cleaning tasks. According to the preset electrical parameters of the last 5 cleaning tasks, the power consumption (i.e., power consumption) of the last 5 cleaning tasks is 61%, 58%, 69%, 64%, and 67%, respectively. That is, the power consumption of the user's recent use of the cleaning equipment is between 50% and 70%. It is predicted that the power consumption range of the user's next use of the cleaning equipment to complete the cleaning task is 50% to 70%. The target power can be selected from the range greater than 70%, such as the target power is determined to be 75%, 80%, 85%, or 90%; 2. The first preset cleaning task is the last 5 cleaning tasks. According to the preset electrical parameters of the last five cleaning tasks, the power consumption (i.e., power consumption) of the last five cleaning tasks are 42%, 47%, 44%, 48%, and 47%, respectively. That is, the power consumption of the user's recent use of the cleaning equipment is between 40% and 50%. It is predicted that the power consumption range of the user's next use of the cleaning equipment to complete the cleaning task will be 40% to 50%, and the target power can be selected from a range greater than 50%, such as 55%, 60%, 65%, or 70%; 3. The first preset cleaning task is the last five cleaning tasks. According to the preset electrical parameters of the last five cleaning tasks, the power consumption of the last five cleaning tasks is 42%, 47%, 44%, 48%, and 47%, respectively. That is, the power consumption of the user's recent use of the cleaning equipment is between 40% and 50%. The power consumption range of the user's next use of the cleaning equipment to complete the cleaning task is predicted to be 40% to 50%. The target power can be selected from a range greater than 50%, such as 55%, 60%, 65%, or 70%; 3. The first preset cleaning task is the last five cleaning tasks. According to the preset electrical parameters of the last five cleaning tasks, the power consumption of the last five cleaning tasks is 42%, 47%, 44%, 48%, and 47%, respectively. The remaining power of the cleaning task (i.e., the remaining power of the battery after the cleaning task is completed) is 35%, 42%, 46%, 33%, and 39% respectively, that is, the remaining power of the cleaning device used by the user recently is between 30% and 50%, and the power consumption range of the user's next use of the cleaning device to complete the cleaning task is predicted to be 50% to 70%, and the target power can be selected from the range greater than 70%, such as the target power is determined to be 75%, 80%, 85%, or 90%; 4. The first preset cleaning task is the most recent 5 cleaning tasks. According to the preset power parameters of the most recent 5 cleaning tasks, the remaining power of the most recent 5 cleaning tasks (i.e., the power consumption of the cleaning task) is obtained. The remaining battery power after the cleaning task is completed is 42%, 55%, 33%, 28%, and 37% respectively, that is, the remaining power of the cleaning equipment used by the user recently is between 25% and 60%. It is predicted that the power consumption of the user's next use of the cleaning equipment to complete the cleaning task will be less than 80%, and the target power is determined to be 80%; 5. The first preset cleaning task is the most recent 5 cleaning tasks. According to the preset electrical parameters of the most recent 5 cleaning tasks, it is found that the lowest string voltage after the most recent 5 cleaning tasks is higher than 3.3V, then the charging upper limit power is reduced by 10%, that is, when the previous charging upper limit power is full power, the target power is determined to be 90%.

[0081] Among them, the target power can be selected as a certain amount that exceeds the upper limit of the predicted power consumption range (such as 10%, 15%, 20%, etc., of course, the target power does not exceed 100%). In this way, even if the power consumption of the user's next cleaning task exceeds the power consumption of the recent cleaning task, the battery power can meet the cleaning equipment's needs to complete the cleaning task smoothly.

[0082] The technical solution of the control method for the cleaning equipment of the present embodiment, when charging the battery of the cleaning equipment, obtains the preset electrical parameters corresponding to each of the most recent cleaning tasks, and obtains the power consumption of the user's recent use of the cleaning equipment to complete the cleaning tasks based on these preset electrical parameters, so as to predict the power consumption range of the user's next use of the cleaning equipment to complete the cleaning task, and then reasonably determines the upper limit power of this charging (that is, the target power), and controls the battery to be charged to the target power, so that the battery power can meet the user's next use of the cleaning equipment to complete the cleaning task. Therefore, the target power can be lower than the full power of the battery, that is, without affecting the user experience, it effectively avoids the battery power being at a high level when idle, thereby effectively improving the battery life and reliability.

[0083] It should be noted that in this embodiment and the following embodiments, the amount of electricity is expressed as a percentage, that is, a full charge is 100% and a zero charge is 0%; of course, the amount of electricity can also be replaced by other expressions.

[0084] like Figure 2 As shown, Figure 2 The process of the control method embodiment of the cleaning equipment disclosed in the present invention is as follows Figure 2 .

[0085] In this embodiment, the step of obtaining the preset electrical parameters corresponding to each of the first preset cleaning tasks in the above step S10 includes:

[0086] Step S11, obtaining first state parameters corresponding to each of the first preset cleaning tasks;

[0087] In this embodiment, the first state parameter is the battery power displayed by the display module after the cleaning device completes the cleaning task, that is, after the cleaning device completes the cleaning task, the display module displays the remaining battery power; or, the first state parameter is the lowest voltage among the voltages of each string of cells of the battery after the cleaning device completes the cleaning task. The database of the electronic device stores the battery power displayed by the display module after each cleaning task of the cleaning device is completed, and / or, the database of the electronic device stores the voltages of each string of cells of the battery or the minimum voltage among the voltages of each string of cells after each cleaning task of the cleaning device is completed. When the battery of the cleaning device is charging, the electronic device obtains the first state parameter corresponding to each of the first preset cleaning tasks (such as the most recent 2, 3, and 5 cleaning tasks) from the database, that is, obtains the remaining battery power of the cleaning device after the completion of the most recent cleaning tasks or the lowest voltage among the voltages of each string of cells of the battery.

[0088] The above step S20 includes:

[0089] Step S21, confirming whether the first state parameters of the first preset cleaning task are all greater than the first threshold;

[0090] Step S22, when it is confirmed that the first state parameters of the first preset cleaning task are all greater than the first threshold, the second threshold is used as the target power and the battery is controlled to be charged to the second threshold;

[0091] The first threshold is a parameter preset in the electronic device for comparison with the first state parameter, which is a power threshold or a voltage threshold, and the second threshold is a power value preset in the electronic device; wherein the first threshold is greater than the zero power of the battery, and the second threshold is less than the full power of the battery. When the first state parameter is the power of the battery displayed by the display module after the cleaning device completes the cleaning task, the sum of the first threshold and the second threshold is greater than the full power of the battery. In some embodiments, the size of the first threshold and the second threshold can be modified by parameter settings. When the standards adopted by the first state parameter are different, the corresponding first threshold is also different. For example, when the first state parameter is power, the first threshold is also power, and the first threshold greater than the zero power of the battery can be the first threshold greater than 0%; when the first state parameter is voltage, the first threshold is also voltage, and the first threshold greater than the zero power of the battery can be the voltage value of the first threshold greater than the voltage value corresponding to the zero power.

[0092] After obtaining the first state parameters corresponding to each of the first preset cleaning tasks, each first state parameter is compared with the first threshold value to determine whether the first state parameters of the first preset cleaning task are all greater than the first threshold value; when it is determined that the first state parameters of the first preset cleaning task are all greater than the first threshold value, indicating that the remaining battery power of the cleaning device after the first preset cleaning task is completed is higher than the set threshold value, the electronic device determines the second threshold value as the target power (i.e., the upper limit of the current charging power) and controls the battery to charge to the second threshold value. Since the lowest voltage among the voltages of each string of battery cells has a positive correlation with the remaining power of the battery, when the first threshold value is a voltage threshold value, when the lowest voltage among the voltages of each string of battery cells reaches the first threshold value, it corresponds to indicating that the remaining battery power reaches the set threshold value.

[0093] That is to say, the first state parameter can be the battery power that the user can directly see through the display module (the display module can be set on at least one of the cleaning equipment, the base station or the terminal), and the battery's charging upper limit power is regulated based on the intuitive data visible to the user. This method is relatively simple and intuitive, and avoids complicated data acquisition or calculation processes; the first state parameter can also be the lowest voltage of each string of battery cells obtained by the electronic device through recording data acquisition or calculation, and the battery's charging upper limit power is regulated based on the battery voltage value. The voltage value can more truly reflect the actual power consumption or remaining power of the battery, and can more accurately regulate the charging power.

[0094] Example 1: The first state parameter is the battery power displayed on the display module after the cleaning device completes the corresponding cleaning task. The first threshold is 20%, the second threshold is 90%, the first preset cleaning task is the last 5 cleaning tasks, and the first state parameters of the last 5 cleaning tasks are 32%, 26%, 39%, 28%, and 43%, respectively. By comparing with the first threshold (20%) in this example, it can be seen that the first state parameters of the last 5 cleaning tasks are all greater than the first threshold. Therefore, the second threshold (90%) in this example is determined as the target power, and the battery is controlled to be charged to 80%. Example 2: The first state parameter is the battery power displayed on the display module after the cleaning device completes the corresponding cleaning task. The first threshold is 10%, the second threshold is 95%, the first preset cleaning task is the last 5 cleaning tasks, and the first state parameters of the last 5 cleaning tasks are 25%, 13%, 11%, 21%, and 18%, respectively. By comparing with the first threshold (10%) in this example, it can be seen that the first state parameters of the last 5 cleaning tasks are all greater than the first threshold. Therefore, the second threshold (95%) in this example is determined as the target power, and the battery is controlled to be charged to 95%. Example 3: The first state parameter is the lowest voltage of each battery cell string voltage after the cleaning device completes the corresponding cleaning task. The first threshold is 3.3V, the second threshold is 80%, the first preset cleaning task is the last 5 cleaning tasks, and the first state parameters of the last 5 cleaning tasks are 3.4V, 3.8V, 3.5V, 3.7V, and 3.6V, respectively. By comparing with the first threshold (3.3V) in this example, it can be seen that the first state parameters of the last 5 cleaning tasks are all greater than the first threshold. Then the second threshold (80%) in this example is determined as the target power, and the battery is controlled to be charged to 80%. Of course, the first threshold and the second threshold in the above example can also take other values.

[0095] It should be noted that the first status parameter reflects the remaining battery power of the cleaning device after completing the cleaning task. As long as the remaining battery power is greater than zero, it indicates that the power required to complete the cleaning task does not need to be fully charged. Therefore, the first threshold is a parameter representing that the remaining battery power is greater than zero. Its expression includes but is not limited to percentage, voltage value, current value, etc. However, generally speaking, in order to minimize the impact on user experience and battery performance, the situation where the battery power of the cleaning device is close to zero during the execution of the cleaning task will be minimized, even when the cleaning task is close to completion. In other words, it is necessary to ensure that the cleaning device has a small amount of battery power left after completing the cleaning task. Therefore, the first threshold is often set to a parameter slightly larger than "zero power".

[0096] The technical solution of the control method of the cleaning equipment of this embodiment is that when charging the battery of the cleaning equipment, for the first preset cleaning task, the remaining battery power or the minimum voltage among the voltages of each string of battery cells after each cleaning task is completed is obtained, and each obtained remaining power or minimum voltage is compared with the corresponding first threshold value, and after confirming that each obtained remaining power or minimum voltage is greater than the first threshold value, the battery is controlled to be charged to a preset second threshold value (less than a full charge), that is, the battery is controlled not to be fully charged; in this way, the battery can meet the user's need to complete the cleaning task next time the cleaning equipment is used, and there is no need to maintain a fully charged state when idle, which effectively improves the battery life and reliability.

[0097] In some embodiments, when it is confirmed that not all of the first state parameters of the first preset cleaning task are greater than the first threshold, that is, when it is confirmed that among the first state parameters of the first preset cleaning task, there are first state parameters that are less than or equal to the first threshold, the electronic device may execute: controlling the battery to charge to a full charge, or controlling the battery to charge to a preset charge value greater than a second threshold (for example, a value 10% greater than the second threshold), or the electronic device may also execute other steps.

[0098] When the cleaning device runs low on power or automatically shuts down during a cleaning task performed after the battery is charged to a second threshold, the battery is controlled to be charged to a threshold value greater than the second threshold (which may be a threshold value that is a fixed value greater than the second threshold, such as 10%, 20%, etc. greater than the second threshold); and / or, when the cleaning device runs low on power or automatically shuts down for several consecutive cleaning tasks (such as 2 times, 3 times, etc.) during a cleaning task performed after the battery is charged to the second threshold, the battery is controlled to be charged to a full charge. In other words, when the cleaning task is performed after the battery is not fully charged, if the battery is low on power or automatically shuts down for several consecutive times, the battery charge level is directly adjusted back to the full charge level.

[0099] like Figure 3 As shown, Figure 3 The process of the control method embodiment of the cleaning equipment disclosed in the present invention is as follows Figure 3 .

[0100] In this embodiment, the step of obtaining the preset electrical parameters corresponding to each of the first preset cleaning tasks in the above step S10 includes:

[0101] Step S12, obtaining the second state parameter and the third state parameter corresponding to each of the first preset cleaning tasks;

[0102] In this embodiment, the second state parameter is the battery power displayed on the display module before the cleaning device starts the cleaning task, that is, the remaining battery power displayed on the display module before the cleaning device starts the cleaning task; the third state parameter is the battery power displayed on the display module after the cleaning device completes the corresponding cleaning task, that is, the remaining battery power displayed on the display module after the cleaning device completes the cleaning task. The database of the electronic device stores the remaining battery power displayed on the display module before each cleaning task of the cleaning device, and the battery power displayed on the display module after the cleaning task is completed. When the battery of the cleaning device is charging, the electronic device obtains the second state parameter and the third state parameter corresponding to each of the first preset cleaning tasks (such as the most recent 2, 3, and 5 cleaning tasks) from the database, that is, respectively obtains the remaining battery power of the cleaning device before and after the most recent cleaning tasks.

[0103] The above step S20 includes:

[0104] Step S23, determining the power consumption of the first preset cleaning task according to the second state parameter and the third state parameter respectively corresponding to the first preset cleaning task;

[0105] After obtaining the second state parameter and the third state parameter corresponding to each cleaning task in the first preset cleaning task, that is, obtaining the second state parameter and the third state parameter of each cleaning task in the first preset cleaning task, the third state parameter is subtracted from the second state parameter of each cleaning task, that is, the remaining battery power before the start of the cleaning task is subtracted from the remaining battery power after the corresponding cleaning task is completed, so as to obtain the power consumption of each cleaning task in the first preset cleaning task, that is, the power consumption of each first preset cleaning task is obtained (that is, the power consumption of the first preset cleaning task determined in step 23).

[0106] Step S24, confirming whether the power consumption of the first preset cleaning task is less than a third threshold;

[0107] Step S25, when it is confirmed that the power consumption of the first preset cleaning task is less than the third threshold, the target power is determined to be the fourth threshold and the battery is controlled to be charged to the fourth threshold; or, when it is confirmed that at least one of the power consumptions of the first preset cleaning task is not less than the third threshold, the target power is determined to be the full power or the sixth threshold and the battery is controlled to be charged to the full power or the sixth threshold;

[0108] The third threshold is a parameter preset in the electronic device for comparison with the power consumption of the cleaning task, which is a power threshold. The third threshold can be a fixed power threshold preset in the electronic device (for example, the third threshold is fixed to 70% or 80%, etc.); the fourth threshold can be a fixed power threshold preset in the electronic device (for example, the fourth threshold is fixed to 80% or 90%, etc.), or a power threshold that is a fixed value greater than the third threshold (for example, the fourth threshold is always 10% or 20% greater than the third threshold), or a fixed power threshold equal to the third threshold (for example, the third threshold and the fourth threshold are both fixed to 80% or 85%, etc.); wherein the third threshold and the fourth threshold are both less than the full power. After obtaining the power consumption corresponding to each of the first preset cleaning tasks, the power consumption of each cleaning task in the first preset cleaning task is compared with the third threshold to determine whether the power consumption of the first preset cleaning task is less than the third threshold; when it is determined that the power consumption of the first preset cleaning task is less than the third threshold, the fourth threshold is determined as the target power (i.e., the upper limit of the charging power for this charging), and the battery is controlled to charge to the fourth threshold.

[0109] Example 1: The third threshold is 70%, the fourth threshold is 80%, the first preset cleaning task is the last 5 cleaning tasks, the second state parameters and third state parameters of the last 5 cleaning tasks are (97%, 34%), (95%, 37%), (90%, 26%), (88%, 29%), (89%, 38%) respectively, then the power consumption of the first preset cleaning task is determined to be 63%, 58%, 64%, 59%, 51% respectively. By comparing the power consumption with the third threshold (70%) in this example, it can be seen that the power consumption of the last 5 cleaning tasks is less than the third threshold, then the fourth threshold (80%) in this example is determined as the target power, and the battery is controlled to be charged to 80%. Example 2: The first preset cleaning task is the last 5 cleaning tasks, and the second state parameters and third state parameters of the last 5 cleaning tasks are (97%, 34%), (95%, 37%), (90%, 26%), (88%, 29%), and (89%, 38%) respectively. The power consumption of the first preset cleaning task is determined to be 63%, 58%, 64%, 59%, and 51% respectively. The third threshold is not less than the maximum power consumption of 64%, and can be 65% or 70%, etc. The fourth threshold can be a fixed value of 80%, or it can be a value 10% larger than the third threshold, that is, 75% or 80%, etc.

[0110] The control method of the cleaning device of this embodiment adopts a scheme of controlling the battery to charge to a fourth threshold value when it is confirmed that the power consumption of the first preset cleaning task is less than the third threshold value. Therefore, the battery can ensure that the power is sufficient for the user to complete the cleaning task next time using the cleaning device, and can also avoid the battery being in a fully charged state when the cleaning device is idle, effectively avoiding the battery from being in a high power state when the cleaning device is idle, thereby improving the battery life and reliability.

[0111] In some embodiments, when it is confirmed that the power consumption of the first preset cleaning task is not all less than the third threshold, that is, when it is confirmed that among the power consumption of the first preset cleaning task, there is at least one power consumption greater than or equal to the third threshold, the electronic device may execute: controlling the battery to charge to a full charge, or controlling the battery to charge to a sixth threshold, the sixth threshold is greater than a certain preset power value of the fourth threshold (for example, a value 10% greater than the fourth threshold), or the electronic device may also execute other steps. Generally speaking, the third threshold is set to a value close to the full charge (such as 70%, 80%, etc.). If the power consumption of the first preset cleaning task is greater than the third threshold, the battery can be directly controlled to charge to a full charge, or to a sixth threshold closer to the full charge (such as 85%, 90%, etc.).

[0112] When the cleaning device runs low on power or automatically shuts down during a cleaning task performed after the battery is charged to a fourth threshold, the battery is controlled to be charged to a threshold value greater than the fourth threshold (which may be a threshold value that is a fixed value greater than the fourth threshold, such as 10%, 20%, etc. greater than the fourth threshold); and / or, when the cleaning device runs low on power or automatically shuts down for several consecutive cleaning tasks (such as 2 times, 3 times, etc.) during a cleaning task performed after the battery is charged to the fourth threshold, the battery is controlled to be charged to a full charge. In other words, when the cleaning task is performed after the battery is not fully charged, if the battery is low on power or automatically shuts down for several consecutive times, the battery charge level is directly adjusted back to the full charge level.

[0113] like Figure 4 As shown, Figure 4 The process of the control method embodiment of the cleaning equipment disclosed in the present invention is as follows Figure 4 .

[0114] This embodiment is based on the solution of the above embodiment. In this embodiment, after step S23, the following steps are included:

[0115] Step S231, determining representative power consumption according to the power consumption of the first preset cleaning task;

[0116] The representative power consumption is an indicator that can reflect the power consumption of the first preset cleaning task of the cleaning device. The representative power consumption reflects the power consumption of the user's recent use of the cleaning device to complete the cleaning task, and indirectly reflects the user's cleaning habits. The electronic device determines the representative power consumption based on the power consumption of the first preset cleaning task.

[0117] In some embodiments, the method of determining the representative power consumption may be: determining the maximum power consumption or the average power consumption or the most frequently occurring power consumption in the power consumption of the first preset cleaning task, and determining one of the maximum power consumption, the average power consumption, and the most frequently occurring power consumption as the representative power consumption. For example, when the power consumption of the first preset cleaning task is 63%, 58%, 61%, 58%, and 51%, respectively, the maximum power consumption, the average power consumption, and the most frequently occurring power consumption in the power consumption of the first preset cleaning task are determined to be 63%, 58.2%, and 58%, respectively, and one is randomly selected from the maximum power consumption, the average power consumption, and the most frequently occurring power consumption or selected according to a preset selection rule as the representative power consumption.

[0118] In some embodiments, the method for determining the representative power consumption can also be: determining the range of power consumption of the first preset cleaning task (i.e., the difference between the maximum power consumption and the minimum power consumption); when the range is greater than a first preset value (such as 5%, 10%), determining the maximum power consumption in the power consumption of the first preset cleaning task as the representative power consumption; when the range is not greater than the first preset value, determining the average power consumption in the power consumption of the first preset cleaning task as the representative power consumption. For example, when the first preset value is 10%, if the power consumption of the first preset cleaning task is 63%, 58%, 61%, 58%, and 51% respectively, the range of the power consumption of the first preset cleaning task is determined to be 12%, and the range (12%) is greater than the first preset value (10%), and the maximum power consumption (63%) in the power consumption of the first preset cleaning task is determined as the representative power consumption; if the power consumption of the first preset cleaning task is 60%, 58%, 61%, 58%, and 52% respectively, the range of the power consumption of the first preset cleaning task is determined to be 9%, and the range (9%) is not greater than the first preset value (10%), and the average power consumption (57.8%) in the power consumption of the first preset cleaning task is determined as the representative power consumption. Of course, in other embodiments, other methods can also be adopted to determine the representative power consumption according to the power consumption of the first preset cleaning task.

[0119] Step S232, determining a first power level corresponding to the power consumption according to the mapping relationship between the power consumption and the power level;

[0120] The mapping relationship between power consumption and power levels is preset in the electronic device (e.g., a mapping table between power consumption and power levels is stored in a database). Therefore, according to the mapping relationship between power consumption and power levels, the first power level corresponding to the representative power consumption can be determined (i.e., the power level corresponding to the magnitude of the representative power consumption in the mapping relationship between power consumption and power levels). The power level refers to the level or degree of power consumption. For example, the power levels include level one, level two, level three, level four, and level five, and the mapping relationship between power consumption and power levels is: a power consumption range of 0-40% corresponds to a level one power level, a power consumption range of 40%ˉ50% corresponds to a level two power level, a power consumption range of 50%ˉ60% corresponds to a level three power level, a power consumption range of 60%ˉ70% corresponds to a level four power level, and a power consumption range of 70%ˉ100% corresponds to a level five power level; if the representative power consumption is 38%, then the first power level corresponding to the representative power consumption is level one; if the representative power consumption is 58%, then the first power level corresponding to the representative power consumption is level three.

[0121] Step S233, determining the seventh threshold corresponding to the first power level according to the mapping relationship between the power level and the charging threshold, and controlling the battery to charge to the seventh threshold.

[0122] The mapping relationship between the power level and the charging threshold is pre-set in the electronic device (such as a mapping table between the power level and the charging threshold is stored in the database). Therefore, according to the mapping relationship between the power level and the charging threshold, the seventh threshold corresponding to the first power level can be determined (that is, the charging threshold corresponding to the first power level in the mapping relationship between the power level and the charging threshold); after the electronic device determines the size of the seventh threshold, it determines the target power of the battery charging (that is, the seventh threshold), and then controls the battery to charge to the seventh threshold. For example, the power level includes the first level, the second level, the third level, the fourth level, and the fifth level, and the mapping relationship between the power level and the charging threshold is: the first level corresponds to a charging threshold of 60%, the second level corresponds to a charging threshold of 70%, the third level corresponds to a charging threshold of 80%, and the fourth level corresponds to a charging threshold of 90%; the fifth level corresponds to a charging threshold of 95%; if the first power level is the first level, the fourth threshold is 60%, and the electronic device controls the battery to charge to 60% power; if the first power level is the third level, the fourth threshold is 80%, and the electronic device controls the battery to charge to 80% power.

[0123] The control method of the cleaning device of this embodiment determines the representative power consumption according to the power consumption of the first preset cleaning task, and then determines the power level corresponding to the representative power consumption and the corresponding charging threshold value (i.e., the seventh threshold) according to the pre-set mapping relationship, and finally controls the battery to charge to the seventh threshold. In this way, when the change of the power consumption of the first preset cleaning task of the cleaning device causes the representative power consumption to change greatly, the battery will be controlled to charge to the corresponding power state, so that the battery can not only ensure that the power is sufficient for the user to use the cleaning device to complete the cleaning task next time, but also intelligently adjust the power state of the battery when it is idle, so that the battery is in a lower power state when it is idle, further effectively improving the life and reliability of the battery. The control method of the cleaning device of this embodiment is to adaptively adjust its subsequent charging upper limit power according to the user's historical power consumption. The charging upper limit power can be a lower charging power (such as 50%, 60%, etc.), or a higher charging power (such as 80%, 90%, etc.), or a full power of 100%. This method is more in line with the actual power demand of the user, can meet different user habits, and is more adaptable.

[0124] like Figure 5 As shown, Figure 5 The process of the control method embodiment of the cleaning equipment disclosed in the present invention is as follows Figure 5 .

[0125] This embodiment is based on the solution of the above embodiment. In this embodiment, after step S233, the control method of the cleaning device further includes:

[0126] Step S26, when the cleaning device runs out of power or automatically shuts down during a cleaning task performed after the battery is charged to the seventh threshold, the battery is controlled to be charged to the fifth threshold, and the fifth threshold is greater than the seventh threshold; and / or, when the cleaning device runs out of power or automatically shuts down during a second consecutive preset cleaning task performed after the battery is charged to the seventh threshold, the battery is controlled to be charged to a full charge.

[0127] After the battery of the cleaning device is controlled to be charged to the seventh threshold value (for example, 80%), when the user uses the cleaning device to perform a cleaning task, the battery is low (such as a low battery reminder, less than 5%), or the cleaning device automatically shuts down due to low battery power (for example, the battery power drops to 0%, or the battery power is less than 3%), the electronic device controls the battery to be charged to the fifth threshold value when charging the battery, and the fifth threshold value is greater than the seventh threshold value (for example, 10% greater), thereby increasing the power reached by the seventh threshold value (such as 10%), so that the next time the user uses the cleaning device for cleaning, the battery has more sufficient power to support the cleaning device to complete the cleaning task. And / or, after the battery of the cleaning device is controlled to be charged to a seventh threshold value (for example, 80%), in a cleaning task subsequently performed by the cleaning device, if the battery is insufficient (such as a low battery reminder, less than 5%), or the battery power is too low (for example, the battery power drops to 0%, or the battery power is less than 3%) in a second preset task in a row (at least twice), causing the cleaning device to automatically shut down, that is, the battery power is insufficient to support the cleaning device to complete the cleaning task normally for multiple consecutive times, the electronic device controls the battery to be charged to full power when charging the battery, so that in the subsequent cleaning task execution, the battery power can support the cleaning device to complete the cleaning task to the greatest extent, thereby reducing the impact on the cleaning device executing the cleaning task.

[0128] According to the control method for the cleaning device of the present embodiment, after the battery is charged to the seventh threshold value, when the cleaning device runs low on power or automatically shuts down while performing a cleaning task, the battery is controlled to be charged to a higher power level (fifth threshold value) next time; and / or, after the battery is charged to the seventh threshold value, when the cleaning device subsequently performs a cleaning task and runs low on power or automatically shuts down for multiple consecutive cleaning tasks, the battery is controlled to be charged to a full power level next time; in this way, the impact of the low battery power on the normal cleaning of the cleaning device is reduced, so that the battery can maintain a more sufficient power level to support the cleaning device to complete the cleaning task.

[0129] like Figure 6 As shown, Figure 6 The process of the control method embodiment of the cleaning equipment disclosed in the present invention is as follows Figure 6 .

[0130] This embodiment is based on the solution of the above embodiment. In this embodiment, the step of controlling the battery to charge to the target power includes:

[0131] Step S61, determining a first upper limit voltage corresponding to the target power;

[0132] In this embodiment, the mapping relationship between the battery power and the maximum cell voltage can be preset in the electronic device. According to the mapping relationship, the maximum cell voltage (i.e., the first upper limit voltage) corresponding to the target power can be determined; for example, the maximum cell voltage corresponding to 90% power is 4.1V, and if the target power is 90%, the corresponding first upper limit voltage is 4.1V. Alternatively, the electronic device can also calculate the first upper limit voltage corresponding to the target power according to the corresponding parameters and calculation formula of the battery.

[0133] Step S62, during the process of controlling battery charging, when the highest cell voltage of the battery has not reached the first upper limit voltage, if the battery power displayed by the display module has reached the target power, the battery power displayed by the display module is controlled to remain unchanged, and charging is continued until the highest cell voltage reaches the first upper limit voltage; or, during the process of controlling battery charging, when the battery power displayed by the display module has not reached the target power, if it is determined that the highest cell voltage of the battery has reached the first upper limit voltage, charging is stopped, and the battery power displayed by the display module is controlled to change smoothly to the target power.

[0134] In the process of controlling battery charging, the electronic device can obtain the maximum cell voltage of the battery (which can be monitored in real time) and the battery power displayed on the display module in real time. Due to the various operating conditions of the cleaning equipment (such as different discharge modes, differences in working environment temperature) and errors in parameter acquisition, there is usually a certain error between the battery power displayed on the display module and the actual battery power. The actual battery power is often inconsistent with the battery power displayed on the display module; for example, the battery power displayed on the display module is 90%, but the actual battery power does not reach 90% (such as the actual battery power is 80%; for another example, the actual battery power reaches 90%, but the battery power displayed on the display module is less than 90% (such as the displayed power is 80%).

[0135] In this embodiment, during the process of controlling battery charging, the power displayed by the display module and the maximum cell voltage of the battery are monitored simultaneously; when the maximum cell voltage of the battery has not reached the first upper limit voltage, it means that the actual power of the battery has not reached the target power. At this time, if the power of the battery displayed by the display module reaches the target power, the electronic device controls the power of the battery displayed by the display module to be locked at the current value and no longer changes, and continues to control the battery charging until the maximum cell voltage of the battery reaches the first upper limit voltage, that is, the actual power of the battery also reaches the target power, so that after the battery charging is completed, the actual power of the battery is consistent with the battery power displayed by the display module; or, when the power of the battery displayed by the display module has not reached the target power, if it is determined that the maximum cell voltage of the battery has reached the first upper limit voltage, it means that the actual power of the battery has reached the target power, at this time, the electronic device controls to stop charging the battery, so that the actual power of the battery is maintained at the target power and no longer increases, and controls the power of the battery displayed by the display module to change smoothly to the target power (for example, within 3 seconds, 5 seconds, etc., the displayed battery power gradually changes from the current value to the target power), so as to complete the charging, and make the battery power displayed by the display module consistent with the actual power of the battery.

[0136] The control method scheme of the cleaning equipment of this embodiment, during the battery charging process, by simultaneously monitoring the power displayed by the display module and the maximum cell voltage of the battery, when the battery power displayed by the display module has reached the target power, and the maximum cell voltage of the battery has not reached the first upper limit voltage, the battery power displayed by the display module is controlled to remain unchanged, and charging continues until the maximum cell voltage reaches the first upper limit voltage; or, when the maximum cell voltage of the battery reaches the first upper limit voltage, and the battery power displayed by the display module has not reached the target power, the battery is controlled to stop charging, and the battery power displayed by the display module is controlled to change smoothly to the target power; in this way, it is ensured that after the control battery charging is completed, the battery power displayed by the display module is consistent with the actual power of the battery, so that the control of the upper limit power of the battery charging is more accurate, and the error between the displayed battery power and the actual power of the battery is avoided, which affects the cleaning equipment to successfully complete the cleaning task. The target power in this embodiment can be any value of the second threshold, the fourth threshold, the fifth threshold, the sixth threshold, the seventh threshold, the full power or other power.

[0137] like Figure 7 As shown, Figure 7 The process of the control method embodiment of the cleaning equipment disclosed in the present invention is as follows Figure 7 .

[0138] This embodiment is based on the solution of the above embodiment. In this embodiment, the step of controlling the battery to charge to the target power includes:

[0139] Step S71, confirming the maximum voltage difference between the voltages of the battery cells in each string;

[0140] During the battery charging process, the voltages of the battery cells in each string do not change completely synchronously, and the speed of change varies. Therefore, there is a voltage deviation between the voltages of the battery cells in each string, and the voltage deviation changes with the charging time. During the battery charging process, the electronic device will monitor the voltages of the battery cells in each string to confirm the maximum voltage difference (i.e., the extreme difference) between the voltages of the battery cells in each string. The maximum voltage difference between the voltages of the battery cells in each string is obtained by subtracting the minimum voltage from the maximum voltage of the voltages of the battery cells in each string.

[0141] Step S72, based on the first pressure difference threshold and the second pressure difference threshold corresponding to the current maximum cell voltage in each string of cell voltages of the battery, when the maximum pressure difference is greater than the first pressure difference threshold, start the equalization optimization; or when the maximum pressure difference is not greater than the second pressure difference threshold, turn off the equalization optimization.

[0142] When the voltage deviation between the voltages of each string of cells does not exceed the second voltage difference threshold (that is, the maximum voltage difference between the voltages of each string of cells does not exceed the voltage difference threshold), the states of the battery cells in each string are not much different or are basically the same, and the battery cells in each string are normal and stable; when the voltage deviation between the voltages of each string of cells exceeds the first voltage difference threshold, the states of the battery cells in each string are quite different, which can easily cause overcharging and lead to battery cell damage. When the battery has different maximum cell voltages, the corresponding first voltage difference threshold and second voltage difference threshold are different. The electronic device may be pre-set with a mapping relationship between the maximum cell voltage and the first voltage difference threshold and the second voltage difference threshold. Therefore, in the process of controlling the battery charging, the maximum cell voltage of the battery is increasing all the time. The electronic device may determine the first voltage difference threshold and the second voltage difference threshold corresponding to the current maximum cell voltage in real time according to the mapping relationship between the maximum cell voltage and the first voltage difference threshold and the second voltage difference threshold, and compare the maximum voltage difference between the cell voltages of each string of the battery with the first voltage difference threshold and the second voltage difference threshold determined in real time; when the maximum voltage difference is greater than the first voltage difference threshold (i.e., exceeds the first voltage difference threshold), the electronic device starts equalization optimization to equalize the states of the cells in each string of the battery; when the maximum voltage difference is not greater than the second voltage difference threshold (i.e., does not exceed the second voltage difference threshold), it means that the states of the cells in each string of the battery are not much different, and the electronic device turns off the equalization optimization. The first voltage difference threshold and the second voltage difference threshold corresponding to the same maximum cell voltage may be the same value or different values, and may be set according to the specific situation.

[0143] Example 1: When the current maximum cell voltage is greater than 3.7V and not greater than 3.9V, the first voltage difference threshold is set to 20mV, and the second voltage difference threshold is set to 10mV, that is, when the maximum voltage difference is greater than 20mV, the balancing is started, and when the maximum voltage difference is less than 10mV, the balancing is exited; Example 2: When the current maximum cell voltage is greater than 3.9V and not greater than 4.0V, the first voltage difference threshold is set to 30mV, and the second voltage difference threshold is set to 10mV, that is, when the maximum voltage difference is greater than 30mV, the balancing is started, and when the maximum voltage difference is less than 10mV, the balancing is exited; Example 3: When the current maximum cell voltage is greater than 4.0V and not greater than 4.1V, the first voltage difference threshold is set to 40mV, and the second voltage difference threshold is set to 20mV, that is, when the maximum voltage difference is greater than 40mV, the balancing is started, and when the maximum voltage difference is less than 20mV, the balancing is exited.

[0144] The control method scheme of the cleaning equipment of this embodiment, during the battery charging process, by real-time monitoring the voltage of each string of battery cells, confirming the maximum difference between the voltages of each string of battery cells, and monitoring whether the maximum difference between the voltages of each string of battery cells exceeds the first voltage difference threshold corresponding to the current maximum battery cell voltage; when it is confirmed that the maximum voltage difference exceeds the first voltage difference threshold, start the equalization optimization to equalize the state of each string of battery cells, and when the maximum voltage difference does not exceed the second voltage difference threshold, turn off the equalization optimization; in this way, it is ensured that during the battery charging process, each string of battery cells of the battery maintains a substantially same state, avoids overcharging of the battery cells and causing damage to the battery cells, ensures the safety of the battery cells, and improves the life and reliability of the battery. The target power in this embodiment can be any value of the second threshold, the fourth threshold, the fifth threshold, the sixth threshold, the seventh threshold, the full power or other power.

[0145] like Figure 8 As shown, Figure 8 The process of the control method embodiment of the cleaning equipment disclosed in the present invention is as follows Figure 8 .

[0146] In this embodiment, the step of obtaining the preset electrical parameters corresponding to each of the first preset cleaning tasks in the above step S10 includes:

[0147] Step S13, obtaining the fourth state parameter corresponding to each of the first preset cleaning tasks;

[0148] In this embodiment, the fourth state parameter is the lowest voltage among the voltages of each battery cell string of the cleaning device after the cleaning device completes the cleaning task; the database of the electronic device stores the voltages of each battery cell string of the cleaning device or the lowest voltage among the voltages of each battery cell string after each cleaning task. When the battery of the cleaning device is charging, the electronic device obtains the fourth state parameter corresponding to each of the first preset cleaning tasks (such as the most recent 2, 3, and 5 cleaning tasks) from the database, that is, obtains the lowest voltage among the voltages of each battery cell string of the cleaning device after the most recent cleaning tasks are completed.

[0149] The above step S20 includes:

[0150] Step S27, confirming whether the fourth state parameters of the first preset cleaning task are all greater than the second preset value;

[0151] Step S28, when it is confirmed that the fourth state parameters of the first preset cleaning task are all greater than the second preset value, the power level when the previous charging is completed is adjusted down by the fourth preset value as the target power level, and the battery is controlled to charge to the target power level; or, when it is confirmed that the fourth state parameters of the first preset cleaning task are all greater than the second preset value, the minimum value of the fourth state parameters of the first preset cleaning task is determined, the adjustment value is determined according to the minimum value, the power level when the previous charging is completed is adjusted down by the adjustment value as the target power level, and the battery is controlled to charge to the target power level.

[0152] The second preset value is a parameter preset in the electronic device for comparison with the fourth state parameter, which is a voltage threshold (for example, 3.3V, 3.4V, 3.5V, 3.7V, 3.9V, etc.), and the fourth preset value is a power value preset in the electronic device (for example, 10%, 15%, etc.). After obtaining the fourth state parameters corresponding to each of the first preset cleaning tasks, each fourth state parameter is compared with the second preset value to determine whether the fourth state parameters of the first preset cleaning task are all greater than the second preset value. If it is determined that the fourth state parameters of the first preset cleaning task are all greater than the second preset value, it indicates that the minimum voltage of each string of battery cells of the cleaning device after the first preset cleaning task is completed is higher than the set voltage threshold (ie, the second preset value). Since the cell voltage of the battery is positively correlated with the actual power of the battery, when the actual power of the battery changes, the cell voltage of the battery will also change accordingly; for example, when the minimum voltage among the cell voltages of each string of the battery is the second preset value, the corresponding remaining power of the battery is A (such as 20%, 25%, 30%, 35%, 40%, etc.), then, when the minimum voltage among the cell voltages of each string of the battery after the first preset cleaning task is completed is greater than the second preset value, it means that the remaining power of the battery after the first preset cleaning task is completed is greater than A. When it is determined that the fourth state parameter of the first preset cleaning task is greater than the second preset value, it means that the remaining power of the battery after the first preset cleaning task is completed is relatively large, which means that the power consumption of the first preset cleaning task is relatively small. At this time, the electronic device adjusts the power at the completion of the previous charging (i.e., the upper limit power of the previous charging) down by the fourth preset value (e.g., down by 10%, 15%, etc.), and uses it as the target power of this charging (i.e., the upper limit power of this charging), and controls the battery to charge to the target power. In this way, while ensuring that the battery power can support the cleaning device to complete the cleaning task normally, the battery power state when the cleaning device is idle is further reduced, thereby better improving the battery life and reliability.

[0153] Alternatively, when the electronic device determines that the fourth state parameters of the first preset cleaning task are all greater than the second preset value, it determines the minimum value of the fourth state parameters of the first preset cleaning task, that is, the minimum value of all battery cell voltages after each cleaning task of the first preset cleaning task is completed, and determines an adjustment value based on the minimum value (for example, a mapping relationship between battery cell voltages and adjustment values ​​is pre-set in the electronic device, and an adjustment value corresponding to the minimum value is determined based on the mapping relationship), and after reducing the power at the time of the previous charging completion by the adjustment value, uses it as the target power this time, and controls the battery to charge to the target power. Among them, the minimum value of all battery cell voltages after the completion of each cleaning task of the first preset cleaning task reflects the size of the minimum remaining battery power after the completion of the first preset cleaning task. The larger the minimum value, the greater the remaining battery power after the completion of the first preset cleaning task. At this time, the upper limit charging power of the battery can be reduced by a larger margin (that is, the adjustment value is larger), that is, the larger the adjustment value determined according to the minimum value, and the smaller the minimum value, the smaller the remaining battery power after the completion of the first preset cleaning task. At this time, the upper limit charging power of the battery can be reduced by a smaller margin (that is, the adjustment value is smaller), that is, the adjustment value determined according to the minimum value is smaller. In this way, while ensuring that the battery power can support the cleaning equipment to complete the cleaning task normally, the adjustment amount is determined according to the minimum value of the fourth state parameter of the first preset cleaning task, which is equivalent to the minimum remaining battery power after the first preset cleaning task is completed. Then, the magnitude of the reduction in the upper limit of the battery charge is determined. While ensuring that the battery power can support the cleaning equipment to complete the cleaning task normally, according to the specific circumstances of the first preset cleaning task, the upper and lower charging powers of the battery are reduced by a corresponding amount, and the battery power state when the cleaning equipment is idle is reasonably adjusted to better improve the battery life and reliability.

[0154] Example 1: The second preset value is 3.3V, the fourth preset value is 10%, the first preset cleaning task is the last 5 cleaning tasks, and the fourth state parameters of the last 5 cleaning tasks are 3.4V, 3.6V, 3.5V, 3.7V, and 3.8V, respectively. By comparing with the second preset value (3.3V) in this example, it can be seen that the fourth state parameters of the last 5 cleaning tasks are all greater than the second preset value. Then, the power at the time of the previous charging is reduced by 10% (the fourth preset value in this example) as the target power for this charging (that is, the upper limit of the charging for this charging), and the battery is controlled to charge to the target power (such as from 100% to 90%). Example 2: The second preset value is 3.3V, and the first preset cleaning task is the last 5 cleaning tasks. The fourth state parameters of the last 5 cleaning tasks are 3.4V, 3.6V, 3.5V, 3.7V, and 3.8V, respectively. By comparing with the second preset value (3.3V) in this example, it can be seen that the fourth state parameters of the last 5 cleaning tasks are all greater than the second preset value. It is determined that the minimum value of the fourth state parameters of the last 5 cleaning tasks is 3.4V. Assuming that the adjustment value corresponding to 3.4V is 15%, the power at the time of the previous charging is reduced by 15% as the target power for this charging, and the battery is controlled to charge to the target power (such as from 100% to 85%). Example 3: The second preset value is 3.3V, and the first preset cleaning task is the last 5 cleaning tasks. The fourth state parameters of the last 5 cleaning tasks are 3.6V, 3.8V, 3.6V, 3.7V, and 3.9V, respectively. By comparing with the second preset value (3.3V) in this example, it can be seen that the fourth state parameters of the last 5 cleaning tasks are all greater than the second preset value. It is determined that the minimum value of the fourth state parameters of the last 5 cleaning tasks is 3.6V. Assuming that the adjustment value corresponding to 3.6V is 20%, the power at the time of the previous charging is reduced by 20% as the target power for this charging, and the battery is controlled to charge to the target power (such as from 100% to 80%).

[0155] The technical solution of the control method of the cleaning equipment of this embodiment is that when charging the battery of the cleaning equipment, for the first preset cleaning task, the minimum voltage of each string of battery cells after each cleaning task is completed is obtained, and the obtained remaining power or minimum voltage is compared with the second preset value. After confirming that the obtained minimum voltages are all greater than the second preset value, the target power is used as the target power after adjusting the power level (fourth preset value or adjustment value) up or down based on the power level when the previous charging is completed. In this way, while ensuring that the battery power can support the cleaning equipment to complete the cleaning task normally, the battery power state when the cleaning equipment is idle can be further reasonably reduced, thereby better improving the battery life and reliability.

[0156] like Fig. 9 As shown, Fig. 9 The process of the control method embodiment of the cleaning equipment disclosed in the present invention is as follows Figure 9 .

[0157] This embodiment is based on the solution of the above embodiment. In this embodiment, the above step S20 further includes:

[0158] Step S29, when at least one of the fourth state parameters of the first preset cleaning task is not less than the third preset value and not greater than the second preset value, the power at the time of the previous charging is used as the target power, and the battery is controlled to charge to the target power.

[0159] In the present embodiment, when at least one of the fourth state parameters of the first preset cleaning task is not less than the third preset value and not greater than the second preset value, it means that among the remaining power of the battery after the first preset cleaning task is completed, there is at least one relatively small remaining power (for example, less than 15%). At this time, if the power at the time of the previous charging is reduced by the fourth preset value or by a certain amount as the target power this time, it is very likely that the battery power will be insufficient when the cleaning device performs the cleaning task next time, thereby affecting the execution of the cleaning task of the cleaning device; in order to avoid this situation, in the present embodiment, when the electronic device determines that at least one of the fourth state parameters of the first preset cleaning task is not less than the third preset value and not greater than the second preset value, the electronic device directly uses the power at the time of the previous charging as the target power, and controls the battery to be charged to the target power, so that the battery power can ensure that the cleaning device successfully completes the cleaning task the next time it performs cleaning.

[0160] In some embodiments, when it is confirmed that not all of the fourth state parameters of the first preset cleaning task are greater than the second preset value, that is, when it is confirmed that among the fourth state parameters of the first preset cleaning task, there is a fourth state parameter that is less than or equal to the second preset value, the electronic device can also execute: controlling the battery to charge to full power, or increasing the power at the time of the previous charging by a certain amplitude as the target power, and controlling the battery to charge to the target power, or the electronic device can also perform other steps.

[0161] In some embodiments, the control method of the cleaning device further includes: in response to the first instruction, executing the above step S10, and / or, in response to the second instruction, controlling the battery to be charged to full power;

[0162] Among them, the first instruction is issued by the cleaning equipment and / or the base station and / or the terminal (such as a smart phone, a smart watch, a tablet computer, etc.), and the second instruction is issued by the cleaning equipment and / or the base station and / or the terminal. The base station is communicatively connected to the cleaning equipment and is used to maintain the cleaning equipment, and the terminal is communicatively connected to the cleaning equipment and / or the base station.

[0163] The terminal is connected to the cleaning equipment and / or the base station in communication, and the terminal can obtain the relevant data of the cleaning equipment and / or the base station, such as the operating status, operating parameters, charging mode, operating display, etc.; In addition, the user can control the cleaning equipment and / or the base station through the terminal to facilitate remote control of the cleaning equipment and / or the base station, for example, to control the cleaning equipment to start the cleaning task or pause the task, and for example, to control the base station to start the self-cleaning task or pause the self-cleaning task. It should be noted that the terminals involved in this article include but are not limited to mobile phones, tablets, PDAs, laptops, desktop computers, PDAs, in-vehicle smart terminals, smart wearable devices (such as smart watches, smart headphones), smart home devices (such as smart speakers, smart TVs), etc. The display module involved in this article can be set in at least one of the cleaning equipment, base station, and terminal, that is, the user can obtain the information on the display module through at least one of the cleaning equipment, base station, and terminal. In addition to displaying power information, the display module can also display other information, including but not limited to operating status, operating parameters, task status, etc.

[0164] The cleaning equipment is maintained in the base station, and the maintenance types include but are not limited to: charging, dust collection, cleaning of cleaning parts, replenishing fresh water, pumping sewage, etc. It can be understood that the cleaning equipment can be completed in the base station: 1. The base station charges the cleaning equipment; 2. The base station recycles the garbage in the cleaning equipment into the dust collection container of the base station; 3. The cleaning parts of the cleaning equipment (for example, mops, rollers, roller brushes, etc.) are cleaned in the base station; 4. The base station replenishes fresh water to the fresh water tank of the cleaning equipment; 5. The base station recycles the dirt in the sewage tank of the cleaning equipment into the dirty container of the base station. The above maintenance types are only exemplary descriptions and are not intended to be limitations of the present disclosure. It should be noted that the cleaning equipment includes but is not limited to sweepers, mops, sweeper-mops, floor scrubbers, vacuum cleaners, etc.

[0165] In this embodiment, the first instruction may be an intelligent charging instruction, that is, the charging upper limit power can be flexibly adjusted, and it is not necessarily charged to a full power; the second instruction may be a conventional charging instruction, that is, charging to a full power; when the electronic device receives the first instruction, it responds to the first instruction and executes the above step S10 to execute the intelligent charging process; when the electronic device receives the second instruction, it responds to the second instruction, executes the conventional charging process, and controls the battery to be directly charged to a full power. In some embodiments, the control method of the cleaning device may also include: responding to the first instruction, entering the intelligent charging mode; and / or, responding to the second instruction, exiting the intelligent charging mode, that is, returning to the conventional charging mode. In some embodiments, the control method of the cleaning device may also include: responding to the intelligent mode instruction, entering the intelligent charging mode, and / or, responding to the conventional charging mode instruction, exiting the intelligent charging mode; in the intelligent charging mode, the charging instruction is an intelligent charging instruction, and in the conventional charging mode, the charging instruction is a conventional charging instruction; wherein the intelligent charging mode instruction and the conventional charging mode instruction may be issued by the cleaning device and / or the base station and / or the terminal. In some embodiments, the control method of the cleaning device further includes: exiting the smart charging mode when the cleaning device runs out of power or automatically shuts down after completing the third preset cleaning task (for example, 3 times or 4 times) in a row.

[0166] In the scheme of this embodiment, the cleaning device and / or the base station and / or the terminal can control the battery to perform intelligent charging and conventional charging respectively by issuing a first instruction and a second instruction, so as to better meet the needs of more usage scenarios and more cleaning tasks of the cleaning device. The user can also choose the charging method of the battery of the cleaning device according to the cleaning needs, which is more diversified and improves the user experience.

[0167] It should be noted that all the above-mentioned embodiments of the control method of the cleaning device disclosed in the present invention can be arbitrarily combined or combined to form a new embodiment when there is no contradiction or conflict between them.

[0168] The present disclosure also provides an electronic device, referring to Fig.10 , Fig.10 It is a schematic diagram of the structure of an electronic device in a hardware operating environment involved in an embodiment of the present disclosure.

[0169] The electronic device of the embodiment of the present disclosure may be a computing device such as a desktop computer, a notebook, a palm computer, and a server. Fig.10As shown, the electronic device may include: a processor 1001 (e.g., a CPU), a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit, such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0170] Those skilled in the art will understand that Fig.10 The electronic device structure shown in the figure does not constitute a limitation of the electronic device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0171] like Fig.10 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a computer program (eg, a control program for a cleaning device).

[0172] exist Fig.10 In the electronic device shown, the network interface 1004 is mainly used to connect to the background server and communicate data with the background server; the user interface 1003 is mainly used to connect to the client (user end) and communicate data with the client; and the processor 1001 can be used to call the computer program stored in the memory 1005. When the computer program is called and executed by the processor 1001, the steps of the control method of the above-mentioned cleaning equipment are implemented.

[0173] Based on the computer program proposed in the aforementioned embodiment, the present disclosure further proposes a storage medium, which stores the computer program. When the computer program is executed by a controller, the control method of the cleaning device described in the aforementioned embodiment is implemented.

[0174] The present disclosure also proposes an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the control method of the cleaning device described above is implemented.

[0175] The present disclosure also provides a cleaning device, which includes the above-mentioned electronic device and a battery, wherein the battery is communicatively connected with the electronic device and is used to power the cleaning device. In this embodiment, the cleaning device may be a floor scrubber, a vacuum cleaner, a cleaning robot, and the like.

[0176] In some embodiments, the cleaning device further includes a first display module, which is communicatively connected to the battery and is used to display the battery power; wherein the first display module may be a display screen, a power indicator light group, etc.

[0177] The present disclosure also proposes a cleaning system, which includes the above-mentioned cleaning device and a base station. The base station is communicatively connected to the cleaning device and is used to maintain the cleaning device.

[0178] In some embodiments, the base station further includes a second display module, and the second display module is used to display the battery power; wherein the second display module can be a display screen, a battery power indicator light group, etc.

[0179] The present disclosure also provides a storage medium, on which a computer program is stored. When the computer program is executed by a processor, the control method of the cleaning device described above is implemented.

[0180] The electronic device, cleaning device, cleaning system and storage medium disclosed in the present invention can implement the steps of the control method of the above-mentioned cleaning device, and therefore have at least all the beneficial effects brought by the technical solutions of the control method embodiments of the above-mentioned cleaning device, which will not be described one by one here.

[0181] In the several embodiments provided in the present disclosure, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0182] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0183] In addition, each functional module in each embodiment of the present disclosure may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module. The above integrated modules may be implemented in the form of hardware or in the form of software functional modules.

[0184] If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0185] The above description is only a partial or preferred embodiment of the present disclosure. Neither the text nor the drawings can limit the scope of protection of the present disclosure. All equivalent structural transformations made using the contents of the present disclosure and the drawings under the overall concept of the present disclosure, or direct / indirect application in other related technical fields are included in the scope of protection of the present disclosure.

Claims

1. A control method for a cleaning device, wherein the cleaning device comprises a battery, the battery is used to supply energy to the cleaning device, the battery is communicatively connected to a display module, the display module is used to display the power level of the battery, characterized in that: The control method comprises: Obtaining preset electrical parameters corresponding to each of the first preset cleaning tasks, wherein the preset electrical parameters include the state parameters of the battery after the cleaning device completes the cleaning task, or the preset electrical parameters include the state parameters of the battery before the cleaning device starts the cleaning task and after completing the corresponding cleaning task; According to the preset electrical parameters corresponding to the first preset cleaning tasks, a target power is determined and the battery is controlled to be charged to the target power; The first preset cleaning tasks are at least two cleaning tasks, which are the most recent cleaning task and at least the previous cleaning task adjacent to the most recent cleaning task.

2. The control method of the cleaning equipment according to claim 1, characterized in that: The obtaining of the preset electrical parameters corresponding to the first preset cleaning tasks includes: Obtaining a first state parameter corresponding to each of the first preset cleaning tasks, where the first state parameter is the battery power displayed by the display module after the cleaning device completes the cleaning task, or the first state parameter is the lowest voltage among the voltages of each string of cells of the battery after the cleaning device completes the cleaning task; The determining the target power and controlling the battery to be charged to the target power according to the preset electrical parameters corresponding to the first preset cleaning tasks respectively includes: confirming whether the first state parameters of the first preset cleaning task are all greater than a first threshold; When confirming that the first state parameters of the first preset cleaning task are all greater than a first threshold, determining that the target power is a second threshold and controlling the battery to charge to the second threshold; The first threshold is greater than zero power, and the second threshold is less than full power.

3. The control method of the cleaning equipment according to claim 1, characterized in that: The obtaining of the preset electrical parameters corresponding to the first preset cleaning tasks includes: Obtaining a second state parameter and a third state parameter corresponding to each of the first preset cleaning tasks, where the second state parameter and the third state parameter are the battery power displayed by the display module before the cleaning device starts the cleaning task and after the cleaning device completes the corresponding cleaning task; The determining the target power and controlling the battery to be charged to the target power according to the preset electrical parameters corresponding to the first preset cleaning tasks respectively includes: Determining the power consumption corresponding to each of the first preset cleaning tasks according to the second state parameter and the third state parameter corresponding to each of the first preset cleaning tasks; confirming whether the power consumption of the first preset cleaning task is less than a third threshold; When it is confirmed that the power consumption of the first preset cleaning task is less than the third threshold, the target power is determined to be the fourth threshold and the battery is controlled to be charged to the fourth threshold; or, when it is confirmed that at least one of the power consumptions of the first preset cleaning task is not less than the third threshold, the target power is determined to be the full power or the sixth threshold and the battery is controlled to be charged to the full power or the sixth threshold; Among them, the third threshold and the fourth threshold are both less than the full power, and the sixth threshold is greater than the fourth threshold.

4. The control method of the cleaning equipment according to claim 1, characterized in that: The obtaining of the preset electrical parameters corresponding to the first preset cleaning tasks includes: Obtaining a second state parameter and a third state parameter corresponding to each of the first preset cleaning tasks, where the second state parameter and the third state parameter are the battery power displayed by the display module before the cleaning device starts the cleaning task and after the cleaning device completes the corresponding cleaning task; The determining the target power and controlling the battery to be charged to the target power according to the preset electrical parameters corresponding to the first preset cleaning tasks respectively includes: Determining the power consumption corresponding to each of the first preset cleaning tasks according to the second state parameter and the third state parameter corresponding to each of the first preset cleaning tasks; Determine a representative power consumption according to the power consumption of the first preset cleaning task; Determining a first power level corresponding to the representative power consumption according to the mapping relationship between the power consumption and the power level; According to the mapping relationship between the power level and the charging threshold, a seventh threshold corresponding to the first power level is determined, and the battery is controlled to charge to the seventh threshold.

5. The control method of the cleaning equipment according to claim 4, characterized in that: The determining the representative power consumption according to the power consumption of the first preset cleaning task includes: Determine the maximum power consumption, the average power consumption, or the most frequently occurring power consumption among the power consumptions of the first preset cleaning task, and determine one of the maximum power consumption, the average power consumption, and the most frequently occurring power consumption as the representative power consumption; or, Determine the range of the power consumption of the first preset cleaning task. When the range is greater than a first preset value, determine the maximum power consumption among the power consumption of the first preset cleaning task as the representative power consumption. When the range is not greater than the first preset value, determine the average power consumption among the power consumption of the first preset cleaning task as the representative power consumption.

6. The control method of the cleaning equipment according to claim 4, characterized in that: After controlling the battery to be charged to the seventh threshold, the method further includes: When the cleaning device runs out of power or automatically shuts down during a cleaning task performed after the battery is charged to the seventh threshold, the battery is controlled to be charged to the fifth threshold, where the fifth threshold is greater than the seventh threshold; and / or In a cleaning task performed by the cleaning device after the battery is charged to the seventh threshold, when the cleaning device runs out of power or automatically shuts down for a second consecutive preset cleaning task, the battery is controlled to be charged to the full charge, and the second preset number of times is at least two times.

7. The control method of the cleaning equipment according to claim 1, characterized in that: The obtaining of the preset electrical parameters corresponding to the first preset cleaning tasks includes: Obtaining a fourth state parameter corresponding to each of the first preset cleaning tasks, wherein the fourth state parameter is the lowest voltage among the voltages of the battery cells in each string of the battery after the cleaning device completes the cleaning task; The determining the target power and controlling the battery to be charged to the target power according to the preset electrical parameters corresponding to the first preset cleaning tasks respectively includes: confirming whether the fourth state parameters of the first preset cleaning task are all greater than the second preset value; When it is confirmed that the fourth state parameters of the first preset cleaning task are all greater than the second preset value, the power at the time of the previous charging is lowered by the fourth preset value as the target power, and the battery is controlled to charge to the target power; or, When it is confirmed that the fourth state parameters of the first preset cleaning task are all greater than the second preset value, the minimum value of the fourth state parameters of the first preset cleaning task is determined, and an adjustment value is determined according to the minimum value, and the power when the previous charging is completed is reduced by the adjustment value as the target power, and the battery is controlled to charge to the target power.

8. The control method of the cleaning equipment according to claim 7, characterized in that: The step of determining a target power level and controlling the battery to be charged to the target power level according to the preset electrical parameters corresponding to each of the first preset cleaning tasks further includes: When at least one of the fourth state parameters of the first preset cleaning task is not less than the third preset value and not greater than the second preset value, the power at the time of the previous charging is taken as the target power, and the battery is controlled to be charged to the target power.

9. The control method of the cleaning equipment according to any one of claims 1 to 8, characterized in that: The controlling the battery to be charged to the target power level includes: Determine a first upper limit voltage corresponding to the target power; In the process of controlling the charging of the battery, when the highest cell voltage of the battery has not reached the first upper limit voltage, if the battery power displayed by the display module has reached the target power, the battery power displayed by the display module is controlled to remain unchanged, and charging is continued until the highest cell voltage reaches the first upper limit voltage; or, in the process of controlling the charging of the battery, when the battery power displayed by the display module has not reached the target power, if it is determined that the highest cell voltage of the battery has reached the first upper limit voltage, charging is stopped, and the battery power displayed by the display module is controlled to change smoothly to the target power.

10. The control method of the cleaning equipment according to any one of claims 1 to 8, characterized in that: The controlling the battery to be charged to the target power level includes: Determine the maximum voltage difference between the voltages of the battery cells in each string; According to the first pressure difference threshold and the second pressure difference threshold corresponding to the current maximum cell voltage in each string of cell voltages of the battery, when the maximum pressure difference is greater than the first pressure difference threshold, the balancing optimization is started; or when the maximum pressure difference is not greater than the second pressure difference threshold, the balancing optimization is turned off.

11. The control method of the cleaning equipment according to claim 1, characterized in that: The control method further comprises: In response to the first instruction, the step of obtaining the preset electrical parameters corresponding to each of the first preset cleaning tasks is performed, and / or, in response to the second instruction, the battery is controlled to be charged to the full power; Among them, the first instruction is issued by the cleaning device and / or the base station and / or the terminal, the second instruction is issued by the cleaning device and / or the base station and / or the terminal, the base station is communicatively connected to the cleaning device and is used to maintain the cleaning device, and the terminal is communicatively connected to the cleaning device and / or the base station.

12. An electronic device, characterized in that: The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the control method of the cleaning device according to any one of claims 1 to 11 when executed by the processor.

13. A cleaning device, characterized in that: The cleaning equipment comprises: The electronic device of claim 12; and A battery is communicatively connected to the electronic device and is used to power the cleaning device.

14. The cleaning device according to claim 13, characterized in that The cleaning device further comprises: a first display module, which is communicatively connected with the battery and is used to display the power level of the battery.

15. A cleaning system, characterized in that: The cleaning system comprises: The cleaning device of claim 13 or 14; and A base station is communicatively connected with the cleaning device and is used to maintain the cleaning device.

16. The cleaning system according to claim 15, characterized in that The base station further includes: a second display module, and the second display module is used to display the power level of the battery.

17. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the control method of the cleaning device according to any one of claims 1 to 11 is implemented.

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