Working gear determination method and device, cleaning equipment and storage medium

Abstract

The invention provides a working gear determination method and device, cleaning equipment and a storage medium, and the method comprises the steps: obtaining a current parameter value of a cleaning device in a cleaning process, and determining a parameter value range to which the current parameter value belongs; determining a target dirty interval corresponding to the parameter value range; and determining the working gear of the cleaning equipment according to the preset corresponding relationship between the dirty interval and the working gear and the target dirty interval, wherein the working gear is used for determining the working parameters of each cleaning device in the cleaning equipment. According to the scheme, the working parameters matched with the working of all the cleaning devices in the cleaning equipment can be guaranteed, the efficiency of cleaning the dirty area and the consistency of products can be improved, and the use experience can be improved.

Description

Technical Field

[0001] The present disclosure relates to the field of control technology, and in particular to a method and device for determining a working gear, a cleaning device, and a storage medium. Background Art

[0002] Cleaning equipment has gradually entered people's daily lives, such as vacuum cleaners, window cleaning robots, cleaning machines, etc., bringing great convenience to people's lives.

[0003] In actual applications, existing cleaning equipment is usually set with multiple working gears, and the corresponding working gear is adjusted to clean the dirt according to the degree of dirt.

[0004] However, the working gear in the related art is usually set within a fixed range. When there are differences in sensors or there is dirt in the sewage pipe, different cleaning equipment will determine different working gears when facing the same dirt, resulting in poor product consistency and reduced user experience. Summary of the invention

[0005] The present disclosure provides a working gear determination method and device, a cleaning device, and a storage medium to solve the above-mentioned technical problems.

[0006] According to a first aspect of the present disclosure, a method for determining a working gear is provided, which is applicable to a cleaning device, wherein the cleaning device includes a cleaning device, and the method includes:

[0007] Acquiring a current parameter value of the cleaning device during the cleaning process, and determining a parameter value range to which the current parameter value belongs;

[0008] Determine a target dirtiness interval corresponding to the parameter value range;

[0009] The working gear of the cleaning device is determined according to the preset correspondence between the dirty interval and the working gear and the target dirty interval, and the working gear is used to determine the working parameters of each cleaning device in the cleaning device.

[0010] Optionally, the cleaning device further comprises a sensor device, the sensor device comprises a signal transmitting sub-device, and the method comprises a step of obtaining a parameter value range of a dirty interval, specifically comprising:

[0011] Acquire detection parameter data collected by the sensor device when the cleaning device is in a standby state and the signal emitting sub-device is not working, to obtain a first parameter value;

[0012] Acquire detection parameter data collected by the sensor device when the cleaning device is in a standby state and the signal emitting sub-device is working, to obtain a second parameter value;

[0013] In response to determining that the cleaning device is not blocked, a parameter value range of each dirty interval is determined according to a preset ratio of each dirty interval, the first parameter value, and the second parameter value.

[0014] Optionally, determining the parameter value range of each dirty interval according to the preset proportion of each dirty interval, the first parameter value and the second parameter value includes:

[0015] Obtaining a difference between the first parameter value and the second parameter value to obtain a parameter value change;

[0016] Calculating the sub-variation of each dirty interval according to the preset ratio of each dirty interval and the parameter value variation;

[0017] The parameter value range of each dirty interval is calculated according to a reference parameter value and a sub-variation of each dirty interval, wherein the reference parameter value is the first parameter value or the second parameter value.

[0018] Optionally, the preset proportions of the dirty intervals are divided in equal proportions.

[0019] Optionally, the method further comprises a step of determining whether the cleaning device is clogged, comprising:

[0020] Obtaining a difference between the first parameter value and the second parameter value to obtain a parameter value change;

[0021] In response to the parameter value change being less than or equal to a preset change threshold, it is determined that the cleaning device is clogged.

[0022] Optionally, the step of determining whether the cleaning device is blocked further comprises:

[0023] In response to the parameter value change being greater than the preset change value threshold, comparing the first parameter value with a first preset parameter value threshold and in response to the first parameter value being greater than or equal to the first preset parameter value threshold, determining that the cleaning device is clogged;

[0024] or,

[0025] In response to the parameter value change being greater than the preset change threshold, the second parameter value is compared with a second preset parameter value threshold and in response to the second parameter value being less than or equal to the second preset parameter value threshold, it is determined that the cleaning device is clogged.

[0026] According to a second aspect of the present disclosure, a working gear determination device is provided, which is applicable to a cleaning device, wherein the cleaning device includes a cleaning device, and the device includes:

[0027] A parameter range determination module, used to obtain a current parameter value of the cleaning device during the cleaning process, and determine a parameter value range to which the current parameter value belongs;

[0028] A target interval determination module, used to determine a target dirty interval corresponding to the parameter value range;

[0029] The working gear determination module is used to determine the working gear of the cleaning device according to the corresponding relationship between the preset dirty interval and the working gear and the target dirty interval, and the working gear is used to determine the working parameters of each cleaning device in the cleaning device.

[0030] Optionally, the cleaning device further comprises a sensor device, the sensor device comprises a signal transmitting sub-device, and the parameter range determination module comprises:

[0031] A first parameter value acquisition module, used to acquire detection parameter data collected by the sensor device when the cleaning device is in a standby state and the signal emission sub-device is not working, to obtain a first parameter value;

[0032] A second parameter value acquisition module, used to acquire detection parameter data collected by the sensor device when the cleaning device is in a standby state and the signal emission sub-device is working, to obtain a second parameter value;

[0033] The parameter value range determination module is used to determine the parameter value range of each dirty interval according to the preset proportion of each dirty interval, the first parameter value and the second parameter value in response to determining that the cleaning device is not blocked.

[0034] Optionally, the parameter value range determination module includes:

[0035] A parameter value variation acquisition submodule, used to acquire the difference between the first parameter value and the second parameter value to obtain the parameter value variation;

[0036] A sub-variation acquisition submodule, used to calculate the sub-variation of each dirty interval according to the preset ratio of each dirty interval and the parameter value variation;

[0037] The reference range acquisition submodule is used to calculate the parameter value range of each dirty interval according to the reference parameter value and the sub-variation of each dirty interval, and the reference parameter value is the first parameter value or the second parameter value.

[0038] Optionally, the preset proportions of the dirty intervals are divided in equal proportions.

[0039] Optionally, the device further comprises a device blockage determination module, which is used to determine whether the cleaning device is blocked; the device blockage determination module comprises:

[0040] A variation acquisition submodule, used to acquire the difference between the first parameter value and the second parameter value to obtain a parameter value variation;

[0041] The blockage determination submodule is used to determine that the cleaning device is blocked in response to the parameter value change being less than or equal to a preset change threshold.

[0042] Optionally, the device blockage determination module further includes:

[0043] A first determination module is configured to, in response to the parameter value change being greater than the preset change value threshold, compare the first parameter value with a first preset parameter value threshold and, in response to the first parameter value being greater than or equal to the first preset parameter value threshold, determine that the cleaning device is clogged;

[0044] or,

[0045] The second determination module is used to compare the second parameter value with a second preset parameter value threshold in response to the parameter value change being greater than the preset change threshold and determine that the cleaning device is clogged in response to the second parameter value being less than or equal to the second preset parameter value threshold.

[0046] According to a third aspect of the present disclosure, there is provided a cleaning device, comprising a cleaning device, a sensor device, a processor and a memory;

[0047] The sensor device is used to detect detection parameter data of the cleaning device in different states, and the detection parameter data includes a first parameter value and a second parameter value;

[0048] The memory is used to store a computer program executable by the processor;

[0049] The processor is used to execute the computer program in the memory to implement the method as described in any one of the first aspects.

[0050] Optionally, the sensor device includes a signal transmitting sub-device and a signal receiving sub-device;

[0051] The signal transmitting sub-device is used to transmit radio frequency signals and penetrate the sewage pipe;

[0052] The signal receiving sub-component is used to receive the radio frequency signal and convert the radio frequency signal into the detection parameter data.

[0053] Optionally, the signal receiving sub-device includes a voltage source, a first resistor and a signal receiving element; the first end of the first voltage source is grounded, and the second end of the first voltage source is electrically connected to the first end of the first resistor; the second end of the first resistor is electrically connected to the first end of the signal receiving element and the output end of the sensor device, respectively; the second end of the signal receiving element is grounded; the output end of the sensor device is used to output the detection parameter data.

[0054] Optionally, the detection parameter data is a difference between a voltage value of the first voltage source and a detection voltage, and the detection voltage is a product of a detection current flowing through the first resistor and a resistance value of the first resistor.

[0055] Optionally, the signal receiving sub-device includes a signal receiving element, a feedback resistor and an operational amplifier;

[0056] The inverting input terminal of the operational amplifier is electrically connected to the second terminal of the signal receiving element and the first terminal of the feedback resistor respectively; the first terminal of the signal receiving element is grounded;

[0057] The non-inverting input terminal of the operational amplifier is grounded;

[0058] The output end of the operational amplifier is electrically connected to the second end of the feedback resistor and the output end of the sensor device respectively; the output end of the sensor device is used to output the detection parameter data.

[0059] Optionally, the detection parameter data is the product of a detection current flowing through the feedback resistor and a resistance value of the feedback resistor.

[0060] Optionally, a display device is further included; the display device is used to display at least one of the detection parameter data, the working gear of the cleaning device, the working parameters of the cleaning device and the alarm information.

[0061] Optionally, the cleaning device includes at least one of the following: a fan, a water pump and a roller brush motor;

[0062] The water pump is used to pump clean water in the clean water tank to the roller brush or cleaning area;

[0063] The roller brush motor is used to drive the roller brush to rotate to clean the dirt in the cleaning area;

[0064] The fan is used to suck the sewage generated by cleaning the cleaning area into the sewage tank;

[0065] A sewage pipe between the fan and the sewage tank passes through the sensor device.

[0066] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium is provided, and when an executable computer program in the storage medium is executed by a processor, the method described in any one of the first aspects can be implemented.

[0067] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0068] The solution of this embodiment can obtain the current parameter value of the cleaning device during the cleaning process, determine the parameter value range to which the current parameter value belongs; then, determine the target dirty interval corresponding to the parameter value range; then, determine the working gear of the cleaning device according to the preset correspondence between the dirty interval and the working gear and the target dirty interval, and the working gear is used to determine the working parameters of each cleaning device in the cleaning device. In this way, the solution of this embodiment can ensure the accuracy of the determined dirty interval by updating the parameter value range of each dirty interval, and then ensure that the working parameters of each cleaning device in the cleaning device match, which can improve the efficiency of cleaning dirty areas and the consistency of products, and is conducive to improving the user experience.

[0069] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1 The present invention is a block diagram of a cleaning device according to an embodiment of the present invention.

[0071] Figure 2 The figure is a schematic diagram of the positional relationship between a sensor device and a sewage pipe according to an embodiment of the present disclosure.

[0072] Figure 3 The figure is a circuit diagram of a sensor device according to an embodiment of the present disclosure.

[0073] Figure 4 FIG. 4 is a circuit diagram of another sensor device according to an embodiment of the present disclosure.

[0074] Figure 5 The present invention is a flowchart of a method for determining a working gear according to an embodiment of the present invention.

[0075] Figure 6 The present invention is a flowchart of obtaining a parameter value range according to an embodiment of the present invention.

[0076] Figure 7 The present invention is a flowchart of obtaining a parameter value range of a dirty interval according to an embodiment of the present invention.

[0077] Figure 8 A schematic diagram of a parameter value range of a dirty interval according to an embodiment of the present disclosure.

[0078] Fig. 9 A schematic diagram of another parameter value range of a dirty interval according to an embodiment of the present disclosure.

[0079] Fig.10 The present invention is a block diagram of a working gear determination device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0080] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices consistent with some aspects of the present disclosure as detailed in the appended claims.

[0081] To solve the above technical problems, the embodiments of the present disclosure provide a method and device for determining a working gear, a cleaning device, and a storage medium. The above working gear determination method is applicable to cleaning devices, such as handheld cleaning machines, automatic cleaning machines, and the like.

[0082] The cleaning device includes: a cleaning device, a sensor device, a processor and a memory; wherein the sensor device is used to detect detection parameter data of the cleaning device in different states, and the detection parameter data includes a first parameter value and a second parameter value; the memory is used to store a computer program executable by the processor; and the processor is used to execute the computer program in the memory to implement the above-mentioned working gear determination method.

[0083] In one example, the cleaning device includes at least one of the following: a fan, a water pump, and a roller brush motor. The water pump is used to pump clean water in the clean water tank to the roller brush or the cleaning area; the roller brush motor is used to drive the roller brush to rotate to remove dirt in the cleaning area; the fan is used to suck the sewage generated by the cleaning area into the sewage tank; the sewage pipe between the fan and the sewage tank passes through the sensor device.

[0084] In another example, see Figure 2 The sensor device includes a signal transmitting sub-device 21 and a signal receiving sub-device 22. The signal transmitting sub-device 21 is used to transmit a radio frequency signal and transmit through the sewage pipe 23. The signal receiving sub-device 22 is used to receive the radio frequency signal that passes through the sewage pipe 23 and convert the radio frequency signal into detection parameter data. Then, the sensor device can send the above detection parameter data to the processor, so that the processor determines the working gear of the cleaning device.

[0085] In one example, see Figure 3 The signal receiving sub-device 22 includes a voltage source V1, a first resistor R 1and a signal receiving element D1. A first end of the first voltage source V1 is grounded to GND, and a second end of the first voltage source V1 is connected to a first resistor R 1 The first end of the first resistor R 1 The second end of the signal receiving element D1 is electrically connected to the first end of the signal receiving element D1 and the output end Vout of the sensor device respectively; the second end of the signal receiving element D1 is grounded GND; the output end Vout of the sensor device is used to output the detection parameter data.

[0086] In this example, the detection parameter data is the difference between the voltage value of the first voltage source and the detection voltage, and the detection voltage is the product of the detection current flowing through the first resistor and the resistance value of the first resistor, as shown in formula (1).

[0087] V out =V1-i*R 1 ; (1)

[0088] In formula (1), Vout represents the detection parameter data output by the output terminal of the sensor device, V1 represents the voltage of the first voltage source, and R 1 represents the resistance value of the first resistor, i represents the current flowing through the first resistor R 1 The detection current.

[0089] In another example, see Figure 4 The signal receiving sub-device 22 includes a signal receiving element D2, a feedback resistor R f The inverting input terminal (indicated by “-”) of the operational amplifier A1 is connected to the second terminal of the signal receiving element D2 and the feedback resistor R f The first end of the signal receiving element D2 is electrically connected to the ground GND; the positive input end (indicated by "+") of the operational amplifier A1 is grounded to GND; the output end of the operational amplifier A1 is respectively connected to the feedback resistor R f The second end of the sensor is electrically connected to the output end Vout of the sensor device; the output end Vout of the sensor device is used to output the detection parameter data. The detection parameter data flows through the feedback resistor R f The detection current I d and feedback resistor R f The product of the resistance values ​​is shown in formula (2).

[0090] V out =I d *R f ; (2)

[0091] In formula (2), Vout represents the detection parameter data output by the output end of the sensor device, R f Indicates the resistance value of the feedback resistor, I d Represents the current flowing through the feedback resistor Rf The detection current.

[0092] In one example, the signal transmitting sub-component 21 can be implemented by an infrared transmitting tube, and the signal receiving element in the signal receiving sub-component can be implemented by an infrared receiving tube.

[0093] Continue to see Figure 1 The cleaning device further includes a display device; the display device is used to display at least one of the detection parameter data, the working gear of the cleaning device, the working parameters of the cleaning device, and the alarm information. It is understandable that the display device can be implemented by a liquid crystal display, an OLED display, or a diode display, etc., and if it can display the corresponding content, the corresponding solution falls within the protection scope of the present disclosure.

[0094] Based on a cleaning device provided in an embodiment of the present disclosure, an embodiment of the present disclosure further provides a method for determining a working gear position, which is applicable to Figure 1 to Figure 4 The cleaning device exemplified in the example comprises a cleaning device and a sensor device, wherein the sensor device comprises a signal transmitting sub-device, see Figure 5 , including steps 51 to 53.

[0095] In step 51, a current parameter value of the cleaning device during the cleaning process is obtained, and a parameter value range to which the current parameter value belongs is determined.

[0096] In this embodiment, the cleaning device stores the parameter value range of the cleaning device. For the steps of obtaining the parameter value range, see Figure 6 , including steps 61 to 63.

[0097] In step 61, detection parameter data collected by the sensor device when the cleaning device is in a standby state and the signal sub-device is not working is acquired to obtain a first parameter value.

[0098] In this step, the processor of the cleaning device can control the cleaning device of the cleaning device to be in a standby state after the cleaning device is started. The standby state refers to a state in which the cleaning device can be electrically connected to the power supply but is not powered on, and the cleaning device does not work at this time. For example, the fan in the cleaning device does not rotate, the water pump in the cleaning device does not pump water, and the roller brush does not rotate. In addition, the signal transmitting sub-component 21 of the sensor device does not work. In this way, the signal receiving sub-component 22 of the sensor device will have leakage current due to problems such as system light leakage or product aging, so that the sensor device collects detection parameter data when the cleaning device is in the standby state, which is subsequently referred to as the first parameter value.

[0099] It is understandable that when the sensor device adopts Figure 3 When the circuit shown in FIG. 1 is used, the first parameter value is the minimum value Vmin1 of the parameter value range; when the sensor device adopts Figure 4 In the circuit shown, the first parameter value is the maximum value Vmax2 of the parameter value range.

[0100] In step 62, the detection parameter data collected by the sensor device when the cleaning device is in a standby state and the signal sub-device is working is obtained to obtain a second parameter value.

[0101] In this step, the processor can control the cleaning device to switch from the standby state to the no-load state. The no-load state refers to the cleaning device of the cleaning device being in the standby state and the signal transmitting sub-device transmitting a radio frequency signal. It is understandable that since the cleaning device is in the standby state, there is no obstruction in front of the signal transmitting sub-device at this time, and the sensor device can output the detection parameter data to obtain the second parameter value.

[0102] It is understandable that when the sensor device adopts Figure 3 When the circuit shown in the figure is used, the second parameter value is the maximum value Vmax1 of the parameter value range; when the sensor device adopts Figure 4 In the circuit shown, the second parameter value is the minimum value Vmin2 of the parameter value range.

[0103] In step 63, in response to determining that the cleaning device is not blocked, the parameter value range of each dirty interval is determined according to the preset proportion of each dirty interval, the first parameter value and the second parameter value.

[0104] In this step, the processor can determine whether the cleaning equipment is blocked according to the first parameter value and the second parameter value. For example, the processor can obtain the difference between the first parameter value and the second parameter value to obtain the parameter value change. Then, in response to the parameter value change being less than or equal to the preset change threshold, the processor can determine that the cleaning equipment is blocked. Assuming that the preset change threshold is 0.5, when Vmax1-Vmin1≤0.5 or Vmax2-Vmin2≤0.5, it can be determined that the sewage pipe is blocked, that is, the cleaning equipment is blocked.

[0105] In one example, when the sensor device uses Figure 4 When the circuit shown in FIG. 1 is used, when the parameter value change is greater than the preset change threshold, the processor compares the second parameter value Vmax2 with the second preset parameter value threshold Vref2; the processor can determine that the cleaning device is blocked when the second parameter value Vmax2 is less than or equal to the second preset parameter threshold Vref2, and the effect is as follows: Figure 7 shown.

[0106] In another example, when the sensor device uses Figure 3When the circuit shown in FIG. 1 is used, when the parameter value change is greater than the preset change threshold, the processor compares the first parameter value Vmin1 with the first preset parameter value threshold Vref1; the processor can determine that the cleaning device is blocked when the first parameter value Vmin1 is greater than or equal to the first preset parameter threshold Vref1, and the effect is as follows: Fig. 9 shown.

[0107] In one example, the processor generates an alarm message when a cleaning device is blocked. The alarm message may include a voice alarm, a light alarm, or a display alarm. A voice alarm refers to playing the blockage message so that the user can hear the voice signal. A light alarm refers to using lights of different colors or flashing frequencies to prompt that the cleaning device has a blockage problem. A display alarm refers to displaying the blockage message on a display device. The alarm message methods may be combined without conflict, such as combining a voice alarm with a light alarm, or combining a voice alarm with a display alarm. If the alarm efficiency can be improved, the corresponding scheme falls within the protection scope of the present disclosure.

[0108] In this step, after re-determining the parameter value range of each dirty interval, the cleaning device can perform the cleaning operation and the cleaning device starts to work. The processor can control the signal transmitting sub-device to work and control the cleaning device to work. At this time, the water pump can pump the clean water in the clean water tank to the roller brush or the cleaning area; the roller brush motor can drive the roller brush to rotate to remove the dirt in the cleaning area; the fan can suck the sewage generated by the cleaning area into the sewage tank; the sewage pipe between the fan and the sewage tank passes through the sensor device.

[0109] In this step, the radio frequency signal emitted by the signal transmitting sub-device can pass through the sewage pipe. Since the content of dirt contained in the sewage in the sewage pipe is different under different dirty conditions, the transmittance of the radio frequency signal in the sewage is different, that is, part of the radio frequency signal will be blocked by the sewage, so the intensity of the radio frequency signal received by the signal receiving sub-device will be inversely proportional to the degree of dirtiness of the sewage, that is, the dirtier the sewage, the lower the intensity of the radio frequency signal that passes through. After the signal receiving sub-device receives the radio frequency signal, the sensor device can output the detection parameter data. The processor can obtain the above detection parameter data, which is subsequently referred to as the current parameter value.

[0110] In step 52, a target dirtiness interval corresponding to the parameter value range is determined.

[0111] In this step, the preset ratio of each dirty interval is stored in the cleaning device. For example, the dirt can be divided into multiple partitions to obtain multiple dirty intervals; then the preset ratio of each dirty interval is set and stored in the cleaning device. The preset ratio of each dirty interval can be implemented in equal proportions or in different proportions. In one example, the preset ratio of each dirty interval can be implemented in equal proportions.

[0112] In this step, the processor can determine the parameter value range of each dirty interval according to the preset ratio of each dirty interval, the first parameter value and the second parameter value in response to determining that the cleaning device is not blocked, see Figure 7 , including steps 71 to 73.

[0113] In step 71, the difference between the first parameter value and the second parameter value is obtained to obtain the parameter value change.

[0114] In this step, the processor may obtain the difference between the first parameter value and the second parameter value to obtain a parameter value change, which is (Vmax1-Vmin1) or (Vmax2-Vmin2).

[0115] In step 72, the sub-variation of each dirty interval is calculated according to the preset ratio of each dirty interval and the parameter value variation.

[0116] In this step, the processor may calculate the sub-variation of each dirty interval according to the preset ratio of each dirty interval and the parameter value variation, that is, the product of the preset ratio of each dirty interval and the parameter value variation is used as the sub-variation of each dirty interval.

[0117] Assume that there are three dirty intervals, including a clean interval, a lightly dirty interval, and a heavily dirty interval; the preset proportions of each dirty interval are allocated in equal proportion, and the corresponding preset proportions are: 33.3%, 33.3%, and 33.3%. Figure 3 In the case of the sensor device shown, the sub-change amounts in the three dirty intervals are: Delta11=33.3%*(Vmax1-Vmin1), Delta12=33.3%*(Vmax1-Vmin1) and Delta13=33.3%*(Vmax1-Vmin1).

[0118] Assume that there are three dirty intervals, including a clean interval, a lightly dirty interval, and a heavily dirty interval; the preset proportions of each dirty interval are allocated in different proportions, and the corresponding preset proportions are: 20%, 30%, and 50%. Figure 4 In the case of the sensor device shown, the sub-change amounts in the three dirty intervals are: Delta21=20%*(Vmax2-Vmin2), Delta22=30%*(Vmax2-Vmin2) and Delta23=50%*(Vmax2-Vmin2).

[0119] In step 73, the parameter value range of each dirty interval is calculated according to the reference parameter value and the sub-variation of each dirty interval, wherein the reference parameter value is the first parameter value or the second parameter value.

[0120] In this step, the processor may calculate the parameter value range of each dirty interval according to a reference parameter value and a sub-variation of each dirty interval, wherein the reference parameter value is the first parameter value or the second parameter value.

[0121] In one example, Figure 3 In the case of the sensor device shown, the first parameter value Vmin1 is the minimum value, and the reference parameter value is the first parameter value Vmin1. The processor can determine the parameter value range of each dirty interval. Continuing with the three dirty intervals as an example, the parameter value ranges of each dirty interval are: [Vmin1, Vmin1+Delta11], (Vmin1+Delta11, Vmin1+Delta11+Delta12] and (Vmin1+Delta11+Delta12, Vmin1+Delta11+Delta12+Delta13 (=Vmax1)]. The parameter value ranges of the above three dirty intervals are as follows: Figure 8 shown.

[0122] In another example, in Figure 4 In the case of the sensor device shown, the second parameter value Vmin2 is the minimum value, and the reference parameter value is the second parameter value Vmin2. The processor can determine the parameter value range of each dirty interval. Continuing with the three dirty intervals as an example, the parameter value ranges of each dirty interval are: [Vmin2, Vmin2+Delta21], (Vmin2+Delta21, Vmin2+Delta21+Delta22] and (Vmin1+Delta21+Delta22, Vmin1+Delta21+Delta22+Delta23(=Vmax2)]. The parameter value ranges of the above three dirty intervals are as follows: Fig. 9 shown.

[0123] In this step, the processor may determine the parameter value range to which the current parameter value belongs, and obtain the target dirtiness interval corresponding to the parameter value range.

[0124] In step 53, the working gear of the cleaning device is determined according to the preset correspondence between the dirty interval and the working gear and the target dirty interval, and the working gear is used to determine the working parameters of each cleaning device in the cleaning device.

[0125] In this step, the corresponding relationship between the dirty interval and the working gear is stored in the cleaning device, and each dirty interval corresponds to at least one working gear. Continuing to take three dirty intervals as an example, the clean interval corresponds to the low gear, the lightly dirty interval corresponds to the medium gear, and the heavily dirty interval corresponds to the high gear. It is understandable that this step only illustrates the scheme of setting three dirty intervals and three working gears. In actual applications, the number of dirty intervals can be multiple, the number of working gears can be multiple, and each dirty interval corresponds to at least one working gear.

[0126] In this step, the processor can determine the working gear of the cleaning device according to the correspondence between the preset dirty interval and the working gear and the target dirty interval, and the working gear is used to determine the working parameters of each cleaning device in the cleaning device. Finally, the processor can control the operation of each cleaning device according to the working parameters of each cleaning device in the working gear (for example, increasing the speed of the fan, the input power of the water pump, and the speed of the roller brush, etc.). The higher the degree of dirtiness in the dirty interval, the higher the voltage or power of the cleaning device.

[0127] At this point, the solution of this embodiment can obtain the current parameter value of the cleaning device during the cleaning process, determine the parameter value range to which the current parameter value belongs; then, determine the target dirty interval corresponding to the parameter value range; then, determine the working gear of the cleaning device according to the preset correspondence between the dirty interval and the working gear and the target dirty interval, and the working gear is used to determine the working parameters of each cleaning device in the cleaning device. In this way, the solution of this embodiment can ensure the accuracy of the determined dirty interval by updating the parameter value range of each dirty interval, and then ensure that the working parameters of each cleaning device in the cleaning device match, which can improve the efficiency of cleaning dirty areas and the consistency of products, and is conducive to improving the user experience.

[0128] Based on a working gear determination method provided in the present disclosure, an embodiment of the present disclosure further provides a working gear determination device, which is applicable to a cleaning device including a cleaning device. Fig.10 , the device comprises:

[0129] A parameter range determination module 101 is used to obtain a current parameter value of the cleaning device during the cleaning process and determine a parameter value range to which the current parameter value belongs;

[0130] A target interval determination module 102 is used to determine a target dirty interval corresponding to the parameter value range;

[0131] The working gear determination module 103 is used to determine the working gear of the cleaning device according to the corresponding relationship between the preset dirty range and the working gear and the target dirty range, and the working gear is used to determine the working parameters of each cleaning device in the cleaning device.

[0132] Optionally, the cleaning device further comprises a sensor device, the sensor device comprises a signal transmitting sub-device, and the parameter range determination module comprises:

[0133] A first parameter value acquisition module, used to acquire detection parameter data collected by the sensor device when the cleaning device is in a standby state and the signal emission sub-device is not working, to obtain a first parameter value;

[0134] A second parameter value acquisition module, used to acquire detection parameter data collected by the sensor device when the cleaning device is in a standby state and the signal emission sub-device is working, to obtain a second parameter value;

[0135] The parameter value range determination module is used to determine the parameter value range of each dirty interval according to the preset proportion of each dirty interval, the first parameter value and the second parameter value in response to determining that the cleaning device is not blocked.

[0136] Optionally, the parameter value range determination module includes:

[0137] A parameter value variation acquisition submodule, used to acquire the difference between the first parameter value and the second parameter value to obtain the parameter value variation;

[0138] A sub-variation acquisition submodule, used to calculate the sub-variation of each dirty interval according to the preset ratio of each dirty interval and the parameter value variation;

[0139] The reference range acquisition submodule is used to calculate the parameter value range of each dirty interval according to the reference parameter value and the sub-variation of each dirty interval, and the reference parameter value is the first parameter value or the second parameter value.

[0140] Optionally, the preset proportions of the dirty intervals are divided in equal proportions.

[0141] Optionally, the device further comprises a device blockage determination module, which is used to determine whether the cleaning device is blocked; the device blockage determination module comprises:

[0142] A variation acquisition submodule, used to acquire the difference between the first parameter value and the second parameter value to obtain a parameter value variation;

[0143] The blockage determination submodule is used to determine that the cleaning device is blocked in response to the parameter value change being less than or equal to a preset change threshold.

[0144] Optionally, the device blockage determination module further includes:

[0145] A first determination module is configured to, in response to the parameter value change being greater than the preset change value threshold, compare the first parameter value with a first preset parameter value threshold and, in response to the first parameter value being greater than or equal to the first preset parameter value threshold, determine that the cleaning device is clogged;

[0146] or,

[0147] A second determination module is configured to, in response to the parameter value change being greater than the preset change value threshold, compare the second parameter value with the second preset parameter value threshold and, in response to the second parameter value being less than or equal to the second preset parameter value threshold, determine that the cleaning device is blocked. According to a second aspect of the present disclosure, a working gear determination device is provided, which is applicable to a cleaning device, wherein the cleaning device includes a cleaning device, and the device includes:

[0148] A parameter range determination module, used to obtain a current parameter value of the cleaning device during the cleaning process, and determine a parameter value range to which the current parameter value belongs;

[0149] A target interval determination module, used to determine a target dirty interval corresponding to the parameter value range;

[0150] The working gear determination module is used to determine the working gear of the cleaning device according to the corresponding relationship between the preset dirty interval and the working gear and the target dirty interval, and the working gear is used to determine the working parameters of each cleaning device in the cleaning device.

[0151] Optionally, the cleaning device further comprises a sensor device, the sensor device comprises a signal transmitting sub-device, and the parameter range determination module comprises:

[0152] A first parameter value acquisition module, used to acquire detection parameter data collected by the sensor device when the cleaning device is in a standby state and the signal emission sub-device is not working, to obtain a first parameter value;

[0153] A second parameter value acquisition module, used to acquire detection parameter data collected by the sensor device when the cleaning device is in a standby state and the signal emission sub-device is working, to obtain a second parameter value;

[0154] The parameter value range determination module is used to determine the parameter value range of each dirty interval according to the preset proportion of each dirty interval, the first parameter value and the second parameter value in response to determining that the cleaning device is not blocked.

[0155] Optionally, the parameter value range determination module includes:

[0156] A parameter value variation acquisition submodule, used to acquire the difference between the first parameter value and the second parameter value to obtain the parameter value variation;

[0157] A sub-variation acquisition submodule, used to calculate the sub-variation of each dirty interval according to the preset ratio of each dirty interval and the parameter value variation;

[0158] The reference range acquisition submodule is used to calculate the parameter value range of each dirty interval according to the reference parameter value and the sub-variation of each dirty interval, and the reference parameter value is the first parameter value or the second parameter value.

[0159] Optionally, the preset proportions of the dirty intervals are divided in equal proportions.

[0160] Optionally, the device further comprises a device blockage determination module, which is used to determine whether the cleaning device is blocked; the device blockage determination module comprises:

[0161] A variation acquisition submodule, used to acquire the difference between the first parameter value and the second parameter value to obtain a parameter value variation;

[0162] The blockage determination submodule is used to determine that the cleaning device is blocked in response to the parameter value change being less than or equal to a preset change threshold.

[0163] Optionally, the device blockage determination module further includes:

[0164] A first determination module is configured to, in response to the parameter value change being greater than the preset change value threshold, compare the first parameter value with a first preset parameter value threshold and, in response to the first parameter value being greater than or equal to the first preset parameter value threshold, determine that the cleaning device is clogged;

[0165] or,

[0166] The second determination module is used to compare the second parameter value with a second preset parameter value threshold in response to the parameter value change being greater than the preset change threshold and determine that the cleaning device is clogged in response to the second parameter value being less than or equal to the second preset parameter value threshold.

[0167] According to a third aspect of the present disclosure, there is provided a cleaning device, comprising a cleaning device, a sensor device, a processor and a memory;

[0168] The sensor device is used to detect detection parameter data of the cleaning device in different states, and the detection parameter data includes a first parameter value and a second parameter value;

[0169] The memory is used to store a computer program executable by the processor;

[0170] The processor is used to execute the computer program in the memory to implement the method as described in any one of the first aspects.

[0171] Optionally, the sensor device includes a signal transmitting sub-device and a signal receiving sub-device;

[0172] The signal transmitting sub-device is used to transmit radio frequency signals and penetrate the sewage pipe;

[0173] The signal receiving sub-component is used to receive the radio frequency signal and convert the radio frequency signal into the detection parameter data.

[0174] Optionally, the signal receiving sub-device includes a voltage source, a first resistor and a signal receiving element; the first end of the first voltage source is grounded, and the second end of the first voltage source is electrically connected to the first end of the first resistor; the second end of the first resistor is electrically connected to the first end of the signal receiving element and the output end of the sensor device, respectively; the second end of the signal receiving element is grounded; the output end of the sensor device is used to output the detection parameter data.

[0175] Optionally, the detection parameter data is a difference between a voltage value of the first voltage source and a detection voltage, and the detection voltage is a product of a detection current flowing through the first resistor and a resistance value of the first resistor.

[0176] Optionally, the signal receiving sub-device includes a signal receiving element, a feedback resistor and an operational amplifier;

[0177] The inverting input terminal of the operational amplifier is electrically connected to the second terminal of the signal receiving element and the first terminal of the feedback resistor respectively; the first terminal of the signal receiving element is grounded;

[0178] The non-inverting input terminal of the operational amplifier is grounded;

[0179] The output end of the operational amplifier is electrically connected to the second end of the feedback resistor and the output end of the sensor device respectively; the output end of the sensor device is used to output the detection parameter data.

[0180] Optionally, the detection parameter data is the product of a detection current flowing through the feedback resistor and a resistance value of the feedback resistor.

[0181] Optionally, a display device is further included; the display device is used to display at least one of the detection parameter data, the working gear of the cleaning device, the working parameters of the cleaning device and the alarm information.

[0182] Optionally, the cleaning device includes at least one of the following: a fan, a water pump and a roller brush motor;

[0183] The water pump is used to pump clean water in the clean water tank to the roller brush or cleaning area;

[0184] The roller brush motor is used to drive the roller brush to rotate to clean the dirt in the cleaning area;

[0185] The fan is used to suck the sewage generated by cleaning the cleaning area into the sewage tank;

[0186] A sewage pipe between the fan and the sewage tank passes through the sensor device.

[0187] It should be noted that the device embodiment shown in this embodiment matches the content of the above method embodiment, and the content of the above method embodiment can be referred to, which will not be repeated here.

[0188] The embodiment of the present disclosure also provides a non-transitory computer-readable storage medium. When the executable computer program in the storage medium is executed by a processor, the working gear determination method as described above can be implemented.

[0189] The terms used in this disclosure are only for the purpose of describing specific embodiments and are not intended to limit the disclosure. Unless otherwise defined, the technical terms or scientific terms used in this disclosure should be understood by people with ordinary skills in the field to which the disclosure belongs. Similar words such as "one" or "one" used in this disclosure specification and claims do not indicate a quantitative limitation, but indicate that there is at least one. "Multiple" means at least two. Similar words such as "include" or "include" mean that the elements or objects appearing in front of "include" or "include" include the elements or objects listed after "include" or "include" and their equivalents, and do not exclude other elements or objects. Similar words such as "connect" or "connected" are not limited to physical or mechanical connections, and can include electrical connections, whether direct or indirect. The singular forms of "one", "" and "the" used in this disclosure specification and the attached claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0190] As for the method embodiment, since it basically corresponds to the device embodiment, the relevant parts can be referred to the partial description of the device embodiment. The method embodiment and the device embodiment complement each other.

[0191] The above are only preferred embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A method for determining a working gear, characterized in that: Applicable to a cleaning device, the cleaning device comprising a cleaning device, the method comprising: Acquiring a current parameter value of the cleaning device during the cleaning process, and determining a parameter value range to which the current parameter value belongs; Determine a target dirtiness interval corresponding to the parameter value range; The working gear of the cleaning device is determined according to the preset correspondence between the dirty interval and the working gear and the target dirty interval, and the working gear is used to determine the working parameters of each cleaning device in the cleaning device.

2. The method according to claim 1, characterized in that The cleaning device further comprises a sensor device, and the sensor device comprises a signal transmitting sub-device. The method comprises the step of obtaining a parameter value range of a dirty interval, specifically comprising: Acquire detection parameter data collected by the sensor device when the cleaning device is in a standby state and the signal emitting sub-device is not working, to obtain a first parameter value; Acquire detection parameter data collected by the sensor device when the cleaning device is in a standby state and the signal emitting sub-device is working, to obtain a second parameter value; In response to determining that the cleaning device is not blocked, a parameter value range of each dirty interval is determined according to a preset ratio of each dirty interval, the first parameter value, and the second parameter value.

3. The method according to claim 2, characterized in that Determining the parameter value range of each dirty interval according to the preset ratio of each dirty interval, the first parameter value and the second parameter value includes: Obtaining a difference between the first parameter value and the second parameter value to obtain a parameter value change; Calculating the sub-variation of each dirty interval according to the preset ratio of each dirty interval and the parameter value variation; The parameter value range of each dirty interval is calculated according to a reference parameter value and a sub-variation of each dirty interval, wherein the reference parameter value is the first parameter value or the second parameter value.

4. The method according to claim 3, characterized in that The preset proportions of the various dirty intervals are divided in equal proportions.

5. The method according to claim 2, characterized in that: The method further comprises the step of determining whether the cleaning device is clogged, comprising: Obtaining a difference between the first parameter value and the second parameter value to obtain a parameter value change; In response to the parameter value change being less than or equal to a preset change threshold, it is determined that the cleaning device is clogged.

6. The method according to claim 5, characterized in that The step of determining whether the cleaning device is blocked also includes: In response to the parameter value change being greater than the preset change value threshold, comparing the first parameter value with a first preset parameter value threshold and in response to the first parameter value being greater than or equal to the first preset parameter value threshold, determining that the cleaning device is clogged; or, In response to the parameter value change being greater than the preset change threshold, the second parameter value is compared with a second preset parameter value threshold and in response to the second parameter value being less than or equal to the second preset parameter value threshold, it is determined that the cleaning device is clogged.

7. A working gear determination device, characterized in that: Applicable to a cleaning device, the cleaning device comprising a cleaning device, the device comprising: A parameter range determination module, used to obtain a current parameter value of the cleaning device during the cleaning process, and determine a parameter value range to which the current parameter value belongs; A target interval determination module, used to determine a target dirty interval corresponding to the parameter value range; The working gear determination module is used to determine the working gear of the cleaning device according to the corresponding relationship between the preset dirty interval and the working gear and the target dirty interval, and the working gear is used to determine the working parameters of each cleaning device in the cleaning device.

8. The device according to claim 7, characterized in that The cleaning device further comprises a sensor device, the sensor device comprises a signal transmitting sub-device, and the parameter range determination module comprises: A first parameter value acquisition module, used to acquire detection parameter data collected by the sensor device when the cleaning device is in a standby state and the signal emission sub-device is not working, to obtain a first parameter value; A second parameter value acquisition module, used to acquire detection parameter data collected by the sensor device when the cleaning device is in a standby state and the signal emission sub-device is working, to obtain a second parameter value; The parameter value range determination module is used to determine the parameter value range of each dirty interval according to the preset proportion of each dirty interval, the first parameter value and the second parameter value in response to determining that the cleaning device is not blocked.

9. The device according to claim 8, characterized in that The parameter value range determination module includes: A parameter value variation acquisition submodule, used to acquire the difference between the first parameter value and the second parameter value to obtain the parameter value variation; A sub-variation acquisition submodule, used to calculate the sub-variation of each dirty interval according to the preset ratio of each dirty interval and the parameter value variation; The reference range acquisition submodule is used to calculate the parameter value range of each dirty interval according to the reference parameter value and the sub-variation of each dirty interval, and the reference parameter value is the first parameter value or the second parameter value.

10. The device according to claim 9, characterized in that The preset proportions of the various dirty intervals are divided in equal proportions.

11. The device according to claim 8, characterized in that The device further includes an equipment blockage determination module, which is used to determine whether the cleaning equipment is blocked; the equipment blockage determination module includes: A variation acquisition submodule, used to acquire the difference between the first parameter value and the second parameter value to obtain a parameter value variation; The blockage determination submodule is used to determine that the cleaning device is blocked in response to the parameter value change being less than or equal to a preset change threshold.

12. The device according to claim 11, characterized in that The device blocking determination module also includes: A first determination module is configured to, in response to the parameter value change being greater than the preset change value threshold, compare the first parameter value with a first preset parameter value threshold and, in response to the first parameter value being greater than or equal to the first preset parameter value threshold, determine that the cleaning device is clogged; or, The second determination module is used to compare the second parameter value with a second preset parameter value threshold in response to the parameter value change being greater than the preset change threshold and determine that the cleaning device is clogged in response to the second parameter value being less than or equal to the second preset parameter value threshold.

13. A cleaning device, characterized in that: Including cleaning devices, sensor devices, processors and memories; The sensor device is used to detect detection parameter data of the cleaning device in different states, and the detection parameter data includes a first parameter value and a second parameter value; The memory is used to store a computer program executable by the processor; The processor is used to execute the computer program in the memory to implement the method according to any one of claims 1 to 6.

14. The cleaning device according to claim 13, characterized in that The sensor device includes a signal transmitting sub-device and a signal receiving sub-device; The signal transmitting sub-device is used to transmit radio frequency signals and penetrate the sewage pipe; The signal receiving sub-component is used to receive the radio frequency signal and convert the radio frequency signal into the detection parameter data.

15. The cleaning device according to claim 14, characterized in that The signal receiving sub-device includes a voltage source, a first resistor and a signal receiving element; the first end of the first voltage source is grounded, and the second end of the first voltage source is electrically connected to the first end of the first resistor; the second end of the first resistor is electrically connected to the first end of the signal receiving element and the output end of the sensor device respectively; the second end of the signal receiving element is grounded; the output end of the sensor device is used to output the detection parameter data.

16. The cleaning device according to claim 15, characterized in that The detection parameter data is a difference between a voltage value of the first voltage source and a detection voltage, and the detection voltage is a product of a detection current flowing through the first resistor and a resistance value of the first resistor.

17. The cleaning device according to claim 14, characterized in that The signal receiving sub-device includes a signal receiving element, a feedback resistor and an operational amplifier; The inverting input terminal of the operational amplifier is electrically connected to the second terminal of the signal receiving element and the first terminal of the feedback resistor respectively; the first terminal of the signal receiving element is grounded; The non-inverting input terminal of the operational amplifier is grounded; The output end of the operational amplifier is electrically connected to the second end of the feedback resistor and the output end of the sensor device respectively; the output end of the sensor device is used to output the detection parameter data.

18. The cleaning device according to claim 17, characterized in that The detection parameter data is the product of the detection current flowing through the feedback resistor and the resistance value of the feedback resistor.

19. The cleaning device according to claim 13, characterized in that It also includes a display device; the display device is used to display at least one of the detection parameter data, the working gear of the cleaning device, the working parameters of the cleaning device and the alarm information.

20. The cleaning device according to claim 13, characterized in that The cleaning device comprises at least one of the following: a fan, a water pump and a roller brush motor; The water pump is used to pump clean water in the clean water tank to the roller brush or cleaning area; The roller brush motor is used to drive the roller brush to rotate to clean the dirt in the cleaning area; The fan is used to suck the sewage generated by cleaning the cleaning area into the sewage tank; A sewage pipe between the fan and the sewage tank passes through the sensor device.

21. A non-transitory computer-readable storage medium, characterized in that: When the executable computer program in the storage medium is executed by a processor, the method according to any one of claims 1 to 6 can be implemented.

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