Handheld cleaning equipment and control method, device, program product, medium and system thereof

Abstract

The invention discloses handheld cleaning equipment and a control method and device thereof, a program product and a medium, and the method comprises the steps that a remote control instruction for the handheld cleaning equipment is obtained, and the remote control instruction comprises the advancing speed and / or the advancing direction of the handheld cleaning equipment in the advancing process on a to-be-cleaned surface; and controlling the handheld cleaning equipment to advance according to the advancing speed and / or the advancing direction. Through the technical scheme provided by the invention, the use experience of a user on the handheld cleaning equipment can be improved.

Description

Technical Field

[0001] The present application belongs to the field of handheld cleaning device control technology, and in particular, relates to a handheld cleaning device and a control method, device, program product, medium, and system thereof. Background Art

[0002] With the continuous advancement of smart home technology, modern handheld cleaning devices (such as floor scrubbers) have become a powerful assistant for household floor cleaning. However, for some cleaning scenarios under low obstacles, due to limited space, it is difficult for users to manually control handheld cleaning devices to completely cover these areas, resulting in dust and dirt being difficult to completely remove. In addition, the narrow cleaning space also increases the possibility of user operating errors, making it easier for handheld cleaning devices to collide with furniture or walls, causing potential damage to the equipment, furniture or walls. This not only affects the cleaning effect of the handheld cleaning device, but may also reduce user satisfaction. Based on this, how to improve the user experience of handheld cleaning devices is particularly urgent and important. Summary of the invention

[0003] The embodiments of the present application provide a handheld cleaning device and a control method, device, program product, medium, and system thereof, which can improve the user experience of the handheld cleaning device at least to a certain extent.

[0004] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0005] According to a first aspect of an embodiment of the present application, a method for controlling a handheld cleaning device is provided, the method comprising: obtaining a remote control instruction for the handheld cleaning device, the remote control instruction comprising a travel speed and / or a travel direction of the handheld cleaning device during movement of the handheld cleaning device on a surface to be cleaned; and controlling the handheld cleaning device to move at the travel speed and / or the travel direction.

[0006] In some embodiments of the present application, based on the aforementioned scheme, the method further includes: determining whether the handheld cleaning device is in a lying state; if the handheld cleaning device is in a lying state, controlling the handheld cleaning device to move at the travel speed and / or the travel direction.

[0007] In some embodiments of the present application, based on the aforementioned scheme, the method further includes: obtaining the angle between the main unit of the handheld cleaning device and the surface to be cleaned; if the angle between the main unit of the handheld cleaning device and the surface to be cleaned is greater than or equal to 0° and less than or equal to a preset angle, it is determined that the handheld cleaning device is in a lying state.

[0008] In some embodiments of the present application, based on the aforementioned scheme, the host of the handheld cleaning device is provided with one or more of an accelerometer, a gyroscope, and an inertial measurement unit, and obtaining the angle between the host of the handheld cleaning device and the surface to be cleaned includes: detecting the angle between the host of the handheld cleaning device and the surface to be cleaned by using one or more of the accelerometer, the gyroscope, and the inertial measurement unit.

[0009] In some embodiments of the present application, based on the aforementioned scheme, obtaining remote control instructions for the handheld cleaning device includes: obtaining remote control instructions for the handheld cleaning device triggered by the user through voice; or obtaining remote control instructions for the handheld cleaning device triggered by the user through an application interface.

[0010] In some embodiments of the present application, based on the aforementioned scheme, the handheld cleaning device includes at least one power-assisted wheel. During the movement of the handheld cleaning device, the method also includes: obtaining the current rotation speed and current steering of the at least one power-assisted wheel; if the current rotation speed and the current steering do not meet the travel speed, adjusting the rotation speed and steering of the at least one power-assisted wheel to meet the travel speed.

[0011] In some embodiments of the present application, based on the aforementioned scheme, the handheld cleaning device includes a first power-assisted wheel and a second power-assisted wheel. During the movement of the handheld cleaning device, the method also includes: if the movement direction changes from the current movement direction to the target movement direction, the first power-assisted wheel and the second power-assisted wheel are differentially controlled so that the handheld cleaning device moves in the target movement direction.

[0012] In some embodiments of the present application, based on the aforementioned scheme, the differential control of the first power-assisted wheel and the second power-assisted wheel includes: obtaining a first walking arc length of the first power-assisted wheel and a second walking arc length of the second power-assisted wheel; determining a first speed and a first direction of the first power-assisted wheel, and a second speed and a second direction of the second power-assisted wheel based on the first walking arc length and the second walking arc length; controlling the first power-assisted wheel to rotate according to the first speed and the first direction of rotation, and controlling the second power-assisted wheel to rotate according to the second speed and the second direction of rotation.

[0013] In some embodiments of the present application, based on the aforementioned scheme, obtaining the first walking arc length of the first power-assisted wheel and the second walking arc length of the second power-assisted wheel includes: determining the steering angle of the handheld cleaning device based on the current traveling direction and the target traveling direction; obtaining the first walking radius of the first power-assisted wheel and the second walking radius of the second power-assisted wheel; determining the first walking arc length of the first power-assisted wheel based on the steering angle and the first walking radius; determining the second walking arc length of the first power-assisted wheel based on the steering angle and the second walking radius.

[0014] In some embodiments of the present application, based on the aforementioned scheme, obtaining the first walking radius of the first power-assisting wheel and the second walking radius of the second power-assisting wheel includes: obtaining the turning radius of the handheld cleaning device and the wheelbase between the first power-assisting wheel and the second power-assisting wheel; based on the turning radius and the wheelbase, determining the first walking radius of the first power-assisting wheel and the second walking radius of the second power-assisting wheel respectively.

[0015] In some embodiments of the present application, based on the aforementioned scheme, determining the first rotation speed and the first steering direction of the first power-assisted wheel, and the second rotation speed and the second steering direction of the second power-assisted wheel based on the first walking arc length and the second walking arc length, includes: obtaining the turning time of the handheld cleaning device; determining the first rotation speed and the first steering direction of the first power-assisted wheel, and the second rotation speed and the second steering direction of the second power-assisted wheel based on the first walking arc length and the second walking arc length, and the turning time.

[0016] In some embodiments of the present application, based on the aforementioned scheme, the handheld cleaning device includes a steering wheel. During the movement of the handheld cleaning device, the method also includes: if the movement direction changes from the current movement direction to the target movement direction, the steering wheel is controlled to deflect according to a first set deflection angle to guide the handheld cleaning device to adjust its movement direction to the target movement direction.

[0017] In some embodiments of the present application, based on the aforementioned scheme, the handheld cleaning device includes a roller brush. During the movement of the handheld cleaning device, the method also includes: if the movement direction changes from the current movement direction to the target movement direction, the roller brush is controlled to deflect according to a second set deflection angle to guide the handheld cleaning device to adjust its movement direction to the target movement direction.

[0018] In some embodiments of the present application, based on the aforementioned solution, the remote control instruction also includes the working status of the cleaning component in the handheld cleaning device, the working status of the fan, and the working status of the water supply device.

[0019] In some embodiments of the present application, based on the aforementioned scheme, the working state of the cleaning element includes the rotation speed and working time of the cleaning element, the working state of the fan includes the power and working time of the fan, and the working state of the water supply device includes the water supply flow rate and water supply time.

[0020] According to a second aspect of an embodiment of the present application, a handheld cleaning device control device is provided, the device comprising: an acquisition unit, used to acquire remote control instructions for the handheld cleaning device, the remote control instructions including the travel speed and / or travel direction of the handheld cleaning device during the movement of the handheld cleaning device on the surface to be cleaned; a control unit, used to control the handheld cleaning device to move at the travel speed and / or the travel direction.

[0021] According to a third aspect of an embodiment of the present application, a computer program product is provided, which includes computer instructions, which are stored in a computer-readable storage medium and are suitable for being read and executed by a processor, so that a computer device having the processor executes to implement the operations performed by the method described in any one of the embodiments of the first aspect above.

[0022] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which at least one computer program instruction is stored. The at least one computer program instruction is loaded and executed by a processor to implement the operations performed by the method described in any one of the embodiments of the first aspect above.

[0023] According to a fifth aspect of an embodiment of the present application, a handheld cleaning device is provided, comprising one or more processors and one or more memories, wherein at least one computer program instruction is stored in the one or more memories, and the at least one computer program instruction is loaded and executed by the one or more processors to implement the operations performed by the method described in any one of the embodiments of the first aspect above.

[0024] According to a sixth aspect of an embodiment of the present application, a cleaning system is provided, the cleaning system comprising a handheld cleaning device and a base station as described in the fifth aspect embodiment above.

[0025] Based on the technical solution proposed in the present application, the user can control the walking speed and / or walking direction of the handheld cleaning device on the surface to be cleaned by sending remote control commands to the handheld cleaning device. The user can thoroughly remove dust and dirt on the surface to be cleaned, especially on the ground to be cleaned under obstacles, without the need for complex operations such as manually operating the handheld cleaning device. At the same time, it can also avoid the situation where the handheld cleaning device collides with furniture or walls due to manual operation errors by the user, thereby improving the user's satisfaction to a certain extent and enhancing the user's experience of using the handheld cleaning device.

[0026] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0028] Figure 1 A schematic diagram of the structure of a handheld cleaning device in an embodiment of the present application is shown;

[0029] Figure 2 A flow chart showing a method for controlling a handheld cleaning device in an embodiment of the present application is shown;

[0030] Figure 3 An application scenario diagram of a handheld cleaning device in an embodiment of the present application is shown;

[0031] Figure 4 A block diagram of a handheld cleaning device control device in an embodiment of the present application is shown;

[0032] Figure 5 A schematic structural diagram of a handheld cleaning device in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0034] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0035] The block diagrams shown in the accompanying drawings are only functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices. It should also be noted that in the accompanying drawings, in order to ensure the simplicity of the drawings, some devices in the drawings that do not affect the explanation of the technical solution of the present application are adaptively omitted.

[0036] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0037] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the feature. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0038] In order to make those skilled in the art better understand the present application, firstly, Figure 1 The structure of the handheld cleaning device involved in the present application is briefly described.

[0039] See also Figure 1 , shows a schematic structural diagram of a handheld cleaning device in an embodiment of the present application.

[0040] like Figure 1 As shown, the handheld cleaning device involved in the present application includes an operating handle 101, a main unit 102, and a brush head assembly 103. Among them, the operating handle 101 can be used by the user to manually control the handheld cleaning device to clean the floor, and the main unit 102 can be provided with an angle detection device 105 (such as an accelerometer, a gyroscope, and an inertial measurement unit, etc.) for detecting the angle between the main unit and the floor, and the brush head assembly 103 includes a first power-assisted wheel A1 and a second power-assisted wheel A2, which are used to assist the handheld cleaning device to walk on the floor, and the first power-assisted wheel A1 and the second power-assisted wheel A2 are also respectively provided with a speed detection device 104, which is used to detect the rotation speed and direction of the first power-assisted wheel A1 and the second power-assisted wheel A2 (i.e., the direction of rotation of the power-assisted wheel, including clockwise and counterclockwise). The brush head assembly 103 also includes a roller brush A3, which cleans the dust and dirt on the floor by rotating at high speed during the floor cleaning process.

[0041] However, for some cleaning scenarios under low obstacles, due to limited space, it is difficult for users to manually control the handheld cleaning device to completely cover these areas, resulting in dust and dirt being difficult to completely remove. In addition, the narrow cleaning space also increases the possibility of user operating errors, making it easier for the handheld cleaning device to collide with furniture or walls, thereby causing potential damage to the handheld cleaning device, furniture or walls. This not only affects the cleaning effect of the handheld cleaning device, but may also reduce the user's satisfaction with the use. Based on this, the present application proposes a handheld cleaning device control solution to improve the user experience of the handheld cleaning device.

[0042] Next, the present application will elaborate on the proposed control scheme of the handheld cleaning device in detail.

[0043] In this application, reference is made to Figure 2 , which shows a flow chart of a handheld cleaning device control method in an embodiment of the present application. The handheld cleaning device control method can be executed by a device with a computing and processing function, referring to Figure 2 As shown, the handheld cleaning device control method at least includes steps 210 to 220:

[0044] Step 210: Acquire a remote control instruction for the handheld cleaning device, wherein the remote control instruction includes a travel speed and / or a travel direction of the handheld cleaning device during the travel of the handheld cleaning device on the surface to be cleaned.

[0045] In the present application, when a user needs to use a handheld cleaning device to clean a surface to be cleaned (such as a floor to be cleaned), a remote control command can be sent to the handheld cleaning device, so that the handheld cleaning device receives the remote control command and performs a cleaning action on the surface to be cleaned based on control data such as a travel speed and / or a travel direction in the remote control command.

[0046] In the present application, it should be noted that the remote control instructions may also include control data such as the working status of the cleaning parts in the handheld cleaning device, the working status of the fan, and the working status of the water supply device, so as to control the handheld cleaning device to control the cleaning parts, the fan, and the water supply device to perform corresponding actions according to the given control data to achieve cleaning of the surface to be cleaned.

[0047] Furthermore, the working state of the cleaning element includes the rotation speed and working time of the cleaning element, the working state of the fan includes the power and working time of the fan, and the working state of the water supply device includes the water supply flow rate and water supply time.

[0048] In the present application, for a handheld cleaning device, obtaining a remote control instruction for the handheld cleaning device may be performed according to the following step 211 or step 212:

[0049] Step 211: obtaining a remote control instruction for the handheld cleaning device triggered by a user through voice.

[0050] In this application, users can input remote control commands by voice triggering. Users only need to issue specific voice commands, and the handheld cleaning device can receive the voice commands through the voice recognition module to control the handheld cleaning device. In this way, the user's hands can be freed and the convenience of controlling the handheld cleaning device can be improved. Especially in the scenario where the user is busy with other housework, voice control is very practical and can greatly improve the user experience.

[0051] Step 212: Acquire a remote control instruction for the handheld cleaning device triggered by the user through an application program interface.

[0052] In the present application, users can also input remote control commands through an application program interface (APP). In the application, users can achieve precise control of the handheld cleaning device through an intuitive interface, including controlling the speed and / or direction of the handheld cleaning device during the movement of the handheld cleaning device on the surface to be cleaned, and sending the remote control command to the handheld cleaning device through the network. This APP-based control method allows users to flexibly control the cleaning path and cleaning speed (force) of the handheld cleaning device, ensure the safety of the handheld cleaning device during the cleaning process and optimize the cleaning effect, and enhance the user experience.

[0053] It should be noted that the triggering method of the remote control command for the handheld cleaning device can be arbitrary and is not limited to those listed above.

[0054] In this application, through different command triggering methods, users can choose the most suitable control method in different scenarios. This not only improves the intelligence level of handheld cleaning equipment, improves the use efficiency and user experience of handheld cleaning equipment, but also provides users with more personalized floor cleaning solutions.

[0055] Step 220: Control the handheld cleaning device to move at the moving speed and / or the moving direction.

[0056] In some embodiments of the present application, the handheld cleaning device may be in a lying state, and the handheld cleaning device may be controlled to move at the travel speed and / or the travel direction, so as to clean the surface to be cleaned during the moving process. In particular, for cleaning scenes under some low obstacles, the handheld cleaning device may move at the travel speed and / or the travel direction in a lying state, so as to clean the surface to be cleaned safely and efficiently, thereby improving the user's satisfaction.

[0057] Based on this, in this embodiment, after the handheld cleaning device receives a remote control command, it can first determine whether the handheld cleaning device is in a lying state. If the handheld cleaning device is in a lying state, the handheld cleaning device is controlled to move at the travel speed and / or the travel direction.

[0058] In this embodiment, it can be determined whether the handheld cleaning device is in a lying state through the following steps 213 to 215:

[0059] Step 213: obtaining the angle between the main body of the handheld cleaning device and the surface to be cleaned.

[0060] Step 214: If the angle between the main body of the handheld cleaning device and the surface to be cleaned is greater than or equal to 0° and less than or equal to a preset angle, it is determined that the handheld cleaning device is in a lying state.

[0061] Step 215: If the angle between the main body of the handheld cleaning device and the surface to be cleaned is greater than a preset angle, it is determined that the handheld cleaning device is in a standing state.

[0062] In this embodiment, the preset angle can be set to 5°, 8°, or 10°. It should be understood that when the angle between the main unit of the handheld cleaning device and the surface to be cleaned is close to 0°, the entire handheld cleaning device can enter the narrow space under the low obstacle, and then the surface to be cleaned under the low obstacle can be cleaned. It should be noted that the setting of the specific value of the preset angle is related to the model or structural characteristics of the handheld cleaning device, and this application does not make too many restrictions on this.

[0063] In the present application, the host of the handheld cleaning device may be provided with one or more of an accelerometer, a gyroscope, and an inertial measurement unit. The angle between the host of the handheld cleaning device and the surface to be cleaned may be obtained by detecting the angle between the host of the handheld cleaning device and the surface to be cleaned by using one or more of the accelerometer, the gyroscope, and the inertial measurement unit.

[0064] In this embodiment, when the user chooses to control through the APP, the handheld cleaning device can send its current state (i.e., lying state and standing state) to the APP in real time. This real-time feedback mechanism allows the user to grasp the working status of the handheld cleaning device at any time. If the handheld cleaning device is in a standing state, the APP will immediately prompt the user to remind it that the current state is not in a lying state and does not support remote control operation. When the user chooses to control by voice, if the handheld cleaning device is in a standing state, the handheld cleaning device will remind the user through voice broadcast that the remote control conditions are not currently met.

[0065] In this embodiment, when the handheld cleaning device is in a flat state, the user can flexibly control the travel speed and / or travel direction of the handheld cleaning device, whether through the APP interface control or voice control. Especially in cleaning scenes under low obstacles, the technical solution in this embodiment can control the handheld cleaning device to easily bypass obstacles, ensure that the handheld cleaning device can clean the entire ground area, ensure the cleanliness and hygiene of the home environment, and improve the user experience.

[0066] In some other embodiments of the present application, when the handheld cleaning device is in a standing state, the handheld cleaning device is controlled to move at the moving speed and / or the moving direction so as to clean the surface to be cleaned during the moving process.

[0067] In the present application, during the movement of the handheld cleaning device, the movement speed of the handheld cleaning device can be controlled through the following steps 221 to 222:

[0068] Step 221, obtaining the current rotation speed and current direction of at least one power-assisted wheel in the handheld cleaning device.

[0069] Step 222: If the current rotation speed and the current steering direction do not meet the travel speed, adjust the rotation speed and steering direction of the at least one power-assisted wheel to meet the travel speed.

[0070] In the present application, for example, the at least one power-assisted wheel may include a first power-assisted wheel and a second power-assisted wheel. The speed detection device configured in the first power-assisted wheel and the second power-assisted wheel of the handheld cleaning device may collect the rotation speed and direction of the first power-assisted wheel and the second power-assisted wheel at a set time interval (such as 5ms, 10ms, or 15ms, which is not specifically limited in the present application) as the current rotation speed and current direction. If the current rotation speed and the current direction do not meet the travel speed, the rotation speed and direction of the first power-assisted wheel and the second power-assisted wheel are adjusted to meet the travel speed.

[0071] For example, in the remote control instruction, the given travel speed is 0.1m / s. At this travel speed, the steering directions of the first power-assisted wheel and the second power-assisted wheel should both be clockwise, and the rotation speed should be 0.5 rpm. The data detected by the speed detection device configured in the first power-assisted wheel and the second power-assisted wheel show that the current steering directions of the first power-assisted wheel and the second power-assisted wheel are both clockwise, but the current rotation speed of the first power-assisted wheel is 0.45 rpm, and the current rotation speed of the second power-assisted wheel is 0.46 rpm. It can be seen that the current rotation speed of the first power-assisted wheel and the current rotation speed of the second power-assisted wheel do not meet the travel speed, so the rotation speed of the first power-assisted wheel needs to be increased by 0.05 rpm, and the rotation speed of the second power-assisted wheel needs to be increased by 0.04 rpm to meet the travel speed of the handheld cleaning device at 0.1m / s.

[0072] In this application, by real-time monitoring and adjusting the rotation speed and direction of the first power-assisted wheel and the second power-assisted wheel, the handheld cleaning device can maintain a stable travel speed, avoid the handheld cleaning device from running out of control due to too slow or too fast travel speed, improve the stability and accuracy of the handheld cleaning device, ensure that the handheld cleaning device maintains a stable state in complex terrain, and avoids deviation and collision. In addition, precise speed control can also enable the handheld cleaning device to efficiently perform ground cleaning tasks according to the predetermined path, reduce energy consumption, extend the battery life and life of the handheld cleaning device, and provide users with a better user experience.

[0073] In the present application, during the movement of the handheld cleaning device, the moving direction of the handheld cleaning device can be controlled based on the first power-assisted wheel and the second power-assisted wheel of the handheld cleaning device through the following steps 223 to 224:

[0074] Step 223: If the traveling direction does not change, control the rotation speeds of the first power-assisted wheel and the second power-assisted wheel, and keep the steering direction consistent.

[0075] Step 224: If the traveling direction changes from the current traveling direction to the target traveling direction, differential control is performed on the first power-assisted wheel and the second power-assisted wheel so that the handheld cleaning device travels in the target traveling direction.

[0076] In the present application, when the direction of travel remains unchanged, the rotation speed and direction of the first power-assisted wheel and the second power-assisted wheel are controlled to remain consistent, so as to maintain the straight-line travel of the handheld cleaning device. In this way, it can be ensured that the handheld cleaning device moves smoothly along the predetermined path during the performance of the floor cleaning task, avoiding the deviation of the handheld cleaning device due to inconsistent travel direction, and ensuring the maximization of cleaning efficiency and coverage.

[0077] In the present application, when it is necessary to change from the current direction of travel to the target direction of travel, the steering control of the handheld cleaning device is achieved by implementing differential control on the first power-assisted wheel and the second power-assisted wheel (i.e., adjusting the relative speed difference between the two power-assisted wheels). Differential control can ensure that the handheld cleaning device can flexibly change the direction of travel while maintaining stable travel, ensuring that it can efficiently navigate in complex environments. For example, when the handheld cleaning device encounters an obstacle during floor cleaning, the first power-assisted wheel and the second power-assisted wheel are differentially controlled to change the direction of travel of the handheld cleaning device, so that the obstacle can be avoided in a timely and accurate manner, ensuring the safety of the handheld cleaning device during floor cleaning, thereby improving the user experience of the handheld cleaning device.

[0078] Next, the application will provide a detailed description of the above step 224, ie, the step of performing differential control on the first power-assisted wheel and the second power-assisted wheel.

[0079] In the present application, the differential control of the first power-assisted wheel and the second power-assisted wheel may be performed according to the following steps 2241 to 2242:

[0080] In step 2241, a first walking arc length of the first power-assisted wheel and a second walking arc length of the second power-assisted wheel are obtained.

[0081] In order to make those skilled in the art better understand the present application, Figure 3 , described with a specific embodiment.

[0082] See also Figure 3 , shows an application scenario diagram of the handheld cleaning device in an embodiment of the present application.

[0083] In such Figure 3 In the scene shown, when the handheld cleaning device needs to clean the floor under the furniture 201, the user can place the handle 101 and the main unit 102 of the handheld cleaning device on the ground, so that the handheld cleaning device remains in a flat state, and then control the handheld cleaning device in a flat state to clean the floor under the furniture by sending a remote control command to the handheld cleaning device. It should be noted that in this scene, M1, M2, M3, and M4 are the supporting legs of the furniture 201 respectively.

[0084] Continue to refer to Figure 3As shown, if the handheld cleaning device encounters an obstacle 202 while moving in a travel direction B, the user can send a remote control command to the handheld cleaning device through an application interface or voice to change its travel direction from travel direction B to travel direction C. After receiving the remote control command, the handheld cleaning device can obtain the first walking arc length L1 that the first power-assisted wheel A1 needs to travel, and the first walking arc length L2 that the second power-assisted wheel A2 needs to travel, so as to control the first power-assisted wheel to move according to the first walking arc length L1, and control the second power-assisted wheel to move according to the second walking arc length L2, thereby changing its travel direction from travel direction B to travel direction C.

[0085] In the present application, the obtaining of the first walking arc length of the first power-assisted wheel and the second walking arc length of the second power-assisted wheel may be performed according to the following steps 22411 to 22414:

[0086] Step 22411: Determine the steering angle of the handheld cleaning device based on the current traveling direction and the target traveling direction.

[0087] Step 22412, obtaining a first walking radius of the first power-assisted wheel and a second walking radius of the second power-assisted wheel.

[0088] Step 22413, based on the steering angle and the first walking radius, determine the first walking arc length of the first power-assisted wheel.

[0089] Step 22414, based on the steering angle and the second walking radius, determine the second walking arc length of the first power-assisted wheel.

[0090] In order to make those skilled in the art better understand the present application, Figure 3 , described with a specific embodiment.

[0091] Continue to refer to Figure 3 As shown, based on the travel direction B and the travel direction C, the steering angle of the handheld cleaning device can be determined to be θ, and at the same time, the first travel radius r1 of the first power-assisted wheel and the second travel radius r2 of the second power-assisted wheel are obtained in the process of changing the travel direction of the handheld cleaning device from the travel direction B to the travel direction C, and then the first travel arc length L1 of the first power-assisted wheel is calculated according to the following formula (1):

[0092]

[0093] The first walking arc length L2 of the first power-assisted wheel is calculated according to the following formula (2):

[0094]

[0095] Further, in the present application, the obtaining of the first walking radius of the first power-assisted wheel and the second walking radius of the second power-assisted wheel may be performed according to the following steps 224121 to 224122:

[0096] Step 224121, obtaining the turning radius of the handheld cleaning device and the wheelbase between the first power-assisted wheel and the second power-assisted wheel.

[0097] Step 224122, based on the turning radius and the wheelbase, respectively determine a first traveling radius of the first power-assisted wheel and a second traveling radius of the second power-assisted wheel.

[0098] In the present application, a certain point on the handheld cleaning device can be used as a reference point, and the turning radius of the handheld cleaning device can be the radius of the reference point on the motion trajectory (i.e., the turning arc of the reference point) when the handheld cleaning device changes from travel direction B to travel direction C.

[0099] In one embodiment of the present application, continue to refer to Figure 3 As shown, assuming that the reference point is the first power-assisted wheel A1, the turning radius of the handheld cleaning device is r1, and further assuming that the wheelbase between the first power-assisted wheel and the second power-assisted wheel is d, based on the turning radius r1 and the wheelbase d, it can be determined that the first walking radius of the first power-assisted wheel is r1, and the second walking radius of the second power-assisted wheel is r2=r1+d.

[0100] In one embodiment of the present application, continue to refer to Figure 3 As shown, assuming that the reference point is the first power-assisted wheel A2, the turning radius of the handheld cleaning device is r2. It is further assumed that the wheelbase between the first power-assisted wheel and the second power-assisted wheel is d. Based on the turning radius r2 and the wheelbase d, it can be determined that the first walking radius of the first power-assisted wheel is r1=r2-d, and the second walking radius of the second power-assisted wheel is r2.

[0101] It should be noted that in the present application, the turning radius of the handheld cleaning device can be given by the user through a remote control command, or it can be determined by the handheld cleaning device according to a preset rule (such as determining the turning radius that satisfies the handheld cleaning device to minimize the area that is missed by the cleaning device. It can be understood that the smaller the turning radius, the smaller the area that is missed by the handheld cleaning device). A fixed turning radius can also be pre-set, or the turning radius can be determined randomly. It can be understood that there are many ways to determine the turning radius of the handheld cleaning device, and this application does not specifically limit this.

[0102] In step 2242, based on the first walking arc length and the second walking arc length, a first rotation speed and a first direction of the first power-assisted wheel, and a second rotation speed and a second direction of the second power-assisted wheel are determined.

[0103] In the present application, the first speed and the first direction of the first power-assisted wheel, and the second speed and the second direction of the second power-assisted wheel are determined based on the first walking arc length and the second walking arc length, and the following steps 22421 to 22422 can be followed:

[0104] Step 22421, obtaining the turning time of the handheld cleaning device.

[0105] Step 22422, based on the first walking arc length, the second walking arc length, and the turning time, determine the first speed and the first turning direction of the first power-assisted wheel, and the second speed and the second turning direction of the second power-assisted wheel.

[0106] In this application, reference is made to Figure 3 In the embodiment shown, assuming that the turning time of the handheld cleaning device is t, the walking speed v1 of the first power-assisted wheel can be calculated according to the following formula (3):

[0107]

[0108] The walking speed v2 of the first power-assisted wheel is calculated according to the following formula (4):

[0109]

[0110] Furthermore, the first rotational speed w1 and the first steering direction of the first power-assisted wheel can be determined according to the walking speed v1 of the first power-assisted wheel, and the second rotational speed w2 and the second steering direction of the second power-assisted wheel can be determined according to the walking speed v2 of the second power-assisted wheel, wherein the steering direction of the first power-assisted wheel and the steering direction of the second power-assisted wheel are the same.

[0111] It should be noted that, in the present application, the turning time of the handheld cleaning device can be given by the user through a remote control command, or it can be determined by the handheld cleaning device according to the difficulty of turning (for example, the smaller the turning radius, the more difficult it is for the handheld cleaning device to turn, then the turning time can be longer, or a fixed turning time can be set in advance, or the turning time can be determined randomly. It can be understood that there are many ways to determine the turning time of the handheld cleaning device, and this application does not make specific limitations on this.

[0112] In step 2243, the first power-assisted wheel is controlled to rotate according to the first speed and the first direction, and the second power-assisted wheel is controlled to rotate according to the second speed and the second direction.

[0113] In this application, if Figure 3 As shown, after determining the first speed and the first direction of the first power-assisting wheel A1, and the second speed and the second direction of the second power-assisting wheel A2, the first power-assisting wheel A1 can be controlled to rotate according to the first speed and the first direction of rotation, and the second power-assisting wheel A2 can be controlled to rotate according to the second speed and the second direction of rotation, so as to realize differential control of the first power-assisting wheel A1 and the second power-assisting wheel A2, so that the traveling direction of the handheld cleaning device is switched from the current traveling direction B to the target traveling direction C.

[0114] In this application, it should be noted that Figure 3 The illustrated embodiment scenario is merely an example of the present application of performing differential control on the first power-assist wheel and the second power-assist wheel so as to switch the handheld cleaning device from the current direction of travel to the target direction of travel. In this embodiment scenario, the steering of the first power-assist wheel and the steering of the second power-assist wheel are the same, but it can be understood that, according to actual conditions, in other embodiment scenarios, the steering of the first power-assist wheel and the steering of the second power-assist wheel may also be opposite. For example, when the handheld cleaning device rotates in place, the steering of the first power-assist wheel and the steering of the second power-assist wheel are opposite.

[0115] In the present application, when the direction of travel of the handheld cleaning device needs to be changed, the handheld cleaning device can be controlled to turn during travel by sending a remote control command to the handheld cleaning device. In particular, the first power-assisted wheel and the second power-assisted wheel of the handheld cleaning device are differentially controlled, so that the travel direction of the sweeper can be efficiently and accurately adjusted during travel. Especially in some ground cleaning scenarios under low obstacles, based on the technical solution proposed in the present application, by sending a remote control command to the handheld cleaning device, the handheld cleaning device in a lying state is controlled to move according to the travel speed and / or travel direction given in the remote control command. On the one hand, the handheld cleaning device can be flexibly avoided from obstacles under the obstacles to ensure the safety of the handheld cleaning device during the process of cleaning the ground. On the other hand, it can ensure that the handheld cleaning device moves smoothly along the predetermined path during the execution of the ground cleaning task, thereby ensuring the maximization of the cleaning efficiency and the cleaning coverage, and improving the user experience.

[0116] In the present application, the handheld cleaning device may also include a steering wheel. During the movement of the handheld cleaning device, the moving direction of the handheld cleaning device may also be controlled based on the steering wheel through the following step 225:

[0117] Step 225: If the traveling direction changes from the current traveling direction to the target traveling direction, the steering wheel is controlled to deflect according to a first set deflection angle to guide the handheld cleaning device to adjust its traveling direction to the target traveling direction.

[0118] In the present application, during the movement of the handheld cleaning device, the moving direction of the handheld cleaning device can be controlled based on the roller brush of the handheld cleaning device through the following step 226:

[0119] Step 226: If the traveling direction changes from the current traveling direction to the target traveling direction, the roller brush is controlled to deflect according to a second set deflection angle to guide the handheld cleaning device to adjust its traveling direction to the target traveling direction.

[0120] In general, based on the technical solution proposed in the present application, the user can control the walking speed and / or walking direction of the handheld cleaning device on the surface to be cleaned by sending remote control commands to the handheld cleaning device. The user can thoroughly remove dust and dirt on the surface to be cleaned, especially on the ground to be cleaned under obstacles, without the need for complex operations such as manual operation of the handheld cleaning device. At the same time, it can also avoid the situation where the handheld cleaning device collides with furniture or walls due to manual operation errors of the user, thereby improving the user's satisfaction to a certain extent and enhancing the user's experience of using the handheld cleaning device.

[0121] The following describes an apparatus embodiment of the present application, which can be used to execute the handheld cleaning device control method in the above embodiment of the present application. For details not disclosed in the apparatus embodiment of the present application, please refer to the above embodiment of the handheld cleaning device control method of the present application.

[0122] See also Figure 4 , shows a block diagram of a handheld cleaning device control device in an embodiment of the present application.

[0123] like Figure 4 As shown, a handheld cleaning device control device 400 according to an embodiment of the present application includes: an acquisition unit 401 and a control unit 402 .

[0124] Among them, the acquisition unit 401 is used to obtain the remote control command for the handheld cleaning device, and the remote control command includes the travel speed and / or travel direction of the handheld cleaning device during the movement of the handheld cleaning device on the surface to be cleaned; the control unit 402 is used to control the handheld cleaning device to move at the travel speed and / or the travel direction.

[0125] In some embodiments of the present application, based on the aforementioned scheme, the control unit 402 is configured to: determine whether the handheld cleaning device is in a lying state; if the handheld cleaning device is in a lying state, control the handheld cleaning device to move at the travel speed and / or the travel direction.

[0126] In some embodiments of the present application, based on the aforementioned scheme, the device also includes: a determination unit, used to obtain the angle between the main unit of the handheld cleaning device and the surface to be cleaned; if the angle between the main unit of the handheld cleaning device and the surface to be cleaned is greater than or equal to 0° and less than or equal to a preset angle, it is determined that the handheld cleaning device is in a lying state.

[0127] In some embodiments of the present application, based on the aforementioned scheme, the host of the handheld cleaning device is provided with one or more of an accelerometer, a gyroscope, and an inertial measurement unit, and the determination unit is configured to: detect the angle between the host of the handheld cleaning device and the surface to be cleaned through one or more of the accelerometer, the gyroscope, and the inertial measurement unit.

[0128] In some embodiments of the present application, based on the aforementioned scheme, the acquisition unit 401 is configured to: acquire remote control instructions for the handheld cleaning device triggered by the user through voice; or acquire remote control instructions for the handheld cleaning device triggered by the user through an application interface.

[0129] In some embodiments of the present application, based on the aforementioned scheme, the handheld cleaning device includes at least one power-assisted wheel, and the control unit 402 is also configured to: during the movement of the handheld cleaning device, obtain the current rotation speed and current steering of the at least one power-assisted wheel; if the current rotation speed and the current steering do not meet the travel speed, adjust the rotation speed and steering of the at least one power-assisted wheel to meet the travel speed.

[0130] In some embodiments of the present application, based on the aforementioned scheme, the handheld cleaning device includes a first power-assisted wheel and a second power-assisted wheel, and the control unit 402 is also configured to: during the movement of the handheld cleaning device, if the movement direction changes from the current movement direction to the target movement direction, the first power-assisted wheel and the second power-assisted wheel are differentially controlled so that the handheld cleaning device moves in the target movement direction.

[0131] In some embodiments of the present application, based on the aforementioned scheme, the control unit 402 is also configured to: obtain a first walking arc length of the first power-assisted wheel and a second walking arc length of the second power-assisted wheel; determine a first speed and a first direction of the first power-assisted wheel, and a second speed and a second direction of the second power-assisted wheel based on the first walking arc length and the second walking arc length; control the first power-assisted wheel to rotate according to the first speed and the first direction of rotation, and control the second power-assisted wheel to rotate according to the second speed and the second direction of rotation.

[0132] In some embodiments of the present application, based on the aforementioned scheme, the control unit 402 is also configured to: determine the steering angle of the handheld cleaning device based on the current traveling direction and the target traveling direction; obtain the first walking radius of the first power-assisting wheel and the second walking radius of the second power-assisting wheel; determine the first walking arc length of the first power-assisting wheel based on the steering angle and the first walking radius; determine the second walking arc length of the first power-assisting wheel based on the steering angle and the second walking radius.

[0133] In some embodiments of the present application, based on the aforementioned scheme, the control unit 402 is further configured to: obtain the turning radius of the handheld cleaning device and the wheelbase between the first power-assisting wheel and the second power-assisting wheel; based on the turning radius and the wheelbase, determine the first walking radius of the first power-assisting wheel and the second walking radius of the second power-assisting wheel respectively.

[0134] In some embodiments of the present application, based on the aforementioned scheme, the control unit 402 is also configured to: obtain the turning time of the handheld cleaning device; determine the first rotation speed and the first steering direction of the first power-assisted wheel, and the second rotation speed and the second steering direction of the second power-assisted wheel based on the first walking arc length and the second walking arc length, and the turning time.

[0135] In some embodiments of the present application, based on the aforementioned scheme, the handheld cleaning device includes a steering wheel, and the control unit 402 is also configured to: during the movement of the handheld cleaning device, if the movement direction changes from the current movement direction to the target movement direction, the steering wheel is controlled to deflect according to a first set deflection angle to guide the handheld cleaning device to adjust its movement direction to the target movement direction.

[0136] In some embodiments of the present application, based on the aforementioned scheme, the handheld cleaning device includes a roller brush, and the control unit 402 is also configured to: during the movement of the handheld cleaning device, if the movement direction changes from the current movement direction to the target movement direction, the roller brush is controlled to deflect according to a second set deflection angle to guide the handheld cleaning device to adjust its movement direction to the target movement direction.

[0137] In some embodiments of the present application, based on the aforementioned solution, the remote control instruction also includes the working status of the cleaning component in the handheld cleaning device, the working status of the fan, and the working status of the water supply device.

[0138] In some embodiments of the present application, based on the aforementioned scheme, the working state of the cleaning element includes the rotation speed and working time of the cleaning element, the working state of the fan includes the power and working time of the fan, and the working state of the water supply device includes the water supply flow rate and water supply time.

[0139] Based on the same inventive concept, an embodiment of the present application provides a computer program product, which includes computer instructions, which are stored in a computer-readable storage medium and are suitable for being read and executed by a processor, so that a computer device with the processor executes to implement the operations performed by the handheld cleaning device control method as described above.

[0140] Based on the same inventive concept, an embodiment of the present application provides a computer-readable storage medium, in which at least one computer program instruction is stored. The at least one computer program instruction is loaded and executed by a processor to implement the operations performed by the handheld cleaning device control method as described above.

[0141] Based on the same inventive concept, the present application also provides a handheld cleaning device, referring to Figure 5 , showing a schematic diagram of the structure of a handheld cleaning device in an embodiment of the present application, the handheld cleaning device includes one or more memories 504, one or more processors 502 and at least one computer program (computer program instruction) stored in the memory 504 and executable on the processor 502, and when the processor 502 executes the computer program, the handheld cleaning device control method as described above is implemented.

[0142] Among them, Figure 5 In the embodiment of the present invention, a bus architecture (represented by bus 500) is shown, which may include any number of interconnected buses and bridges, and bus 500 links various circuits including one or more processors represented by processor 502 and memory represented by memory 504. Bus 500 may also link various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. Bus interface 505 provides an interface between bus 500 and receiver 501 and transmitter 503. Receiver 501 and transmitter 503 may be the same element, namely a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 502 is responsible for managing bus 500 and general processing, while memory 504 may be used to store data used by processor 502 when performing operations.

[0143] Based on the same inventive concept, an embodiment of the present application further provides a cleaning system, which includes the handheld cleaning device and a base station as described above, wherein the base station is used to place the handheld cleaning device, and to charge and supply water to the handheld cleaning device.

[0144] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on a computer-readable medium or transmitted via a computer-readable medium. Other examples and implementations are within the scope and spirit of the present application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hard wiring, or a combination of any of these. In addition, each functional unit may be integrated into a processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit.

[0145] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, 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 through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0146] The units described as separate devices may or may not be physically separated, and the devices used as control devices may or may not be physical units, that is, they may be located in one place or distributed in multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0147] If the integrated unit is implemented in the form of a software functional unit 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 application can be essentially or partly or all or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for 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 application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc., which can store computer program instructions.

[0148] The above description is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims

1. A method for controlling a handheld cleaning device, characterized in that: The method comprises: Obtaining a remote control instruction for the handheld cleaning device, the remote control instruction including a travel speed and / or a travel direction of the handheld cleaning device during the travel of the handheld cleaning device on the surface to be cleaned; The handheld cleaning device is controlled to move at the moving speed and / or the moving direction.

2. The method according to claim 1, characterized in that: The method further comprises: Determining whether the handheld cleaning device is in a lying state; If the handheld cleaning device is in a lying state, the handheld cleaning device is controlled to move at the moving speed and / or the moving direction.

3. The method according to claim 2, characterized in that The method further comprises: Obtaining the angle between the main body of the handheld cleaning device and the surface to be cleaned; If the angle between the main body of the handheld cleaning device and the surface to be cleaned is greater than or equal to 0° and less than or equal to a preset angle, it is determined that the handheld cleaning device is in a lying state.

4. The method according to claim 3, characterized in that The host of the handheld cleaning device is provided with one or more of an accelerometer, a gyroscope, and an inertial measurement unit, and the angle between the host of the handheld cleaning device and the surface to be cleaned is obtained, including: The angle between the main body of the handheld cleaning device and the surface to be cleaned is detected by one or more of the accelerometer, the gyroscope, and the inertial measurement unit.

5. The method according to any one of claims 1 to 4, characterized in that: The step of obtaining a remote control instruction for the handheld cleaning device includes: Obtaining a remote control instruction for the handheld cleaning device triggered by a user through voice; or A remote control instruction for the handheld cleaning device triggered by a user through an application program interface is obtained.

6. The method according to any one of claims 1 to 4, characterized in that: The handheld cleaning device includes at least one power-assisted wheel, and during the movement of the handheld cleaning device, the method further includes: Acquire the current rotation speed and current direction of the at least one power-assisted wheel; If the current rotation speed and the current steering direction do not satisfy the travel speed, the rotation speed and steering direction of the at least one power-assisted wheel are adjusted to satisfy the travel speed.

7. The method according to any one of claims 1 to 4, characterized in that: The handheld cleaning device comprises a first power-assisted wheel and a second power-assisted wheel. During the movement of the handheld cleaning device, the method further comprises: If the traveling direction changes from the current traveling direction to the target traveling direction, the first power-assisted wheel and the second power-assisted wheel are differentially controlled so that the handheld cleaning device travels in the target traveling direction.

8. The method according to claim 7, characterized in that The differential control of the first power-assisted wheel and the second power-assisted wheel comprises: Obtaining a first walking arc length of the first power-assisted wheel and a second walking arc length of the second power-assisted wheel; Determining a first rotation speed and a first direction of the first power-assisted wheel, and a second rotation speed and a second direction of the second power-assisted wheel based on the first walking arc length and the second walking arc length; The first power-assisted wheel is controlled to rotate according to the first speed and the first direction, and the second power-assisted wheel is controlled to rotate according to the second speed and the second direction.

9. The method according to claim 8, characterized in that The obtaining of a first walking arc length of the first power-assisted wheel and a second walking arc length of the second power-assisted wheel comprises: Determining a steering angle of the handheld cleaning device based on the current direction of travel and the target direction of travel; Acquire a first travel radius of the first power-assisted wheel and a second travel radius of the second power-assisted wheel; Based on the steering angle and the first walking radius, determining a first walking arc length of the first power-assisted wheel; Based on the steering angle and the second walking radius, a second walking arc length of the first power-assisted wheel is determined.

10. The method according to claim 9, characterized in that The obtaining of a first travel radius of the first power-assisted wheel and a second travel radius of the second power-assisted wheel comprises: Obtaining a turning radius of the handheld cleaning device and a wheelbase between the first power-assisted wheel and the second power-assisted wheel; Based on the turning radius and the wheelbase, a first travel radius of the first power-assisted wheel and a second travel radius of the second power-assisted wheel are determined respectively.

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