Control method of cleaning equipment and cleaning equipment

Abstract

The invention relates to a control method of cleaning equipment and the cleaning equipment, and the control method of the cleaning equipment, the cleaning equipment comprises clothes processing equipment and ground cleaning equipment, the method comprises the following steps: determining that the ground cleaning equipment has a charging demand, and determining that the rotating speed demand of the clothes processing equipment is greater than a rotating speed threshold; and controlling the rotating speed of the clothes processing equipment to be smaller than or equal to the rotating speed threshold value in the charging process of the ground cleaning equipment. According to the ground cleaning equipment, the situation that the charging electrode of the ground cleaning equipment is abraded due to the fact that vibration of the clothes processing equipment is too large in the charging process can be avoided, safety accidents can be reduced, and the service life of the cleaning equipment is prolonged.

Description

Technical Field

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

[0002] With the rapid development of science and technology, more and more cleaning equipment are entering users' homes to improve their living environment, such as washing machines, dry cleaning machines or sweepers, etc. These cleaning equipment require a lot of space for placement, but the placement space in users' homes is often limited. Therefore, the combination of washing machines and sweeper base stations can effectively utilize space, improve cleaning efficiency and improve users' living environment.

[0003] However, the above combination also has some defects. Since the sweeping machine base station is located below the washing machine, when the washing machine is used to wash clothes and the washing machine vibrates too much, the sweeping machine base station below will also vibrate. If the sweeping machine is charged at the sweeping machine base station at this time, the charging electrode of the sweeping machine and the charging electrode of the base station will produce friction under the action of the vibration. The greater the vibration, the more severe the friction, which may easily cause safety risks or affect the life of the sweeping machine. Summary of the invention

[0004] In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a control method of a cleaning device and a cleaning device.

[0005] In a first aspect, the present disclosure provides a control method for a cleaning device, wherein the cleaning device includes a clothes processing device and a floor cleaning device, and the method includes:

[0006] Determining that the floor cleaning device has a charging requirement, and determining that a rotation speed requirement of the clothes processing device is greater than a rotation speed threshold;

[0007] The rotation speed of the clothes processing device during the charging process of the floor cleaning device is controlled to be less than or equal to the rotation speed threshold.

[0008] In some embodiments, determining that the floor cleaning device has a charging requirement includes:

[0009] It is determined that the floor cleaning device is in a charging state or has a charging request.

[0010] In some embodiments, determining that the rotation speed requirement of the laundry processing device is greater than a rotation speed threshold comprises:

[0011] Determining that a current rotation speed of the laundry processing device is greater than the rotation speed threshold;

[0012] The controlling the rotation speed of the clothes processing device during the charging process of the floor cleaning device to be less than or equal to the rotation speed threshold includes: reducing the rotation speed of the clothes processing device to control the rotation speed of the clothes processing device during the charging process of the floor cleaning device to be less than or equal to the rotation speed threshold.

[0013] In some embodiments, determining that the rotation speed requirement of the laundry processing device is greater than a rotation speed threshold comprises: determining that a target rotation speed requested by the laundry processing device is greater than the rotation speed threshold;

[0014] The controlling the rotation speed of the clothes processing device to be less than or equal to the rotation speed threshold during the charging process of the floor cleaning device includes: controlling the rotation speed of the clothes processing device to stop increasing after reaching the rotation speed threshold.

[0015] In some embodiments, determining that the rotation speed requirement of the laundry processing device is greater than a rotation speed threshold comprises: a current rotation speed of the laundry processing device is less than or equal to the rotation speed threshold, and a target rotation speed requested by the laundry processing device is greater than the rotation speed threshold;

[0016] The controlling the rotation speed of the laundry processing device to be less than or equal to the rotation speed threshold during the charging process of the floor cleaning device comprises:

[0017] The clothes processing device is controlled to maintain a current rotation speed during the charging process of the floor cleaning device, or the rotation speed of the clothes processing device is controlled to stop increasing after reaching the rotation speed threshold.

[0018] In some embodiments, after controlling the rotation speed of the laundry processing device during the charging process of the floor cleaning device to be less than or equal to the rotation speed threshold, the method further includes:

[0019] It is determined that the floor cleaning device has been fully charged, and the rotation speed of the clothes processing device is controlled to be adjusted to a rotation speed corresponding to the rotation speed requirement.

[0020] In some embodiments, determining that charging of the floor cleaning device is complete includes:

[0021] It is determined that the floor cleaning device is charged to a set power threshold, or is charged to a power required for subsequent cleaning work of the floor cleaning device.

[0022] In some embodiments, controlling the rotation speed of the laundry processing device during the charging process of the floor cleaning device to be less than or equal to the rotation speed threshold includes:

[0023] Determining that the current cleaning task of the floor cleaning equipment is not completed;

[0024] The floor cleaning device is controlled to charge, and the rotation speed of the clothes processing device during the charging process of the floor cleaning device is controlled to be less than or equal to the rotation speed threshold until the charging of the floor cleaning device is completed.

[0025] In some embodiments, after the floor cleaning device is charged, the method further includes:

[0026] It is determined that the mobile cleaning part of the floor cleaning device has left the station, and the rotation speed of the clothes processing device is adjusted to a rotation speed corresponding to the rotation speed requirement.

[0027] In some embodiments, controlling the rotation speed of the laundry processing device during the charging process of the floor cleaning device to be less than or equal to the rotation speed threshold includes:

[0028] Determining that the current cleaning task of the floor cleaning equipment is completed;

[0029] After controlling the clothes processing device to run according to the speed requirement, controlling the floor cleaning device to charge;

[0030] Wherein, the rotation speed of the clothes processing device after finishing operation according to the rotation speed requirement is less than or equal to the rotation speed threshold.

[0031] In some embodiments, controlling the rotation speed of the laundry processing device during the charging process of the floor cleaning device to be less than or equal to the rotation speed threshold includes:

[0032] Determining that the remaining duration of the cleaning program of the laundry processing device is less than a set duration;

[0033] The floor cleaning device is controlled to charge after the cleaning program of the clothes processing device is finished.

[0034] In some embodiments, controlling the rotation speed of the laundry processing device during the charging process of the floor cleaning device to be less than or equal to the rotation speed threshold includes:

[0035] Determining that the time duration for which the laundry processing device executes the speed requirement is less than a set time duration;

[0036] After controlling the clothes processing device to run according to the speed requirement, controlling the floor cleaning device to charge;

[0037] Wherein, the rotation speed of the clothes processing device after finishing operation according to the rotation speed requirement is less than or equal to the rotation speed threshold.

[0038] In a second aspect, the present disclosure further provides a cleaning device, comprising a processor and a memory, wherein the processor executes the steps of any one of the methods provided in the first aspect by calling a program or instruction stored in the memory.

[0039] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages:

[0040] The present disclosure provides a control method for a cleaning device, wherein the cleaning device includes a clothing processing device and a floor cleaning device, and the method includes: determining that the floor cleaning device has a charging demand, and determining that the rotation speed demand of the clothing processing device is greater than a rotation speed threshold; controlling the rotation speed of the clothing processing device during the charging process of the floor cleaning device to be less than or equal to the rotation speed threshold. Among them, the cleaning equipment includes a clothing processing equipment and a floor cleaning equipment. When the clothing processing equipment generates vibration during operation, the floor cleaning equipment located below the clothing processing equipment will vibrate accordingly. The higher the rotation speed of the clothing processing equipment, the greater the vibration intensity, and the greater the vibration of the floor cleaning equipment. If the floor cleaning equipment has a charging demand at this time, the charging electrode is easily damaged by friction during the vibration, causing a safety risk. Therefore, when the floor cleaning equipment has a charging demand, the embodiment of the present disclosure determines the rotation speed of the clothing processing equipment. If it is determined that the rotation speed demand of the clothing processing equipment is greater than the rotation speed threshold, it can be known that the vibration of the current clothing processing equipment is strong and is easy to damage the charging electrode of the floor cleaning equipment. Therefore, the rotation speed of the clothing processing equipment is adjusted to control the rotation speed of the clothing processing equipment during the charging process of the floor cleaning equipment to be less than or equal to the rotation speed threshold, so as to reduce the vibration and avoid the charging electrode of the floor cleaning equipment being worn due to excessive vibration of the clothing processing equipment during the charging process, which is beneficial to reducing the occurrence of safety accidents and extending the life of the cleaning equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0043] Figure 1 A schematic flow chart of a control method for a cleaning device provided in an embodiment of the present disclosure;

[0044] Figure 2 A structural block diagram of a cleaning device provided in an embodiment of the present disclosure;

[0045] Figure 3 A schematic structural diagram of a cleaning device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0046] In order to more clearly understand the above-mentioned purposes, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. Optionally, the embodiments of the present disclosure and the features in the embodiments may be combined with each other without conflict.

[0047] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0048] In the prior art, a clothing processing device is used in combination with a floor cleaning device. Usually, the floor cleaning device is located below the clothing processing device to reduce the space occupied by each cleaning device. There is a contact portion between the floor cleaning device and the clothing processing device. Therefore, when the clothing processing device generates vibration during the process of cleaning clothes, the vibration will also act on the floor cleaning device. If the floor cleaning device has a charging demand at this time, the charging electrode on the mobile cleaning part of the floor cleaning device is in contact and aligned with the charging electrode on the base station of the floor cleaning device. The vibration generated by the clothing processing device will cause the charging electrodes to rub against each other. The stronger the vibration, the more severe the friction, which will affect the service life of the cleaning device and easily lead to safety accidents.

[0049] In view of the above shortcomings of the prior art, the embodiments of the present disclosure provide a control method for a cleaning device. The method can be executed by a control device for a cleaning device provided by the embodiments of the present disclosure, and the control device for the cleaning device can be implemented in software and / or hardware. The control device for the cleaning device can be integrated in the cleaning device, and the control method for the cleaning device provided by the embodiments of the present disclosure can be applicable to application scenarios in which the cleaning device performs cleaning work. The embodiments of the present disclosure do not limit the type of cleaning device.

[0050] The cleaning equipment provided in the embodiments of the present disclosure includes a clothing processing device and a floor cleaning device, wherein the clothing processing device may include various types of equipment such as a washing machine, a dryer, and a washer-dryer. The floor cleaning device is arranged below the clothing processing device, and the space below the clothing processing device is used to provide floor space for the floor cleaning device, so as to avoid the floor cleaning device from occupying additional space. Specifically, the floor cleaning device includes a base station and a mobile cleaning unit. The base station of the floor cleaning device is integrated at the bottom of the clothing processing device. The accommodating cavity formed by the base station is used to accommodate the mobile cleaning unit. The mobile cleaning unit is, for example, a sweeping robot. The mobile cleaning unit can perform working steps such as charging, replenishing fluid or cleaning in the accommodating cavity. A water tank is provided in the base station, and the base station water tank can be used for water storage. The embodiments of the present disclosure do not limit the specific type of equipment.

[0051] When the above cleaning equipment requirements are met, the control method of the cleaning equipment can be executed. Figure 1A flow chart of a control method for a cleaning device provided in an embodiment of the present disclosure is shown as follows: Figure 1 As shown, the control method of the cleaning device includes S110 to S120:

[0052] S110: Determine that the floor cleaning device has a charging requirement, and determine that the rotation speed requirement of the clothes processing device is greater than a rotation speed threshold.

[0053] If it is determined that the floor cleaning device has a charging demand, the clothing processing device is in a working state. When the clothing processing device is working, the clothing processing chamber will rotate, and vibration will be generated during the rotation process. The greater the rotation speed of the clothing processing device, the stronger the vibration generated. Since the floor cleaning device is in contact with the clothing processing device, the floor cleaning device will also be affected by the vibration. If the floor cleaning device is charged at this time, the charging electrode will continue to rub under the action of the vibration. The greater the vibration, the more serious the friction, which is easy to cause safety accidents and affect the service life of the cleaning device. Therefore, when the floor cleaning device is driven to have a charging demand, the speed demand of the clothing processing device is obtained. If it is determined that the speed demand of the clothing processing device is greater than the speed threshold, it means that the speed of the clothing processing device is relatively high at this time, and the vibration generated is also relatively strong. If the floor cleaning device is charged at this time, friction is more likely to occur between the charging electrodes. Among them, the speed of the clothing processing device refers to the speed of the inner drum of the clothing processing device. If the clothing processing device is a pulsator washing machine, it can also refer to the pulsator speed. The embodiment of the present disclosure does not limit this, and the speed type can be kept consistent.

[0054] S120. Control the rotation speed of the clothes processing device to be less than or equal to a rotation speed threshold during the charging process of the floor cleaning device.

[0055] After determining that the rotation speed of the clothes processing device is greater than the rotation speed threshold, if the floor cleaning device is charged directly at this rotation speed, the high rotation speed will cause strong vibration, and friction between the charging electrodes will be easily damaged. To avoid the above situation, the rotation speed of the clothes processing device can be adjusted to control the rotation speed of the clothes processing device during the charging process of the floor cleaning device to be less than or equal to the rotation speed threshold. When the rotation speed of the clothes processing device is less than or equal to the rotation speed threshold, the vibration generated by the clothes processing device is weak. If the floor cleaning device is charged at this time, the charging electrodes of the floor cleaning device are not easily damaged.

[0056] In the embodiment of the present disclosure, the cleaning device includes a clothing processing device and a floor cleaning device. When the clothing processing device generates vibration during operation, the floor cleaning device located below the clothing processing device will vibrate accordingly. The higher the rotation speed of the clothing processing device, the greater the vibration intensity, and the stronger the vibration of the floor cleaning device will be. If the floor cleaning device has a charging demand at this time, the charging electrode is easily damaged by friction during the vibration, causing a safety risk. Therefore, when the floor cleaning device has a charging demand, the embodiment of the present disclosure will determine the rotation speed of the clothing processing device. If it is determined that the rotation speed demand of the clothing processing device is greater than the rotation speed threshold, it can be known that the vibration of the current clothing processing device is relatively strong, which is easy to damage the charging electrode of the floor cleaning device. Therefore, the rotation speed of the clothing processing device will be adjusted to control the rotation speed of the clothing processing device during the charging process of the floor cleaning device to be less than or equal to the rotation speed threshold, so as to reduce vibration and avoid the charging electrode of the floor cleaning device being worn due to excessive vibration of the clothing processing device during the charging process, which is beneficial to reducing the occurrence of safety accidents and extending the life of the cleaning equipment.

[0057] In some embodiments, determining that the floor cleaning device has a need for charging includes:

[0058] Determine if the floor cleaning device is in a charging state or has a request to charge.

[0059] In the embodiment of the present disclosure, the floor cleaning device having a charging demand includes being in a charging state or having a charging request. Exemplarily, the floor cleaning device being in a charging state means that it is being charged. The floor cleaning device having a charging request may be, for example, that the mobile cleaning unit of the floor cleaning device is running low on power during the execution of a cleaning task and needs to return to the base station for charging. For example, the mobile cleaning unit of the floor cleaning device may return to the base station for charging after completing the current cleaning task. In the embodiment of the present disclosure, the floor cleaning device being charged or the floor cleaning device having a charging request may both be considered as the floor cleaning device having a charging demand.

[0060] In some embodiments, determining that the rotation speed requirement of the laundry processing device is greater than a rotation speed threshold comprises:

[0061] It is determined that the current rotation speed of the laundry processing device is greater than a rotation speed threshold.

[0062] Controlling the rotation speed of the clothes processing device to be less than or equal to the rotation speed threshold during the charging process of the floor cleaning device includes: reducing the rotation speed of the clothes processing device to control the rotation speed of the clothes processing device to be less than or equal to the rotation speed threshold during the charging process of the floor cleaning device.

[0063] The speed requirement of the laundry processing device includes the current speed of the laundry processing device and / or the target speed of the laundry processing device. In the embodiment of the present disclosure, the speed requirement of the laundry processing device refers to the current speed, and the current speed of the laundry processing device refers to the speed corresponding to the current operation of the laundry processing device. That is, at this time, the speed of the laundry processing device is relatively high, greater than the speed threshold, resulting in strong vibration. If the floor cleaning device is charged directly at this speed, friction is likely to occur between the charging electrodes.

[0064] Therefore, the rotation speed of the clothes processing device during the charging process of the floor cleaning device can be controlled to be less than or equal to the rotation speed threshold to reduce vibration. Specifically, the rotation speed of the clothes processing device is reduced so that the rotation speed of the clothes processing device during the charging process of the floor cleaning device is less than or equal to the rotation speed threshold to reduce the vibration generated by the clothes processing device during the charging process of the floor cleaning device and reduce the possibility of friction of the charging electrode.

[0065] For example, the rotation speed threshold of the laundry processing device is 75 rpm. If the current rotation speed of the laundry processing device is 80 rpm, it is determined that the current rotation speed of the laundry processing device is greater than the rotation speed threshold. At this time, the rotation speed of the laundry processing device is high and the vibration is strong. If the floor cleaning device is charged at this time, the floor cleaning device is easily damaged. Therefore, the rotation speed of the laundry processing device is reduced, for example, adjusted to 70 rpm. At this time, the current rotation speed of the laundry processing device is lower than the rotation speed threshold, the vibration is weak, the floor cleaning device can be controlled to charge, and the possibility of mutual wear of the charging electrodes is low.

[0066] In some embodiments, determining that the rotation speed requirement of the clothes treating device is greater than the rotation speed threshold includes: determining that the target rotation speed requested by the clothes treating device is greater than the rotation speed threshold.

[0067] Controlling the rotation speed of the clothes processing device to be less than or equal to the rotation speed threshold during the charging process of the floor cleaning device includes: controlling the rotation speed of the clothes processing device to stop increasing after reaching the rotation speed threshold.

[0068] The speed requirement of the laundry processing device includes the current speed of the laundry processing device and / or the target speed of the laundry processing device. In the embodiment of the present disclosure, the speed requirement of the laundry processing device refers to the requested target speed, and the requested target speed of the laundry processing device is the speed that the laundry processing device requests to be adjusted. That is, the requested speed is higher, greater than the speed threshold, resulting in stronger vibration. If the floor cleaning device is charged directly at the requested target speed, friction is likely to occur between the charging electrodes.

[0069] Therefore, the speed of the clothes processing device during the charging process of the floor cleaning device can be controlled to be less than or equal to the speed threshold to reduce vibration. Specifically, the speed of the clothes processing device is controlled to stop increasing after reaching the speed threshold. During the process of increasing the speed of the clothes processing device, the speed is judged in real time. If the speed of the clothes processing device is increased to the speed threshold, the clothes processing device is controlled to stop increasing the speed, so that the speed of the floor cleaning device during the charging process is less than or equal to the speed threshold, to avoid excessive vibration caused by continued speed increase.

[0070] For example, the speed threshold of the laundry processing device is 75 rpm, and the target speed requested by the laundry processing device is 80 rpm. If the target speed requested by the laundry processing device is greater than the speed threshold, if the laundry processing device is controlled to adjust the current speed to the target speed, the vibration is strong, and if the floor cleaning device is charged, the floor cleaning device is easily damaged. Therefore, the speed of the laundry processing device is controlled to stop increasing after reaching the speed threshold of 75 rpm, which can not only avoid the impact of continued speed increase on the charging of the floor cleaning device, but also ensure the processing efficiency of the laundry processing device.

[0071] In some feasible embodiments, the speed threshold of the laundry processing device is 75 rpm, and the target speed requested by the laundry processing device is 70 rpm-75 rpm-80 rpm-65 rpm in sequence. Then the laundry processing device is controlled to adjust the current speed to 70 rpm-75 rpm in sequence, and maintain 75 rpm (when the target speed is 80 rpm, the speed of the laundry processing device is maintained at 75 rpm), until the time of adjusting to 65 rpm is reached, and the speed of the laundry processing device is adjusted to 65 rpm. The adjustment of the laundry processing device to the target speed may be a linear adjustment process, and is also adjusted in the above manner, and the present disclosure does not limit this.

[0072] In some embodiments, determining that the rotation speed requirement of the laundry processing device is greater than the rotation speed threshold comprises: the current rotation speed of the laundry processing device is less than or equal to the rotation speed threshold, and the target rotation speed requested by the laundry processing device is greater than the rotation speed threshold;

[0073] Controlling the rotation speed of the clothes processing device to be less than or equal to the rotation speed threshold during the charging process of the floor cleaning device includes:

[0074] The clothes processing device is controlled to maintain a current rotation speed during the charging process of the floor cleaning device, or the rotation speed of the clothes processing device is controlled to stop increasing after reaching a rotation speed threshold.

[0075] In the disclosed embodiment, it is determined that the clothing treatment device has a charging demand, and the current rotation speed of the clothing treatment device is less than or equal to the rotation speed threshold, and the target rotation speed requested by the clothing treatment device is greater than the rotation speed threshold. This indicates that the rotation speed of the current clothing treatment device during operation is less than or equal to the threshold rotation speed, and the rotation speed is low, but the requested target rotation speed is greater than the rotation speed threshold. If the clothing treatment device adjusts the rotation speed to be greater than the rotation speed threshold, the rotation speed is high. If the rotation speed of the clothing treatment device is adjusted to the rotation speed threshold, the vibration generated by the clothing treatment device is strong, and the floor cleaning device is charged, it will be affected by the vibration, and the charging electrode of the floor cleaning device is easily damaged.

[0076] Therefore, the rotation speed of the clothes processing device during the charging process of the floor cleaning device can be controlled to be less than or equal to the rotation speed threshold, so as to reduce the vibration generated by the clothes processing device during the charging process of the floor cleaning device.

[0077] Specifically, the clothes processing device can be controlled to maintain the current rotation speed during the charging process of the floor cleaning device. Since the current rotation speed of the clothes processing device is less than or equal to the rotation speed threshold, if the rotation speed is maintained during the charging process of the floor cleaning device, strong vibration will not be generated, and the charging electrode of the floor cleaning device will not be affected. For example, the rotation speed threshold of the clothes processing device is 75 rpm, the current rotation speed of the clothes processing device is 60 rpm, and the current rotation speed of the clothes processing device is less than the rotation speed threshold. The floor cleaning device can continue to maintain 60 rpm during the charging process, which will not affect the charging electrode of the floor cleaning device.

[0078] Optionally, the speed of the laundry processing device is controlled to stop increasing after reaching the speed threshold. Since the target speed requested by the laundry processing device is greater than the speed threshold, if the speed of the laundry processing device is adjusted to the requested target speed, it will cause excessive vibration, which can easily damage the floor cleaning device during the charging process. Therefore, it should be avoided to adjust the speed to the target speed, and the speed of the laundry processing device can be controlled to stop after reaching the speed threshold. At this time, the speed of the laundry processing device is the speed threshold, which can not only avoid damage to the floor cleaning device during the charging process, but also make the speed of the laundry processing device closer to the target speed, which is conducive to ensuring the cleaning effect. For example, the speed threshold of the laundry processing device is 75 rpm, the current speed of the laundry processing device is 60 rpm, and the target speed requested by the laundry processing device is 80 rpm. At this time, the current speed of the laundry processing device can be adjusted to the speed threshold of 75 rpm to stop increasing the speed, so as to be closer to the requested target speed, and the charging electrode of the floor cleaning device will not be affected by excessive vibration. Among them, the adjustment of the laundry processing device to the target speed may be a linear adjustment process, which is also adjusted in the above manner and will not be repeated.

[0079] In some embodiments, after controlling the rotation speed of the laundry processing device to be less than or equal to the rotation speed threshold during the charging process of the floor cleaning device, the method further includes:

[0080] It is confirmed that the floor cleaning device is fully charged, and the speed of the clothes processing device is controlled to be adjusted to a speed corresponding to the speed requirement.

[0081] After the floor cleaning device is fully charged, even if the vibration of the clothes processing device is too strong, it will not affect the charging electrode of the floor cleaning device. Therefore, in order to ensure the cleaning effect of the clothes processing device, after the floor cleaning device is fully charged, the speed of the clothes processing device is controlled to be adjusted to the speed corresponding to the speed requirement. For example, if the speed threshold is 75 rpm and the speed requirement of the clothes processing device corresponds to 80 rpm, the speed of the clothes processing device can be adjusted to the speed corresponding to the speed requirement of 80 rpm after the floor cleaning device is fully charged.

[0082] In some embodiments, determining that charging of the floor cleaning device is complete includes:

[0083] It is determined that the floor cleaning device is charged to a set power threshold, or charged to a power required for subsequent cleaning work of the floor cleaning device.

[0084] Exemplarily, determining that the charging of the floor cleaning device is complete may be determining that the floor cleaning device is charged to a set power threshold. When the power of the floor cleaning device reaches the set power threshold during the charging process, charging is determined to be complete. The set power threshold may be set according to actual needs, for example, it may be set to 50% of the battery capacity of the floor cleaning device, or to 75% of the battery capacity of the floor cleaning device, or it may be set to 100% of the battery capacity of the floor cleaning device. The embodiments of the present disclosure are not limited to this, and the power threshold may be set according to actual needs.

[0085] Determining that the charging of the floor cleaning device is complete may also be determining that the floor cleaning device is charged to the amount of electricity required for subsequent cleaning work of the floor cleaning device. If cleaning work is required after the floor cleaning device is charged, the amount of electricity required for the subsequent cleaning work can be determined based on the subsequent cleaning work required by the floor cleaning device. When the amount of electricity in the floor cleaning device during the charging process reaches the amount of electricity required for the subsequent cleaning work, it is determined that the charging is complete. In the scenario provided by the embodiment of the present disclosure, there is no need to wait for the battery of the floor cleaning device to be fully charged. It is sufficient to charge enough to support it to complete subsequent cleaning work, thereby avoiding the impact of the operation of the clothing processing device on the operation due to the long charging time of the floor cleaning device.

[0086] In some embodiments, controlling the rotation speed of the laundry processing device to be less than or equal to a rotation speed threshold during the charging process of the floor cleaning device includes:

[0087] It was determined that the cleaning task of the floor cleaning equipment was not completed.

[0088] The floor cleaning device is controlled to charge, and the rotation speed of the clothes processing device is controlled to be less than or equal to the rotation speed threshold during the charging process of the floor cleaning device until the charging of the floor cleaning device is completed.

[0089] In the disclosed embodiment, if the mobile cleaning unit of the floor cleaning device is powered during the execution of the current cleaning task, it needs to return to the base station for charging, that is, the current cleaning task of the floor cleaning device is not completed. After the mobile cleaning unit of the floor cleaning device is charged, it needs to continue to execute the remaining part of the current cleaning task. In order to enable the floor cleaning device to complete the current cleaning task as quickly as possible, the disclosed embodiment gives priority to controlling the charging of the floor cleaning device, and should avoid the situation where the rotation speed of the clothing processing device is too high during the charging process of the floor cleaning device, resulting in excessive vibration and damage to the charging electrode of the floor cleaning device. Therefore, during the charging process of the floor cleaning device, the rotation speed of the clothing processing device during the charging process of the floor cleaning device is controlled to be less than or equal to the rotation speed threshold, and the vibration intensity during the operation of the clothing processing device is reduced until the charging of the floor cleaning device is completed.

[0090] In some embodiments, after the floor cleaning device is fully charged, the method further includes:

[0091] It is determined that the mobile cleaning unit of the floor cleaning device has left the station, and the rotation speed of the clothes processing device is adjusted to a rotation speed corresponding to the rotation speed requirement.

[0092] In combination with the above embodiments, the floor cleaning device includes a mobile cleaning unit and a base station. When the floor cleaning device is charging, the mobile cleaning unit of the floor cleaning device will return to the base station; and when the floor cleaning device performs a cleaning task, the mobile cleaning unit of the floor cleaning device will be controlled to drive out of the base station to perform the cleaning task. Because the base station is located below the clothing processing device, and the base station has a certain height, there is a slope between the base station and the ground, and the mobile cleaning unit needs to pass through the slope to reach the ground when leaving the station. The clothing processing device is in contact with the base station of the floor cleaning device, and the vibration generated by the clothing processing device will be transmitted to the base station, and then transmitted to the slope by the base station. Therefore, if the vibration intensity of the clothing processing device is too large, the base station and the slope will vibrate accordingly. If the mobile cleaning unit of the floor cleaning device passes through the slope to leave the station at this time, it will also be affected by the vibration of the slope, and a collision will occur during the exit process, affecting the exit speed and the path of the exit process of the mobile cleaning unit of the floor cleaning device, and may even cause bump damage to the mobile cleaning unit of the floor cleaning device. Therefore, after the floor cleaning device is charged, the rotation speed of the clothing processing device continues to be controlled to be less than or equal to the rotation speed threshold until it is determined that the mobile cleaning part of the floor cleaning device has left the station, so as to avoid the mobile cleaning part of the floor cleaning device being affected by the vibration of the clothing processing device during the leaving process.

[0093] In some embodiments, controlling the rotation speed of the laundry processing device to be less than or equal to a rotation speed threshold during the charging process of the floor cleaning device includes:

[0094] Confirm that the cleaning task of the floor cleaning equipment is completed;

[0095] After controlling the clothes processing equipment to run according to the speed requirement, the floor cleaning equipment is controlled to charge.

[0096] The speed of the clothes processing device after running according to the speed requirement is less than or equal to the speed threshold.

[0097] In the disclosed embodiment, if it is determined that the current cleaning task of the floor cleaning device is completed, the floor cleaning device is charged at this time to store electricity and wait for the user to request the next cleaning task. It can be understood that the current charging demand of the floor cleaning device is not urgent and does not need to be charged immediately. At this time, the cleaning program of the clothing processing device can be executed first, and there is no need to consider the impact of the vibration caused by the excessive speed of the clothing processing device on the floor cleaning device (the floor cleaning device is not charged at this time). The clothing processing device can be controlled to run according to the speed requirement, and the floor cleaning device can be controlled to charge after the clothing processing device finishes running according to the speed requirement. When operating in this way, there is no overlapping time period between the operation of the clothing processing device according to the speed requirement and the control of the charging of the floor cleaning device. The cleaning program of the clothing processing device can be completed quickly, and the charging electrode of the floor cleaning device will not be affected.

[0098] Among them, the speed of the clothes processing device after the operation according to the speed requirement is completed is less than or equal to the speed threshold. The state of the clothes processing device after the operation according to the speed requirement is completed includes various situations. For example, after the clothes processing device is completed to operate according to the speed requirement, and the current cleaning program is completed, the speed of the clothes processing device after the operation according to the speed requirement is completed is 0. Alternatively, after the clothes processing device is completed to operate according to the speed requirement, the current cleaning program is not completed, but the speed of the subsequent execution of this cleaning program should be less than or equal to the speed threshold. Since the speed of the clothes processing device after the operation according to the speed requirement is less than or equal to the speed threshold, the floor cleaning device is charged in this process, and there is no need to consider the impact of the vibration generated when the speed of the clothes processing device is too high on the floor cleaning device.

[0099] In some embodiments, controlling the rotation speed of the laundry processing device to be less than or equal to a rotation speed threshold during the charging process of the floor cleaning device includes:

[0100] It is determined that the remaining time of the cleaning program of the laundry treatment apparatus is less than the set time.

[0101] The floor cleaning device is controlled to be charged after the cleaning program of the clothes treatment device is finished.

[0102] In the disclosed embodiment, if it is determined that the remaining duration of the cleaning program of the clothes processing device is less than the set duration, it can be understood that the cleaning program of the clothes processing device is about to be completed, and the remaining unfinished cleaning program duration is short, and the clothes processing device can be controlled to continue to run first, and after the cleaning program of the clothes processing device is completed, the floor cleaning device can be controlled to charge. This setting can avoid the clothes processing device from waiting for too long. Since the remaining unfinished cleaning program duration of the clothes processing device is short, the clothes processing device can be controlled to complete the cleaning program first, and then the floor cleaning device can be controlled to charge. Since the clothes processing device has completed the cleaning program when the floor cleaning device is charging, the clothes processing device will not affect the charging of the floor cleaning device.

[0103] In some embodiments, controlling the rotation speed of the laundry processing device to be less than or equal to a rotation speed threshold during the charging process of the floor cleaning device includes:

[0104] Determining that the time duration for the laundry processing device to execute the speed requirement is less than the set time duration;

[0105] After controlling the clothes processing equipment to run according to the speed requirement, the floor cleaning equipment is controlled to charge;

[0106] The speed of the clothes processing device after running according to the speed requirement is less than or equal to the speed threshold.

[0107] In the disclosed embodiment, the time duration of the clothes processing device executing the speed requirement is obtained, and the floor cleaning device should be controlled to charge during the time duration of the clothes processing device executing the speed requirement. Further, if it is determined that the time duration of the clothes processing device executing the speed requirement is less than the set time duration, that is, the time duration of the speed requirement being greater than the speed threshold is relatively short, the clothes processing device can be preferentially controlled to operate at the speed corresponding to the speed requirement, and after the operation according to the speed requirement is completed, the floor cleaning device can be controlled to charge.

[0108] Among them, after the clothing processing equipment finishes running according to the speed requirement (high-speed operation ends), the cleaning program is completed, and then only the floor cleaning equipment is charged subsequently; or, the clothing processing equipment does not complete the cleaning program, but in the subsequent cleaning program, the speed of the clothing processing equipment after the operation according to the speed requirement ends is less than or equal to the speed threshold. Even if the clothing processing equipment is running and controlling the charging of the floor cleaning equipment at the same time, the vibration intensity is weak and will not affect the charging electrode of the floor cleaning equipment.

[0109] For example, Figure 2 This is a structural block diagram of a control device of a cleaning device provided in an embodiment of the present disclosure. The control device of the cleaning device can be integrated in the cleaning device, and the cleaning device includes a clothing processing device and a floor cleaning device. Figure 2As shown, the control device of the cleaning equipment includes: a charging demand determination module 21 and a control module 22.

[0110] It should be noted that the control device of the cleaning equipment provided in the embodiment of the present disclosure can implement the steps of any one of the control methods of the cleaning equipment in the above-mentioned embodiments and has corresponding beneficial effects, which can be understood with reference to the above and will not be elaborated here.

[0111] The embodiments of the present disclosure also provide a computer-readable storage medium on which a computer program is stored. The computer program is executed by a processor to implement the steps of the control method of the cleaning device provided in any of the above embodiments, thereby having the beneficial effects of the cleaning device in the above embodiments, and the embodiments of the present disclosure are not repeated here.

[0112] It should be noted that examples of readable storage media include, but are not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or components, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, a readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device or component.

[0113] The storage medium provided by the above-mentioned embodiments of the present disclosure and the method provided by the embodiments of the present disclosure are based on the same inventive concept and have the same beneficial effects as the method adopted, run or implemented by the application program or instruction stored therein.

[0114] Based on the same inventive concept, the embodiment of the present disclosure also provides a cleaning device, Figure 3 A schematic diagram of a cleaning device provided in an embodiment of the present disclosure is shown in FIG. Figure 3 As shown, it includes: a processor 31 and a memory 32. The processor 31 executes the steps of the control method of the cleaning device as described in any of the above embodiments by calling the program or instructions stored in the memory 32.

[0115] It is understood that the memory in this embodiment may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. In some implementations, the memory stores the following elements: executable units or data structures, or their subsets, or their extended sets of operating systems and applications. In the disclosed embodiment, the processor executes the steps of each embodiment of the method provided in the disclosed embodiment by calling the program or instruction stored in the memory.

[0116] The method provided by the embodiment of the present disclosure can be applied to a processor or implemented by a processor. The processor can be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor or an instruction in the form of software. The above processor can be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0117] The steps of the method provided in the embodiment of the present disclosure can be directly embodied as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software units in the decoding processor. The software unit can be located in a mature storage medium in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor reads the information in the memory and completes the steps of the method in combination with its hardware.

[0118] The cleaning device may also include a physical component, or multiple physical components, according to the instructions generated by the processor when executing the control method of the cleaning device provided in the embodiment of the present application. Different physical components can be set in the cleaning device, or outside the cleaning device, such as a cloud server, etc. Each physical component cooperates with the processor and the memory to realize the function of the cleaning device in this embodiment.

[0119] In other embodiments, the cleaning device may further include other structures or functional components known to those skilled in the art, which are not described or limited herein.

[0120] In some embodiments, herein, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0121] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for controlling a cleaning device, characterized in that: The cleaning device comprises a clothes processing device and a floor cleaning device, and the method comprises: Determining that the floor cleaning device has a charging requirement, and determining that a rotation speed requirement of the clothes processing device is greater than a rotation speed threshold; The rotation speed of the clothes processing device during the charging process of the floor cleaning device is controlled to be less than or equal to the rotation speed threshold.

2. The control method of the cleaning equipment according to claim 1, characterized in that: Determining that the floor cleaning device has a charging requirement includes: It is determined that the floor cleaning device is in a charging state or has a charging request.

3. The control method of the cleaning equipment according to claim 1, characterized in that: The determining that the rotation speed requirement of the laundry processing device is greater than the rotation speed threshold comprises: determining that the current rotation speed of the laundry processing device is greater than the rotation speed threshold; The controlling the rotation speed of the clothes processing device during the charging process of the floor cleaning device to be less than or equal to the rotation speed threshold includes: reducing the rotation speed of the clothes processing device to control the rotation speed of the clothes processing device during the charging process of the floor cleaning device to be less than or equal to the rotation speed threshold.

4. The control method of the cleaning equipment according to claim 1, characterized in that: The determining that the rotation speed requirement of the laundry processing device is greater than the rotation speed threshold comprises: determining that the target rotation speed requested by the laundry processing device is greater than the rotation speed threshold; The controlling the rotation speed of the clothes processing device to be less than or equal to the rotation speed threshold during the charging process of the floor cleaning device includes: controlling the rotation speed of the clothes processing device to stop increasing after reaching the rotation speed threshold.

5. The control method of the cleaning equipment according to claim 1, characterized in that: The determining that the rotation speed requirement of the laundry processing device is greater than the rotation speed threshold comprises: the current rotation speed of the laundry processing device is less than or equal to the rotation speed threshold, and the target rotation speed requested by the laundry processing device is greater than the rotation speed threshold; The controlling the rotation speed of the laundry processing device to be less than or equal to the rotation speed threshold during the charging process of the floor cleaning device comprises: The clothes processing device is controlled to maintain a current rotation speed during the charging process of the floor cleaning device, or the rotation speed of the clothes processing device is controlled to stop increasing after reaching the rotation speed threshold.

6. The control method of the cleaning equipment according to claim 1, characterized in that: After controlling the rotation speed of the laundry processing device during the charging process of the floor cleaning device to be less than or equal to the rotation speed threshold, the method further includes: It is determined that the floor cleaning device has been fully charged, and the rotation speed of the clothes processing device is controlled to be adjusted to a rotation speed corresponding to the rotation speed requirement.

7. The control method of the cleaning equipment according to claim 6, characterized in that: Determining that charging of the floor cleaning device is complete includes: It is determined that the floor cleaning device is charged to a set power threshold, or is charged to a power required for subsequent cleaning work of the floor cleaning device.

8. The control method of the cleaning equipment according to claim 1, characterized in that: The controlling the rotation speed of the clothes processing device during the charging process of the floor cleaning device to be less than or equal to the rotation speed threshold comprises: Determining that the current cleaning task of the floor cleaning equipment is not completed; The floor cleaning device is controlled to charge, and the rotation speed of the clothes processing device during the charging process of the floor cleaning device is controlled to be less than or equal to the rotation speed threshold until the charging of the floor cleaning device is completed.

9. The control method of the cleaning equipment according to claim 8, characterized in that: After the floor cleaning device is charged, the method further includes: It is determined that the mobile cleaning part of the floor cleaning device has left the station, and the rotation speed of the clothes processing device is adjusted to a rotation speed corresponding to the rotation speed requirement.

10. The control method of the cleaning equipment according to claim 1, characterized in that: The controlling the rotation speed of the clothes processing device during the charging process of the floor cleaning device to be less than or equal to the rotation speed threshold comprises: Determining that the current cleaning task of the floor cleaning equipment is completed; After controlling the clothes processing device to run according to the speed requirement, controlling the floor cleaning device to charge; Wherein, the rotation speed of the clothes processing device after finishing operation according to the rotation speed requirement is less than or equal to the rotation speed threshold.

11. The control method of the cleaning equipment according to claim 1, characterized in that: The controlling the rotation speed of the clothes processing device during the charging process of the floor cleaning device to be less than or equal to the rotation speed threshold comprises: Determining that the remaining duration of the cleaning program of the laundry processing device is less than a set duration; The floor cleaning device is controlled to charge after the cleaning program of the clothes processing device is finished.

12. The control method of the cleaning equipment according to claim 1, characterized in that: The controlling the rotation speed of the clothes processing device during the charging process of the floor cleaning device to be less than or equal to the rotation speed threshold comprises: Determining that the time duration for which the laundry processing device executes the speed requirement is less than a set time duration; After controlling the clothes processing device to run according to the speed requirement, controlling the floor cleaning device to charge; Wherein, the rotation speed of the clothes processing device after finishing operation according to the rotation speed requirement is less than or equal to the rotation speed threshold.

13. A cleaning device, characterized in that: The method comprises a processor and a memory, wherein the processor executes the steps of the method according to any one of claims 1 to 12 by calling a program or instruction stored in the memory.

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