Cleaning equipment control method and device, storage medium and cleaning equipment

Abstract

The invention discloses a control method and device of cleaning equipment, a storage medium and the cleaning equipment, the cleaning equipment comprises a rolling brush, and the method comprises the steps that the target pressure and the target rotating speed of the rolling brush set for a to-be-cleaned face are obtained, and according to the preset incidence relation of the pressure of the rolling brush, the rotating speed and working current, the target pressure and the target rotating speed, the target rotating speed is obtained; determining a target working current of the rolling brush, adjusting the rotating speed of the rolling brush to the target rotating speed, obtaining a current working current of the rolling brush in real time, and adjusting a first distance between the rolling brush and the to-be-cleaned surface according to the current working current and the target working current so as to enable the current working current to reach the target working current, the pressure applied to the to-be-cleaned surface by the rolling brush is the target pressure, so that the pressure applied to the to-be-cleaned surface by the rolling brush can be accurately controlled.

Description

Technical Field

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

[0002] In cleaning equipment, the roller brush is a common cleaning component, and the cleaning effect is achieved by the roller brush pressure generated by the rotation of the roller brush. Among them, the roller brush pressure refers to the pressure applied by the roller brush to the ground. The roller brush pressure is an important parameter in the cleaning effect and directly affects the cleaning effect. The material of the roller brush has a great influence on the roller brush pressure. When the soft-bristle brush and the hard-bristle brush have the same downward pressure (reflected by the roller brush height), the pressure of the soft-bristle brush on the ground is less than that of the hard-bristle brush on the ground. In addition, the roller brush will inevitably be worn out during use, and the occurrence of wear and tear will also cause changes in the roller brush pressure.

[0003] However, in the prior art, when controlling the roller brush pressure of the cleaning equipment, most of the solutions adopt a fixed pressure level, and the different heights of the fixed roller brush (that is, the amount of downward pressure) are adjusted to correspond to the different pressure levels of the roller brush. However, it is not considered whether the roller brush pressure can remain consistent with the pressure corresponding to the fixed pressure level when the roller brush is replaced with a roller brush of different material or the roller brush is worn. As a result, the cleaning equipment cannot accurately control the pressure applied to the surface to be cleaned. Summary of the invention

[0004] The embodiments of the present application provide a control method, device, storage medium and cleaning device for a cleaning device, which can accurately control the pressure applied by a roller brush to a surface to be cleaned.

[0005] In a first aspect, an embodiment of the present application provides a method for controlling a cleaning device, wherein the cleaning device includes a roller brush, including:

[0006] Obtaining a target pressure and a target rotation speed of the roller brush set for the surface to be cleaned;

[0007] Determine the target working current of the roller brush according to the preset correlation between the pressure, rotation speed and working current of the roller brush, the target pressure, and the target rotation speed;

[0008] adjusting the rotation speed of the roller brush to the target rotation speed;

[0009] Acquire the current working current of the roller brush in real time;

[0010] According to the current working current and the target working current, adjusting a first distance between the roller brush and the surface to be cleaned so that the current working current reaches the target working current;

[0011] Wherein, the pressure is the pressure applied by the roller brush to the surface to be cleaned;

[0012] The association relationship satisfies that: when the rotation speed of the roller brush is the target rotation speed and the working current is the target working current, the pressure applied by the roller brush to the surface to be cleaned is the target pressure.

[0013] In some embodiments, the correlation between the pressure, rotation speed and working current of the roller brush conforms to the following mathematical model:

[0014] I=a*P+b*V+c*P*V+d

[0015] Among them, I is the working current of the roller brush, P is the pressure of the roller brush, V is the rotation speed of the roller brush, and a, b, c, and d are preset constant coefficients.

[0016] In some embodiments, adjusting the first distance between the roller brush and the surface to be cleaned according to the current working current and the target working current includes:

[0017] If the current working current is less than the target working current, the roller brush is controlled to move toward the direction approaching the surface to be cleaned so as to reduce the first distance between the roller brush and the surface to be cleaned. When the current working current reaches the target working current, the adjustment of the first distance between the roller brush and the surface to be cleaned is stopped.

[0018] In some embodiments, adjusting the first distance between the roller brush and the surface to be cleaned according to the current working current and the target working current includes:

[0019] If the current working current is greater than the target working current, the roller brush is controlled to move away from the surface to be cleaned to increase the first distance between the roller brush and the surface to be cleaned. When the current working current reaches the target working current, the adjustment of the first distance between the roller brush and the surface to be cleaned is stopped.

[0020] In some embodiments, the cleaning device further includes a stepper motor connected to the roller brush; and adjusting the first distance between the roller brush and the surface to be cleaned according to the current working current and the target working current includes:

[0021] According to the current working current and the target working current, the stepper motor is controlled to drive the roller brush to move, and whether the stepper motor reaches the limit position that the stepper motor can adjust is detected in real time;

[0022] When the stepper motor reaches the limit position that the stepper motor can adjust, the stepper motor is controlled to stop driving the roller brush to move, so as to stop adjusting the first distance between the roller brush and the surface to be cleaned.

[0023] In a second aspect, an embodiment of the present application further provides a control device for a cleaning device, comprising:

[0024] A first acquisition module is used to acquire a target pressure and a target rotation speed of the roller brush set for the surface to be cleaned;

[0025] A current determination module, used to determine a target working current of the roller brush according to a preset correlation between the pressure, rotation speed and working current of the roller brush, the target pressure, and the target rotation speed;

[0026] A rotation speed adjustment module, used for adjusting the rotation speed of the roller brush to the target rotation speed;

[0027] A second acquisition module, used for acquiring the current working current of the roller brush in real time;

[0028] an adjusting module, configured to adjust a first distance between the roller brush and the surface to be cleaned according to the current working current and the target working current, so that the current working current reaches the target working current;

[0029] Wherein, the pressure is the pressure applied by the roller brush to the surface to be cleaned;

[0030] The association relationship satisfies that: when the rotation speed of the roller brush is the target rotation speed and the working current is the target working current, the pressure applied by the roller brush to the surface to be cleaned is the target pressure.

[0031] In some embodiments, the correlation between the pressure, rotation speed and working current of the roller brush conforms to the following mathematical model:

[0032] I=a*P+b*V+c*P*V+d

[0033] Among them, I is the working current of the roller brush, P is the pressure of the roller brush, V is the rotation speed of the roller brush, and a, b, c, and d are preset constant coefficients.

[0034] In some embodiments, the adjustment module is used to control the roller brush to move toward the direction approaching the surface to be cleaned if the current working current is less than the target working current, so as to reduce the first distance between the roller brush and the surface to be cleaned, and stop adjusting the first distance between the roller brush and the surface to be cleaned when the current working current reaches the target working current.

[0035] In some embodiments, the adjustment module is used to control the roller brush to move away from the surface to be cleaned if the current working current is greater than the target working current, so as to increase the first distance between the roller brush and the surface to be cleaned, and stop adjusting the first distance between the roller brush and the surface to be cleaned when the current working current reaches the target working current.

[0036] In a third aspect, an embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is run on a computer, the computer executes a control method for a cleaning device as provided in any embodiment of the present application.

[0037] In a fourth aspect, an embodiment of the present application further provides a cleaning device, comprising a processor and a memory, wherein the memory has a computer program, and the processor executes a control method for the cleaning device provided in any embodiment of the present application by calling the computer program.

[0038] The technical solution provided by the embodiment of the present application pre-sets the correlation between the pressure, rotation speed and working current of the roller brush, and the pressure of the roller brush is the pressure applied by the roller brush to the surface to be cleaned. Based on the correlation, after any two parameters of pressure, rotation speed and working current are known, the remaining parameters can be determined. In the present application, after the user sets the target voltage and target rotation speed that the roller brush needs to reach, the working current of the roller brush when the roller brush reaches the target voltage and target rotation speed, that is, the target working current, can be determined based on the correlation. The rotation speed of the roller brush is controlled to the target rotation speed. When the rotation speed of the roller brush remains unchanged, the working current of the roller brush changes with the pressure of the roller brush. By adjusting the first distance between the roller brush and the surface to be cleaned, the pressure of the roller brush can be adjusted, thereby affecting the working current of the roller brush. The working current of the roller brush is obtained in real time. After the working current of the roller brush reaches the target working current, based on the correlation, it can be determined that the pressure of the roller brush has reached the target pressure, thereby achieving accurate control of the pressure applied by the roller brush to the surface to be cleaned. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 A schematic flow chart of a method for controlling a cleaning device provided in an embodiment of the present application.

[0041] Figure 2A schematic diagram of the structure of a control device for a cleaning device provided in an embodiment of the present application.

[0042] Figure 3 A schematic diagram of the structure of the cleaning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0044] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0045] The embodiment of the present application provides a control method for a cleaning device, and the execution subject of the control method for the cleaning device can be a control device for the cleaning device provided in the embodiment of the present application, or a cleaning device in which the control device for the cleaning device is integrated, wherein the control device for the cleaning device can be implemented in hardware or software. The cleaning device can be a cleaning robot, for example, a sweeping robot.

[0046] See also Figure 1 , Figure 1 A flow chart of a control method for a cleaning device provided in an embodiment of the present application. The control method for a cleaning device provided in an embodiment of the present application is applied to a cleaning device, wherein the cleaning device includes a roller brush. The specific flow of the method may include the following steps:

[0047] S110, obtaining a target pressure and a target rotation speed of the roller brush set for the surface to be cleaned.

[0048] The surface to be cleaned refers to any surface of an object that needs to be cleaned by the cleaning device, for example, it may be a floor, a wall, etc. that needs to be cleaned.

[0049] The pressure of the roller brush refers to the pressure applied by the roller brush to the surface to be cleaned. For example, when the surface to be cleaned is the ground, the pressure applied by the roller brush to the surface to be cleaned is the pressure caused by the downward pressure of the roller brush.

[0050] In one embodiment, the target pressure and the target speed can be manually set through a control button provided on the cleaning device. For example, the control button can be a cleaning intensity gear, and the cleaning intensity gear can be divided into three gears: high, medium, and low. Each cleaning intensity gear corresponds to a set of pressure and speed. The higher the gear, the stronger the cleaning intensity. The user can manually set different cleaning intensity gears according to the condition of the surface to be cleaned, so that the cleaning device can perform cleaning work.

[0051] In one embodiment, the target pressure and the target speed may also be the pressure and speed corresponding to the cleaning force level that the cleaning device automatically recognizes the cleaning force level required for the surface to be cleaned and automatically switches to. When the cleaning device automatically recognizes the cleaning force level required for the surface to be cleaned, an image of the surface to be cleaned may be acquired, and the severity of the garbage that needs to be cleaned on the surface to be cleaned may be identified based on image recognition technology. Based on the severity, a cleaning force level is determined from three different cleaning force levels of high, medium, and low, so that the cleaning device can perform cleaning work.

[0052] S120, determining a target operating current of the roller brush according to a preset correlation between the pressure, rotation speed and operating current of the roller brush, the target pressure, and the target rotation speed.

[0053] In this embodiment, the target working current that the roller brush needs to provide is determined based on the preset correlation between the pressure, rotation speed and working current of the roller brush, the target pressure, and the target rotation speed.

[0054] The working current of the roller brush is the working current of the roller brush motor, and the rotation speed of the roller brush is the rotation speed of the roller brush motor. The roller brush motor here is a motor that drives the roller brush to rotate.

[0055] In one implementation, the correlation between the pressure, speed and working current of the roller brush conforms to the following mathematical model:

[0056] I=a*P+b*V+c*P*V+d

[0057] Among them, I is the working current of the roller brush, P is the pressure of the roller brush, V is the rotation speed of the roller brush, and a, b, c, and d are preset constant coefficients.

[0058] According to the above correlation, when the rotation speed of the roller brush is constant, the working current of the roller brush is directly related to the pressure applied by the roller brush to the surface to be cleaned, and the working current of the roller brush changes with the pressure of the roller brush.

[0059] It can be understood that the pressure applied by the roller brush to the surface to be cleaned is related to the distance between the roller brush and the surface to be cleaned. Therefore, the first distance between the roller brush and the surface to be cleaned can be adjusted so that the current working current of the roller brush reaches the target working current, thereby making the pressure applied by the roller brush to the surface to be cleaned reach the target pressure.

[0060] S130, adjusting the rotation speed of the roller brush to the target rotation speed.

[0061] In this embodiment, the current rotation speed of the roller brush can be detected. If the current rotation speed is less than the target rotation speed, the rotation speed of the roller brush is adjusted to the target rotation speed, and then the rotation speed of the roller brush is maintained at the target rotation speed.

[0062] S140, obtaining the current working current of the roller brush in real time.

[0063] In this embodiment, the current working current of the roller brush can be detected in real time through the current detection component in the cleaning device.

[0064] S150. According to the current working current and the target working current, adjust a first distance between the roller brush and the surface to be cleaned so that the current working current reaches the target working current.

[0065] Wherein, the pressure is the pressure applied by the roller brush to the surface to be cleaned;

[0066] The association relationship satisfies that: when the rotation speed of the roller brush is the target rotation speed and the working current is the target working current, the pressure applied by the roller brush to the surface to be cleaned is the target pressure.

[0067] The first distance between the roller brush and the surface to be cleaned may be the distance between the rotation axis of the roller brush and the surface to be cleaned. For example, when the surface to be cleaned is the ground, the first distance is the distance between the rotation axis of the roller brush and the ground. The smaller the first distance, the greater the pressure applied by the roller brush to the surface to be cleaned. The first distance can reflect the downward pressure of the roller brush, and the smaller the first distance, the greater the downward pressure of the roller brush.

[0068] It should be noted that in order to clearly describe the control method of the cleaning equipment provided by the present application, the present application characterizes the pressure applied by the roller brush to the surface to be cleaned by a first distance of the roller brush relative to the surface to be cleaned, which is analogous to the situation in the related art where the pressure applied by the roller brush to the ground is characterized by the height of the roller brush, and the height of the roller brush is only applicable to the description of the pressure when the surface to be cleaned is the ground. The first distance in the present application is not only applicable to the description of the pressure when the surface to be cleaned is the ground, but also to the description of the pressure when the surface to be cleaned is a wall.

[0069] In specific implementation, the present application is not limited by the execution order of the various steps described. If no conflict occurs, some steps can be performed in other orders or simultaneously.

[0070] The technical solution provided by the embodiment of the present application pre-sets the correlation between the pressure, rotation speed and working current of the roller brush, and the pressure of the roller brush is the pressure applied by the roller brush to the surface to be cleaned. Based on the correlation, after any two parameters of pressure, rotation speed and working current are known, the remaining parameters can be determined. In the present application, after the user sets the target voltage and target rotation speed that the roller brush needs to reach, the working current of the roller brush when the roller brush reaches the target voltage and target rotation speed, that is, the target working current, can be determined based on the correlation. The rotation speed of the roller brush is controlled to the target rotation speed. When the rotation speed of the roller brush remains unchanged, the working current of the roller brush changes with the pressure of the roller brush. By adjusting the first distance between the roller brush and the surface to be cleaned, the pressure of the roller brush can be adjusted, thereby affecting the working current of the roller brush. The working current of the roller brush is obtained in real time. After the working current of the roller brush reaches the target working current, based on the correlation, it can be determined that the pressure of the roller brush has reached the target pressure, thereby achieving accurate control of the pressure applied by the roller brush to the surface to be cleaned.

[0071] In the embodiment of the present invention, the preset correlation between the pressure, rotation speed and working current of the roller brush conforms to the following mathematical model:

[0072] I=a*P+b*V+c*P*V+d

[0073] Among them, I is the working current of the roller brush, P is the pressure of the roller brush, V is the rotation speed of the roller brush, and a, b, c, and d are constant coefficients.

[0074] In this embodiment, when the rotation speed of the roller brush is constant at the target rotation speed, it can be known from the correlation that the working current changes with the pressure. Specifically, the working voltage of the motor of the roller brush remains basically unchanged. In order to maintain the rotation speed of the motor of the roller brush constant at the target rotation speed, the working current of the motor of the roller brush will change with the friction between the roller brush and the surface to be cleaned. The greater the friction, the greater the working current. The greater the pressure currently applied by the roller brush to the surface to be cleaned, the greater the friction. Therefore, the greater the pressure currently applied by the roller brush to the surface to be cleaned, the greater the working current.

[0075] Based on the above principles and the above association relationships, in some embodiments, the step of “adjusting the first distance between the roller brush and the surface to be cleaned according to the current working current and the target working current” may include:

[0076] (1) If the current working current is less than the target working current, the roller brush is controlled to move toward the direction approaching the surface to be cleaned so as to reduce the first distance between the roller brush and the surface to be cleaned. When the current working current reaches the target working current, the adjustment of the first distance between the roller brush and the surface to be cleaned is stopped.

[0077] If the current working current is less than the target working current, the current working current does not meet the target working current, and the pressure currently applied by the roller brush to the surface to be cleaned is less than the target pressure, therefore, it is necessary to reduce the first distance of the roller brush relative to the surface to be cleaned to increase the pressure applied by the roller brush to the surface to be cleaned to the target pressure. When reducing the first distance of the roller brush relative to the surface to be cleaned, the roller brush can be controlled to move in a direction close to the surface to be cleaned.

[0078] (2) If the current working current is greater than the target working current, the roller brush is controlled to move away from the surface to be cleaned so as to increase the first distance between the roller brush and the surface to be cleaned. When the current working current reaches the target working current, the adjustment of the first distance between the roller brush and the surface to be cleaned is stopped.

[0079] In this embodiment, if the current working current is greater than the target working current, the current working current has met the target working current, and the pressure currently applied by the roller brush to the surface to be cleaned is greater than the target pressure, therefore, it is necessary to increase the first distance of the roller brush relative to the surface to be cleaned to reduce the pressure applied by the roller brush to the surface to be cleaned to the target pressure. When increasing the first distance of the roller brush relative to the surface to be cleaned, the roller brush can be controlled to move in a direction away from the surface to be cleaned.

[0080] It can be understood that in the present application, when adjusting the first distance between the roller brush and the surface to be cleaned, the speed of the roller brush motor is a constant target speed, so that the current of the roller brush motor is directly related to the pressure applied by the roller brush to the surface to be cleaned, so the pressure applied by the roller brush to the surface to be cleaned can be reflected by the working current of the roller brush.

[0081] In some embodiments, the cleaning device further includes a stepper motor, the stepper motor is electrically connected to the roller brush, and the step of “adjusting the first distance between the roller brush and the surface to be cleaned according to the current working current and the target working current” may include:

[0082] (1) controlling the stepper motor to drive the roller brush to move according to the current working current and the target working current, and detecting in real time whether the stepper motor reaches the limit position that the stepper motor can adjust;

[0083] (2) When the stepper motor reaches the limit position that the stepper motor can adjust, the stepper motor is controlled to stop driving the roller brush to move, so as to stop adjusting the first distance between the roller brush and the surface to be cleaned.

[0084] In this embodiment, the roller brush can be driven by a stepper motor to move, for example, toward the direction approaching the surface to be cleaned or away from the surface to be cleaned, so as to adjust the first distance of the roller brush relative to the surface to be cleaned.

[0085] The extreme position that the stepper motor can adjust refers to the critical position that the stepper motor can adjust, which is affected by the physical structure of the cleaning device or the control strategy of the stepper motor.

[0086] It can be understood that when the stepper motor reaches the limit position that the stepper motor can adjust, the stepper motor is controlled to stop driving the roller brush to move, so as to stop adjusting the first distance between the roller brush and the surface to be cleaned. Even if the current working current does not reach the target working current, the adjustment is stopped to keep the roller brush working in the current state.

[0087] In some embodiments, the step of “adjusting the first distance between the roller brush and the surface to be cleaned according to the current working current and the target working current” may further include:

[0088] (1) controlling the roller brush to move a preset distance within each preset time period according to the stepping motor, and detecting the current working current of the roller brush once within each preset time period;

[0089] The preset duration and the preset distance are set by those skilled in the art as needed.

[0090] For example, the preset time length can be set to 1 second, the preset distance can be set to 5 mm, the stepper motor can be controlled to move 5 mm per second, and the current working current of the roller brush can be collected and detected 10 times per second.

[0091] (2) When it is detected that the current operating current meets the target operating current, stop controlling the movement of the roller brush.

[0092] In this embodiment, when it is detected that the current working current has reached the target working current, according to the association relationship, at this time, the pressure currently applied by the roller brush to the surface to be cleaned has reached the target pressure. Therefore, the driving of the stepper motor is stopped, thereby stopping the movement of the roller brush, thereby avoiding the continued change of the first distance of the roller brush relative to the surface to be cleaned, resulting in continued changes in the roller brush pressure.

[0093] The control method of the cleaning equipment provided in the present application creatively determines the correlation between the pressure, rotation speed and working current of the roller brush, and can more accurately calculate the current pressure through the current and rotation speed, so it has the conditions for closed-loop control and achieves the effect of flexible pressure control.

[0094] In one embodiment, a control device for a cleaning device is also provided. Figure 2 , Figure 2 A schematic diagram of the structure of a control device 200 for a cleaning device provided in an embodiment of the present application. The control device 200 for the cleaning device is applied to a cleaning device, the cleaning device includes a roller brush, and the control device 200 for the cleaning device includes a first acquisition module 201, a current determination module 202, a rotation speed adjustment module 203, a second acquisition module 204, and an adjustment module 205, as follows:

[0095] The first acquisition module 201 is used to acquire the target pressure and target speed of the roller brush set for the surface to be cleaned;

[0096] The current determination module 202 is used to determine the target working current of the roller brush according to the preset correlation between the pressure, rotation speed and working current of the roller brush, the target pressure, and the target rotation speed;

[0097] A speed adjustment module 203, used to adjust the speed of the roller brush to the target speed;

[0098] A second acquisition module 204 is used to acquire the current working current of the roller brush in real time;

[0099] An adjustment module 205, configured to adjust a first distance between the roller brush and the surface to be cleaned according to the current working current and the target working current, so that the current working current reaches the target working current;

[0100] Wherein, the pressure is the pressure applied by the roller brush to the surface to be cleaned;

[0101] The association relationship satisfies that: when the rotation speed of the roller brush is the target rotation speed and the working current is the target working current, the pressure applied by the roller brush to the surface to be cleaned is the target pressure.

[0102] In some embodiments, the correlation between the pressure, speed and working current of the roller brush conforms to the following mathematical model:

[0103] I=a*P+b*V+c*P*V+d

[0104] Among them, I is the working current of the roller brush, P is the pressure of the roller brush, V is the rotation speed of the roller brush, and a, b, c, and d are preset constant coefficients.

[0105] In some embodiments, the adjustment module 205 may be used to control the roller brush to move toward the direction close to the surface to be cleaned so as to reduce the first distance between the roller brush and the surface to be cleaned if the current working current is less than the target working current, and stop adjusting the first distance between the roller brush and the surface to be cleaned when the current working current reaches the target working current;

[0106] In some embodiments, the adjustment module 205 can be used to control the roller brush to move away from the surface to be cleaned if the current working current is greater than the target working current, so as to increase the first distance between the roller brush and the surface to be cleaned, and stop adjusting the first distance between the roller brush and the surface to be cleaned when the current working current reaches the target working current.

[0107] In some embodiments, the adjustment module 205 may also be used to:

[0108] According to the current working current and the target working current, the stepper motor is controlled to drive the roller brush to move, and whether the stepper motor reaches the limit position that the stepper motor can adjust is detected in real time;

[0109] When the stepper motor reaches the limit position that the stepper motor can adjust, the stepper motor is controlled to stop driving the roller brush to move, so as to stop adjusting the first distance between the roller brush and the surface to be cleaned.

[0110] It should be noted that the control device of the cleaning equipment provided in the embodiment of the present application belongs to the same concept as the control method of the cleaning equipment in the above embodiment. Any method provided in the control method embodiment of the cleaning equipment can be implemented through the control device of the cleaning equipment. The specific implementation process is detailed in the control method embodiment of the cleaning equipment, which will not be repeated here.

[0111] In addition, in order to better implement the control method of the cleaning device in the embodiment of the present application, based on the control method of the cleaning device, the present application also provides a cleaning device, please refer to Figure 3 , Figure 3 A schematic diagram of the structure of the cleaning device 300 provided in the present application is shown. Figure 3 As shown, the cleaning device 300 provided in the present application includes a processor 301 and a memory 302. The processor 301 is used to implement the steps of the control method of the cleaning device in the above embodiment of the present application when executing the computer program stored in the memory 302, such as:

[0112] Obtaining a target pressure and a target rotation speed of the roller brush set for the surface to be cleaned;

[0113] Determine the target working current of the roller brush according to the preset correlation between the pressure, rotation speed and working current of the roller brush, the target pressure, and the target rotation speed;

[0114] adjusting the rotation speed of the roller brush to the target rotation speed;

[0115] Acquire the current working current of the roller brush in real time;

[0116] According to the current working current and the target working current, adjusting a first distance between the roller brush and the surface to be cleaned so that the current working current reaches the target working current;

[0117] Wherein, the pressure is the pressure applied by the roller brush to the surface to be cleaned;

[0118] The association relationship satisfies: when the rotation speed of the roller brush is the target rotation speed and the working current is the target working current, the pressure applied by the roller brush to the surface to be cleaned is the target pressure. Exemplarily, the computer program can be divided into one or more modules / units, one or more modules / units are stored in the memory 302 and executed by the processor 301 to complete the embodiment of the present application. One or more modules / units can be a series of computer program instruction segments that can perform specific functions, and the instruction segments are used to describe the execution process of the computer program in the computer device.

[0119] The cleaning device 300 may include, but is not limited to, a processor 301 and a memory 302. Those skilled in the art will appreciate that the illustration is merely an example of the cleaning device 300 and does not constitute a limitation on the cleaning device 300. The cleaning device 300 may include more or fewer components than shown in the illustration, or may combine certain components, or different components. For example, the cleaning device 300 may also include an input / output device, a network access device, a bus, etc. The processor 301, the memory 302, the input / output device, and the network access device are connected via a bus.

[0120] The processor 301 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The processor is the control center of the cleaning device 300, and various interfaces and lines are used to connect various parts of the entire cleaning device 300.

[0121] The memory 302 can be used to store computer programs and / or modules. The processor 301 implements various functions of the computer device by running or executing the computer programs and / or modules stored in the memory 302 and calling the data stored in the memory 302. The memory 302 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the cleaning device 300 (such as audio data, video data, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0122] Technicians in the relevant field can clearly understand that, for the convenience and conciseness of description, the specific working process of the control device of the cleaning equipment, the cleaning equipment 300 and its corresponding units described above can refer to the description of the control method of the cleaning equipment in the above embodiments of the present application, and the details will not be repeated here.

[0123] A person of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0124] To this end, an embodiment of the present application provides a computer-readable storage medium, in which a plurality of instructions are stored, and the instructions can be loaded by a processor to execute the steps in the control method of the cleaning device in the above embodiment of the present application, such as:

[0125] Obtaining a target pressure and a target rotation speed of the roller brush set for the surface to be cleaned;

[0126] Determine the target working current of the roller brush according to the preset correlation between the pressure, rotation speed and working current of the roller brush, the target pressure, and the target rotation speed;

[0127] adjusting the rotation speed of the roller brush to the target rotation speed;

[0128] Acquire the current working current of the roller brush in real time;

[0129] According to the current working current and the target working current, adjusting a first distance between the roller brush and the surface to be cleaned so that the current working current reaches the target working current;

[0130] Wherein, the pressure is the pressure applied by the roller brush to the surface to be cleaned;

[0131] The association relationship satisfies: when the rotation speed of the roller brush is the target rotation speed and the working current is the target working current, the pressure applied by the roller brush to the surface to be cleaned is the target pressure. For specific operations, please refer to the description of the control method of the cleaning device in the above embodiments of the present application, which will not be repeated here.

[0132] The computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0133] Since the instructions stored in the computer-readable storage medium can execute the steps in the control method of the cleaning device in the above embodiments of the present application, the beneficial effects that can be achieved by the control method of the cleaning device in the above embodiments of the present application can be achieved. Please see the previous description for details and will not be repeated here.

[0134] In addition, the terms "first", "second", and "third" in this application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or modules is not limited to the listed steps or modules, but some embodiments also include steps or modules that are not listed, or some embodiments also include other steps or modules inherent to these processes, methods, products, or devices.

[0135] The above is a detailed introduction to the control method, device, cleaning equipment and storage medium of a cleaning equipment provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for controlling a cleaning device, characterized in that: The cleaning device comprises a roller brush, and the method comprises: Obtaining a target pressure and a target rotation speed of the roller brush set for the surface to be cleaned; Determine the target working current of the roller brush according to the preset correlation between the pressure, rotation speed and working current of the roller brush, the target pressure, and the target rotation speed; adjusting the rotation speed of the roller brush to the target rotation speed; Acquire the current working current of the roller brush in real time; According to the current working current and the target working current, adjusting a first distance between the roller brush and the surface to be cleaned so that the current working current reaches the target working current; Wherein, the pressure is the pressure applied by the roller brush to the surface to be cleaned; The association relationship satisfies that: when the rotation speed of the roller brush is the target rotation speed and the working current is the target working current, the pressure applied by the roller brush to the surface to be cleaned is the target pressure.

2. The control method of the cleaning equipment according to claim 1, characterized in that: The correlation between the pressure, speed and working current of the roller brush conforms to the following mathematical model: I=a*P+b*V+c*P*V+d Among them, I is the working current of the roller brush, P is the pressure of the roller brush, V is the rotation speed of the roller brush, and a, b, c, and d are preset constant coefficients.

3. The control method of the cleaning equipment according to claim 1, characterized in that: The step of adjusting the first distance between the roller brush and the surface to be cleaned according to the current working current and the target working current includes: If the current working current is less than the target working current, the roller brush is controlled to move toward the direction approaching the surface to be cleaned so as to reduce the first distance between the roller brush and the surface to be cleaned. When the current working current reaches the target working current, the adjustment of the first distance between the roller brush and the surface to be cleaned is stopped.

4. The control method of the cleaning equipment according to claim 1, characterized in that: The step of adjusting the first distance between the roller brush and the surface to be cleaned according to the current working current and the target working current includes: If the current working current is greater than the target working current, the roller brush is controlled to move away from the surface to be cleaned to increase the first distance between the roller brush and the surface to be cleaned. When the current working current reaches the target working current, the adjustment of the first distance between the roller brush and the surface to be cleaned is stopped.

5. The control method of the cleaning device according to any one of claims 1 to 4, characterized in that: The cleaning device further includes a stepper motor connected to the roller brush; and adjusting the first distance between the roller brush and the surface to be cleaned according to the current working current and the target working current includes: According to the current working current and the target working current, the stepper motor is controlled to drive the roller brush to move, and whether the stepper motor reaches the limit position that the stepper motor can adjust is detected in real time; When the stepper motor reaches the limit position that the stepper motor can adjust, the stepper motor is controlled to stop driving the roller brush to move, so as to stop adjusting the first distance between the roller brush and the surface to be cleaned.

6. A control device for a cleaning device, characterized in that: include: A first acquisition module is used to acquire a target pressure and a target rotation speed of the roller brush set for the surface to be cleaned; A current determination module, used to determine a target working current of the roller brush according to a preset correlation between the pressure, rotation speed and working current of the roller brush, the target pressure, and the target rotation speed; A rotation speed adjustment module, used for adjusting the rotation speed of the roller brush to the target rotation speed; A second acquisition module, used for acquiring the current working current of the roller brush in real time; an adjusting module, configured to adjust a first distance between the roller brush and the surface to be cleaned according to the current working current and the target working current, so that the current working current reaches the target working current; Wherein, the pressure is the pressure applied by the roller brush to the surface to be cleaned; The association relationship satisfies that: when the rotation speed of the roller brush is the target rotation speed and the working current is the target working current, the pressure applied by the roller brush to the surface to be cleaned is the target pressure.

7. The control device of the cleaning equipment according to claim 6, characterized in that: The correlation between the pressure, speed and working current of the roller brush conforms to the following mathematical model: I=a*P+b*V+c*P*V+d Among them, I is the working current of the roller brush, P is the pressure of the roller brush, V is the rotation speed of the roller brush, and a, b, c, and d are preset constant coefficients.

8. The control device of the cleaning equipment according to claim 6, characterized in that: The regulating module is used for controlling the roller brush to move toward the direction approaching the surface to be cleaned so as to reduce the first distance between the roller brush and the surface to be cleaned if the current working current is less than the target working current, and stopping regulating the first distance between the roller brush and the surface to be cleaned when the current working current reaches the target working current; and / or, The adjustment module is used to control the roller brush to move away from the surface to be cleaned so as to increase the first distance between the roller brush and the surface to be cleaned if the current working current is greater than the target working current, and stop adjusting the first distance between the roller brush and the surface to be cleaned when the current working current reaches the target working current.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed on a computer, the computer is enabled to execute the control method of the cleaning device according to any one of claims 1 to 5.

10. A cleaning device, comprising a processor and a memory, wherein the memory stores a computer program, characterized in that: The processor is used to execute the control method of the cleaning device according to any one of claims 1 to 5 by calling the computer program.

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