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

Abstract

The invention provides a cleaning equipment control method and device, electronic equipment and a storage medium, and relates to the technical field of cleaning equipment. The cleaning device comprises a clothes processing device and a cleaning robot arranged below a roller of the clothes processing device, and the cleaning robot can be moved out from the position below the roller. The method comprises the steps that under the condition that the cleaning robot is located below a roller, whether the roller meets a touch condition or not is detected; and if the roller meets the touch condition, the cleaning robot is controlled to move out from the position below the roller. According to the embodiment of the invention, abnormal sound or damage to the cleaning robot caused by collision between the roller and the cleaning robot in the running process of the clothes processing equipment can be avoided.

Description

Background Art

[0002] With the development of cleaning equipment, the "double washing station" that integrates clothing processing equipment and cleaning robots has gradually attracted people's attention. The double washing station can reduce the space occupied by the cleaning equipment to a certain extent by integrating the cleaning robot under the traditional clothing processing equipment.

[0003] In the related art, since the cleaning robot is integrated under the clothing processing equipment in the double wash station, when a large amount of clothing is put into the drum of the clothing processing equipment or water is injected into the drum, the drum will sink, causing the drum to vibrate during rotation, which will cause a collision between the drum and the cleaning robot, thereby causing abnormal noise in the equipment or even damage the cleaning robot. Summary of the invention

[0004] In order to overcome the problems existing in the related art, the present disclosure provides a cleaning equipment control method, device, electronic equipment and storage medium.

[0005] According to a first aspect of an embodiment of the present disclosure, a cleaning device control method is provided, wherein the cleaning device comprises a clothes processing device and a cleaning robot disposed under a drum of the clothes processing device, wherein the cleaning robot can be moved out from under the drum;

[0006] The method includes:

[0007] When the cleaning robot is located under the drum, detecting whether the drum meets the contact condition;

[0008] If the drum meets the contact condition, the cleaning robot is controlled to move out from under the drum.

[0009] In some embodiments, detecting whether the roller meets the touch condition includes:

[0010] If the distance between the drum and the cleaning robot is less than a preset distance threshold, the drum meets the contact condition.

[0011] In some embodiments, detecting whether the roller meets the touch condition includes:

[0012] If the weight of the clothes in the drum is greater than a preset weight threshold, the drum meets the touch condition.

[0013] In some embodiments, detecting whether the roller meets the touch condition includes:

[0014] If the clothes processing device is in a dehydration instruction execution state, the drum meets the touch condition.

[0015] In some embodiments, controlling the cleaning robot to move out from under the drum includes:

[0016] If the clothes processing device is in a state of executing a dehydration instruction, the dehydration speed of the drum during the dehydration process is detected in real time;

[0017] If it is detected that the dehydration speed is within the resonance speed range, the cleaning robot is controlled to move out from under the drum, wherein the resonance speed range is a speed range that can cause the cleaning device as a whole to resonate.

[0018] In some embodiments, the method further comprises:

[0019] If it is detected that the dehydration speed is outside the resonance speed range and the cleaning robot is in a standby state, the cleaning robot is controlled to return to under the drum.

[0020] In some embodiments, the method further comprises:

[0021] If the cleaning robot is performing a cleaning task, the completion time of the cleaning task is predicted;

[0022] If the completion time is before the time when the clothes processing device stops running, the cleaning task completion time is extended to after the time when the clothes processing device stops running;

[0023] The cleaning robot moves out from under the drum when performing a cleaning task, and returns to under the drum after completing the cleaning task.

[0024] According to a second aspect of an embodiment of the present disclosure, a cleaning device control apparatus is provided, wherein the cleaning device comprises a clothes processing device and a cleaning robot disposed under a drum of the clothes processing device, and the cleaning robot can be moved out from under the drum;

[0025] The device includes:

[0026] A judgment module, used for detecting whether the drum meets the contact condition when the cleaning robot is located under the drum;

[0027] The control module is used to control the cleaning robot to move out from under the drum if the drum meets the contact condition.

[0028] According to a third aspect of an embodiment of the present disclosure, an electronic device is provided, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the method of the first aspect of the embodiment of the present disclosure by executing the executable instructions.

[0029] According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method of the first aspect of the embodiment of the present disclosure is implemented.

[0030] The cleaning device control method provided by the disclosed embodiment can determine whether the drum will come into contact with the cleaning robot during the operation of the laundry processing device when the cleaning robot is located below the drum. When the drum will come into contact with the cleaning robot during the operation of the laundry processing device, the cleaning robot is controlled to move out from under the drum to avoid abnormal noise or damage to the cleaning robot caused by the collision between the drum and the cleaning robot during the operation of the laundry processing device. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic structural diagram of a cleaning device in an embodiment of the present disclosure is shown.

[0032] Figure 2 A flow chart showing a cleaning equipment control method in an embodiment of the present disclosure is shown.

[0033] Figure 3 A flow chart showing another cleaning equipment control method in an embodiment of the present disclosure is shown.

[0034] Figure 4 A schematic structural diagram of a cleaning equipment control device in an embodiment of the present disclosure is shown.

[0035] Figure 5 A schematic structural diagram of an electronic device in an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0036] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0037] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms of "a", "said" and "the" used in this disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0038] It should be understood that although the terms first, second, third, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0039] For the "double wash station" that integrates clothing processing equipment and a cleaning robot, since the cleaning robot is integrated under the clothing processing equipment, when a large amount of clothing is put into the drum of the clothing processing equipment or water is injected, the drum will sink, causing the drum to vibrate during rotation, which will cause a collision between the drum and the cleaning robot, causing abnormal noise in the equipment or even damage the cleaning robot.

[0040] In view of this, the solution provided by the embodiment of the present disclosure can determine whether the drum will come into contact with the cleaning robot during the operation of the laundry processing device when the cleaning robot is located under the drum. When the drum will come into contact with the cleaning robot during the operation of the laundry processing device, the cleaning robot is controlled to move out from under the drum to avoid abnormal noise or damage to the cleaning robot caused by the collision between the drum and the cleaning robot during the operation of the laundry processing device.

[0041] The application scenarios of the embodiments of the present disclosure are introduced below.

[0042] Please refer to Figure 1 , Figure 1 FIG. 2 is a schematic diagram showing the structure of a cleaning device according to an embodiment of the present disclosure. Figure 1 As shown, the cleaning device 100 includes a clothes treating device 110 and a cleaning robot 120 disposed below the clothes treating device.

[0043] The laundry processing device 110 is provided with a rotatable drum 111. The laundry processing device 110 can realize a washing function or a dehydration function by controlling the rotation of the drum 111. Of course, the laundry processing device may also have other functions, such as a drying function, a laundry disinfection function, etc., and the activation of these functions may also cause the drum 111 to rotate, which is not limited in the embodiments of the present disclosure.

[0044] The cleaning robot 120 may be disposed under the drum 111 and may freely move out from under the drum 111 or return to under the drum 111. For example, the cleaning robot 120 may be a sweeping robot, a mopping robot, or a sweeping and mopping robot that can move freely, which is not limited in the embodiments of the present disclosure.

[0045] In some embodiments, the cleaning robot 120 can share the same set of water supply and drainage pipes with the clothing processing device 110 , and a charging module suitable for the cleaning robot can be integrated into the clothing processing device 110 , thereby saving the space occupied by the cleaning robot 120 .

[0046] In addition, in order to further save the space occupied by the cleaning device, the distance between the cleaning robot 120 and the drum 111 can be reduced, thereby reducing the height of the cleaning device. When the distance between the cleaning robot 120 and the drum 111 is small, the cleaning device control method provided by the embodiment of the present disclosure can be used to control the cleaning robot 120 to avoid collision with the drum 111.

[0047] Next, exemplary embodiments of the present disclosure will be described in detail in conjunction with the above application scenarios.

[0048] First, a cleaning device control method is provided in an embodiment of the present disclosure, and the method can be executed by any electronic device. The cleaning device can be a "double washing station" including a clothes processing device and a cleaning robot, wherein the cleaning robot is arranged under the drum of the clothes processing device.

[0049] Figure 2 A schematic diagram showing a flow chart of a cleaning equipment control method according to an embodiment of the present disclosure is shown as follows: Figure 2 As shown, the cleaning equipment control method provided in the embodiment of the present disclosure includes the following steps.

[0050] S201, when the cleaning robot is located below the drum, detecting whether the drum meets a contact condition.

[0051] It should be noted that the position of the cleaning robot can be obtained by a position sensor installed on the robot, or by calculating the moving trajectory of the cleaning robot based on the distance it moves and the steering data. Since the embodiment of the present disclosure focuses on whether the cleaning robot is located under the drum, it is also possible to determine whether the cleaning robot is located under the drum by installing a corresponding object detection sensor under the drum.

[0052] The contact condition can be understood as a condition that can cause the drum to contact or collide with the cleaning robot. When it is detected that the drum meets the contact condition, the drum will contact or collide with the cleaning robot during the rotation process.

[0053] It should be noted that when the cleaning robot is located under the drum, the drum will sink after being put into the drum or filled with water, so that the drum will vibrate during the rotation process, which greatly reduces the distance between the drum and the cleaning robot. Therefore, before executing the start command for the clothes processing device, it can be pre-determined whether the drum will contact the cleaning robot during operation. If it is confirmed that there is no contact, the start command is executed.

[0054] For example, a sensor may be provided between the drum and the cleaning robot to detect the distance between the drum and the cleaning robot in a non-moving state, thereby detecting whether the drum meets the contact condition. If the distance between the drum and the cleaning robot is less than a preset distance threshold, it is considered that the drum meets the contact condition. In other words, it is possible to predict whether the drum will come into contact with the cleaning robot when rotating based on the amount of sinking after the clothes are put into the drum.

[0055] Among them, the distance threshold can be measured through experimental calibration. Since different startup instructions of clothing processing equipment have different processing processes for clothing, the corresponding distance thresholds can be set according to different startup instructions. For example, after the washing instruction is started, the clothes in the drum will be soaked by the water, which will further aggravate the sinking of the drum. Therefore, the distance threshold set for the washing instruction should reserve the amount of sinking after water injection. After the dehydration instruction is started, the amount of sinking caused by the clothes in the drum that initially contain a large amount of water is already the maximum sinking amount during the execution of the instruction. At this time, the corresponding distance threshold can be set directly according to the measured sinking amount.

[0056] Exemplarily, the weight of the clothes in the drum can be detected to detect whether the drum meets the touch condition. It is understandable that in order for the clothes processing device to achieve a better washing effect, a weight sensor is usually configured in the drum of the clothes processing device, so that the clothes processing device can automatically adjust the parameters of various clothes processing programs such as the amount of water injected during the washing process and the dehydration time according to the weight of the clothes input. The embodiment of the present disclosure can detect the weight of the clothes in the drum with the help of the weight sensor. If the weight of the clothes in the drum is greater than the preset weight threshold, it is considered that the drum meets the touch condition. In other words, the sinking amount of the drum can be indirectly evaluated by the weight of the clothes, and then it is predicted whether the drum will come into contact with the cleaning robot when rotating.

[0057] Similar to the distance threshold, the weight threshold can also be measured through experimental calibration. Since different startup instructions of clothing processing equipment have different processing processes for clothing, the corresponding weight thresholds can be set according to different startup instructions. For example, after the washing instruction is started, the clothes in the drum will be soaked by the water, which will further increase the weight carried in the drum and make the drum sink more seriously. Therefore, the weight threshold set for the washing instruction should reserve the weight of the water. After the dehydration instruction is started, the weight of the clothes in the drum that initially contains a large amount of water is already the maximum weight carried in the drum during the execution of the instruction. At this time, the corresponding weight threshold can be set directly according to the measured weight.

[0058] It is understandable that the above-mentioned judgment methods of passing the distance threshold and passing the weight threshold can be used separately or simultaneously. When used simultaneously, the measurement error caused by the excessive concentration of the clothes in the drum can be eliminated. In other words, when it is determined by any judgment method that the drum meets the contact condition, it is considered that the drum will contact the cleaning robot during the rotation process, thereby avoiding misjudgment caused by errors as much as possible.

[0059] In some embodiments, when receiving the start command of the laundry processing device, the cleaning robot may not be under the drum. For example, the cleaning robot may be performing a cleaning task, such as cleaning the floor of a designated area. It is understandable that the cleaning robot will move out from under the drum when performing a cleaning task, and return to under the drum after completing the cleaning task.

[0060] At this time, although the cleaning robot is not currently under the drum, no matter how the drum rotates, it will not come into contact with the drum. However, the cleaning robot may return during the rotation of the drum, thereby causing contact or collision with the drum.

[0061] In some embodiments, the cleaning robot can be made to return to under the drum after the drum finishes rotating.

[0062] For example, if the cleaning robot is performing a cleaning task, the completion time of the cleaning task can be predicted. If the completion time is before the time when the clothes processing device stops running, the cleaning task completion time can be extended to after the time when the clothes processing device stops running.

[0063] Therefore, the cleaning time of the cleaning robot can be extended, thereby preventing the cleaning robot from returning to under the drum during the rotation of the drum, thereby preventing the cleaning robot from contacting or colliding with the drum.

[0064] S202: If the drum meets the contact condition, the cleaning robot is controlled to move out from under the drum.

[0065] In some embodiments, if it is determined that the drum meets the contact condition, the cleaning robot can be controlled to move out from under the drum to avoid a collision.

[0066] It is worth noting that the "controlling the cleaning robot to move out from under the drum" described in the embodiments of the present disclosure means that the cleaning robot can be moved to any position other than under the drum, and the cleaning robot after being moved out can be in a stationary standby state or in a moving state. For example, the cleaning robot can be moved to a position preset by the user that does not affect the user's daily life, or the cleaning robot can be made to perform cleaning tasks, that is, to move according to a planned cleaning route in the space where the cleaning device is located, and the embodiments of the present disclosure do not limit this.

[0067] In addition, it can be understood that after the cleaning robot is moved out, the cleaning robot can be controlled to return to under the drum after the clothes processing equipment stops running, thereby automatically restoring the original state.

[0068] Therefore, the solution provided by the embodiment of the present disclosure can effectively prevent the drum from contacting or colliding with the cleaning robot during rotation. After detecting that a possible contact may occur, by moving the cleaning robot out from under the drum, it can be ensured that the drum will not contact or collide with the machine during rotation. Therefore, the cleaning device controlled by the method provided by the embodiment of the present disclosure does not need to reserve the interference amount between the cleaning robot and the drum in design, and the height of the cleaning device can be greatly reduced, thereby saving more space for users.

[0069] In some embodiments, when the clothes processing device executes the dehydration instruction, the rotation speed of the drum is significantly higher than that of other instructions. For example, when the clothes processing device executes the dehydration instruction, the rotation speed of the drum may reach more than 1200 revolutions. A higher rotation speed will aggravate the vibration amplitude of the drum. Therefore, in order to effectively prevent the drum from contacting or colliding with the cleaning robot at a high rotation speed, when the clothes processing device is in the dehydration instruction execution state, it can be considered that the drum meets the touch condition detected in S201, thereby controlling the cleaning robot to move out from under the drum. In other words, regardless of the results of the above-mentioned judgment by weight threshold and / or by distance threshold, the cleaning robot is moved out from under the drum when the clothes processing device is in the dehydration instruction execution state, thereby ensuring that the two will not contact or collide.

[0070] In some embodiments, when the drum resonates with the entire cleaning device, the vibration amplitude of the drum is the largest. In order to shorten the time it takes for the cleaning robot to be removed and enhance the user experience, the cleaning robot can be controlled to move out from under the drum when the rotation speed of the drum is within the resonance rotation speed range. The resonance rotation speed range is a rotation speed range that can cause the cleaning device as a whole to resonate, and can be measured by experimental calibration.

[0071] Specifically, Figure 3 A flow chart showing another cleaning equipment control method according to an embodiment of the present disclosure is shown as follows: Figure 3 As shown, another cleaning equipment control method provided in an embodiment of the present disclosure includes the following steps.

[0072] S301, if the clothes processing device is in a dehydration instruction execution state, the dehydration speed of the drum during the dehydration process is detected in real time.

[0073] The dehydration speed may be obtained by detecting a motor drive signal or by setting a corresponding sensor, which is not limited in the embodiments of the present disclosure.

[0074] S302: If it is detected that the dehydration speed is within the resonance speed range, the cleaning robot is controlled to move out from under the drum.

[0075] The inventors found that in actual applications, the upper limit of the resonance speed range will be much smaller than the spin speed maintained when the drum executes the spin command. For example, the resonance speed range may be 150 to 400 rpm, while the spin speed of the drum may be maintained at 1200 rpm when the clothes processing device is normally spinning. In other words, the spin speed of the drum will pass through the resonance speed range only during the initial speed increase process and the speed decrease process after the spin is completed.

[0076] Accordingly, if it is detected that the dehydration speed is outside the resonance speed range and the cleaning robot is in a standby state (i.e., not performing a cleaning task), the cleaning robot can be controlled to return to the bottom of the drum. At this time, since the drum and the cleaning device do not resonate, it can be considered that the vibration amplitude of the drum is not enough to collide with the cleaning robot, so the cleaning robot can be returned to the bottom of the drum.

[0077] Therefore, by configuring the cleaning robot to be moved out from under the drum when the dehydration speed is detected to be in the resonance speed range, the time the cleaning robot is moved out can be greatly reduced, thereby reducing the inconvenience caused to the user by the removal of the cleaning robot.

[0078] Based on the same inventive concept, the present disclosure also provides a cleaning equipment control device, such as the following embodiment. Since the principle of solving the problem in the device embodiment is similar to that in the above method embodiment, the implementation of the device embodiment can refer to the implementation of the above method embodiment, and the repeated parts will not be repeated.

[0079] Figure 4 The schematic diagram of the structure of a cleaning device control device in an embodiment of the present disclosure is shown. The cleaning device may include a clothes processing device and a cleaning robot arranged under the drum of the clothes processing device, and the cleaning robot can be moved out from under the drum. Figure 4 As shown, the cleaning equipment control device 400 includes: a judgment module 401 and a control module 402 .

[0080] The judgment module 401 is used to detect whether the drum meets the contact condition when the cleaning robot is located below the drum.

[0081] The control module 402 is used to control the cleaning robot to move out from under the drum if the drum meets the contact condition.

[0082] In some embodiments, the judgment module 401 is used to determine that if the distance between the drum and the cleaning robot is less than a preset distance threshold, the drum meets the contact condition.

[0083] In some embodiments, the judgment module 401 is used to determine that the drum meets the touch condition if the weight of the clothes in the drum is greater than a preset weight threshold.

[0084] In some embodiments, the control module 402 is also used to, if the clothes processing device is in a dehydration instruction execution state, the drum meets the touch condition.

[0085] In some embodiments, the control module 402 is used to detect the dehydration speed of the drum in the dehydration process in real time if the clothes processing device is in the dehydration instruction execution state. If it is detected that the dehydration speed is within the resonance speed range, the cleaning robot is controlled to move out from under the drum, wherein the resonance speed range is a speed range that can cause the cleaning device as a whole to resonate.

[0086] In some embodiments, the control module 402 is used to control the cleaning robot to return to under the drum if it is detected that the dehydration speed is outside the resonance speed range and the cleaning robot is in a standby state.

[0087] In some embodiments, the control module 402 is used to predict the completion time of the cleaning task if the cleaning robot is performing the cleaning task. If the completion time is before the time when the clothes processing device stops running, the completion time of the cleaning task is extended to after the time when the clothes processing device stops running. The cleaning robot moves out from under the drum when performing the cleaning task and returns to under the drum after completing the cleaning task.

[0088] It should be noted that the cleaning equipment control device provided in the above embodiment is only illustrated by the division of the above functional modules when used for cleaning equipment control. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the cleaning equipment control device provided in the above embodiment and the cleaning equipment control method embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0089] Those skilled in the art will appreciate that various aspects of the present disclosure may be implemented as systems, methods or program products. Therefore, various aspects of the present disclosure may be specifically implemented in the following forms, namely: complete hardware implementation, complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to herein as "circuits", "modules" or "systems".

[0090] Refer to the following Figure 5 hereinafter, an electronic device 500 capable of implementing the embodiments of the present disclosure is described. Figure 5 The electronic device 500 shown is merely an example and should not bring any limitation to the functions and scope of application of the embodiments of the present disclosure.

[0091] like Figure 5 As shown, the electronic device 500 is in the form of a general computing device. The components of the electronic device 500 may include but are not limited to: at least one processing unit 510, at least one storage unit 520, and a bus 530 connecting different system components (including the storage unit 520 and the processing unit 510).

[0092] The storage unit stores program codes, which can be executed by the processing unit 510, so that the processing unit 510 executes the steps according to various exemplary embodiments of the present disclosure described in the above “Exemplary Method” section of the present disclosure.

[0093] In some embodiments, the processing unit 510 may execute the following steps of the above method embodiment: if the cleaning robot is located under the drum, detecting whether the drum meets the touch condition; if the drum meets the touch condition, controlling the cleaning robot to move out from under the drum.

[0094] The storage unit 520 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 5201 and / or a cache storage unit 5202 , and may further include a read-only storage unit (ROM) 5203 .

[0095] The storage unit 520 may also include a program / utility 5204 having a set (at least one) of program modules 5205, such program modules 5205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0096] Bus 530 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0097] The electronic device 500 may also communicate with one or more external devices 540 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the electronic device 500, and / or any device that enables the electronic device 500 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed through an input / output (I / O) interface 550. Furthermore, the electronic device 500 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 560. Figure 5 As shown, the network adapter 560 communicates with other modules of the electronic device 500 via the bus 530. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the electronic device 500, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0098] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0099] In an exemplary embodiment of the present disclosure, a computer-readable storage medium is also provided, which may be a readable signal medium or a readable storage medium. A program product capable of implementing the above-mentioned method of the present disclosure is stored thereon. In some possible implementations, various aspects of the present disclosure may also be implemented in the form of a program product, which includes a program code, and when the program product is run on a terminal device, the program code is used to cause the terminal device to execute the steps according to various exemplary implementations of the present disclosure described in the above-mentioned "Exemplary Method" section of the present disclosure.

[0100] More specific examples of computer-readable storage media in the present disclosure may include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0101] In the present disclosure, a computer readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, wherein a readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A readable signal medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0102] Alternatively, the program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0103] In a specific implementation, the program code for performing the operations of the present disclosure may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., using an Internet service provider to connect through the Internet).

[0104] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be embodied.

[0105] In addition, although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0106] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0107] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

Claims

1. A cleaning equipment control method, characterized in that: The cleaning device comprises a clothes processing device and a cleaning robot arranged under a drum of the clothes processing device, wherein the cleaning robot can be moved out from under the drum; The method comprises: When the cleaning robot is located below the drum, detecting whether the drum meets a contact condition; If the drum meets the contact condition, the cleaning robot is controlled to move out from under the drum.

2. The method according to claim 1, characterized in that The detecting whether the roller meets the touch condition comprises: If the distance between the drum and the cleaning robot is less than a preset distance threshold, the drum meets the contact condition.

3. The method according to claim 1, characterized in that The detecting whether the roller meets the touch condition comprises: If the weight of the clothes in the drum is greater than a preset weight threshold, the drum meets the touch condition.

4. The method according to claim 1, characterized in that: The detecting whether the roller meets the touch condition comprises: If the clothes processing device is in a dehydration instruction execution state, the drum meets the touch condition.

5. The method according to claim 4, characterized in that The controlling the cleaning robot to move out from under the drum comprises: If the clothes processing device is in a dehydration instruction execution state, real-time detection of the dehydration speed of the drum during the dehydration process; If it is detected that the dehydration speed is within the resonance speed range, the cleaning robot is controlled to move out from under the drum, wherein the resonance speed range is a speed range that can cause the cleaning device as a whole to resonate.

6. The method according to claim 5, characterized in that The method further comprises: If it is detected that the dehydration speed is outside the resonance speed range and the cleaning robot is in a standby state, the cleaning robot is controlled to return to below the drum.

7. The method according to claim 1, characterized in that The method further comprises: If the cleaning robot is performing a cleaning task, predicting the completion time of the cleaning task; If the completion time is before the time when the clothes processing device stops running, extending the cleaning task completion time to after the time when the clothes processing device stops running; The cleaning robot moves out from under the drum when performing the cleaning task, and returns to under the drum after completing the cleaning task.

8. A cleaning equipment control device, characterized in that: The cleaning device comprises a clothes processing device and a cleaning robot arranged under a drum of the clothes processing device, wherein the cleaning robot can be moved out from under the drum; The device comprises: A judgment module, used for detecting whether the drum meets a contact condition when the cleaning robot is located below the drum; The control module is used for controlling the cleaning robot to move out from under the drum if the drum meets the contact condition.

9. An electronic device, characterized in that: include: processor; as well as A memory, configured to store executable instructions of the processor; The processor is configured to perform the method of any one of claims 1 to 7 by executing the executable instructions.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

Images