Cleaning equipment, control method thereof and computer readable storage medium

Abstract

The invention discloses cleaning equipment, a control method thereof and a computer readable storage medium. The cleaning equipment comprises an equipment body, a cleaning module and a thickness measuring module. The cleaning module is arranged on the equipment body and provided with a water outlet and a water suction port, the water outlet is used for discharging water towards a carpet, and the water suction port is used for sucking water of the carpet; the thickness measuring module is arranged on the equipment main body, the thickness measuring module is used for acquiring the thickness parameter of the carpet, and the cleaning module controls the water yield of the water outlet and / or the suction force of the water suction port according to the thickness parameter. According to the technical scheme, the thickness of the carpet is detected through the thickness measuring module, and then the cleaning module adjusts the water yield of the water outlet according to the thickness of the carpet, so that the cleaning effect of the cleaning equipment on the carpet is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning machines, and particularly to a cleaning device, a control method thereof, and a computer-readable storage medium. Background Art

[0002] For a cleaning device that uses water washing to clean carpets, during the process of cleaning the carpet, the carpet is usually wetted first, and then the water in the carpet is sucked away to achieve the cleaning effect. Among them, due to the uneven thickness of the carpet, the thicker the carpet, the more water is required to clean it. However, the water output of the cleaning device is uniform and stable. When encountering an overly thick carpet, there is insufficient water volume, resulting in incomplete cleaning. When encountering an overly thin carpet, there is excessive water volume, resulting in a long drying time after the carpet is cleaned, etc., reducing the user experience. Summary of the Invention

[0003] The main object of the present invention is to provide a cleaning device that detects the thickness of the carpet through a thickness measurement module, and then adjusts the water output of the water outlet according to the carpet thickness to improve the cleaning effect of the carpet.

[0004] To achieve the above object, the cleaning device of the present invention includes:

[0005] A device main body;

[0006] A cleaning module, which is arranged on the device main body and is provided with a water outlet and a water suction port. The water outlet is used for discharging water towards the carpet, and the water suction port is used for sucking the water of the carpet; and

[0007] A thickness measurement module, which is arranged on the device main body. The thickness measurement module is used for obtaining the thickness parameter of the carpet, and the cleaning module controls the water output of the water outlet and / or the suction force of the water suction port according to the thickness parameter.

[0008] Optionally, the device main body is provided with a floating member, and the floating member is movably arranged on the device main body and can maintain a state of being attached to the surface of the carpet to adapt to the thickness parameter;

[0009] The thickness measurement module includes a first sensor fixedly arranged on the device main body. The first sensor is arranged opposite to the floating member, and the first sensor is used for detecting the distance between the floating member and the first sensor.

[0010] Optionally, the device main body includes a sewage tank, and the floating member is configured as a floating suction nozzle that connects the cleaning module and the sewage tank. The floating suction nozzle is provided with the water suction port, and the floating suction nozzle is rotatably arranged on the device main body so that the water suction port can maintain a state of being attached to the surface of the carpet.

[0011] Optionally, the rotational connection position between the floating suction nozzle and the device main body is disposed adjacent to the connection port where the floating suction nozzle communicates with the sewage tank. The distance from the water suction port to the rotational connection position is greater than the distance from the connection port to the rotational connection position. The first sensor is disposed adjacent to the water suction port.

[0012] Optionally, the thickness measurement module includes a second sensor. The second sensor is disposed obliquely or vertically downward, and the second sensor is configured to measure the distance between the device main body and the surface of the carpet.

[0013] Optionally, the second sensor is disposed on the side of the device main body. The second sensor is configured as a line laser sensor. The line laser sensor is capable of projecting a horizontal line laser parallel to the side surface of the device main body onto the carpet, and / or the line laser sensor is capable of projecting a vertical line laser on a vertical plane onto the carpet.

[0014] Optionally, the second sensor is disposed at the bottom of the device main body, and the second sensor is vertically opposite to the surface of the carpet.

[0015] Optionally, the thickness measurement module includes a current detector. The device main body is provided with a drive wheel. The current detector is configured to obtain a current signal of the drive wheel, and the thickness measurement module obtains the thickness parameter according to the current signal.

[0016] In addition, to achieve the above object, the present invention further provides a control method for a cleaning device. The cleaning device is the cleaning device as described above. The control method for the cleaning device includes:

[0017] Obtaining the thickness parameter collected by the thickness measurement module of the cleaning device;

[0018] Controlling the cleaning module of the cleaning device to operate at a preset gear according to the thickness parameter; wherein, the number of the preset gears is multiple, and the cleaning module under each preset gear has different water output and / or suction force;

[0019] Controlling the cleaning device to clean the carpet at the selected preset gear.

[0020] Optionally, the thickness measurement module is configured as a sensor, and the cleaning module includes a floating suction nozzle. The step of obtaining the thickness parameter collected by the thickness measurement module of the cleaning device specifically includes:

[0021] The processor obtains the height of the device main body of the cleaning device from the ground and stores the height from the ground in the memory;

[0022] The sensor obtains the distance from the sensor to the floating suction nozzle or the distance from the device body to the carpet surface as a thickness signal;

[0023] The processor compares the ground clearance height with the thickness signal to obtain the thickness parameter.

[0024] Optionally, the sensor is configured as a line laser sensor. The step of the sensor obtaining the distance from the device body to the carpet surface as the thickness signal specifically includes:

[0025] The emitting end of the line laser sensor projects a horizontal line laser and / or a vertical line laser on the surface of the carpet;

[0026] The receiving end of the line laser sensor obtains the position parameter and the reflectivity parameter of the horizontal line laser or the vertical line laser;

[0027] The processor obtains the thickness signal based on the position parameter, and / or obtains the type of the carpet based on the reflectivity parameter.

[0028] Optionally, the step of controlling the cleaning module of the cleaning device to operate at a preset gear according to the thickness parameter specifically includes:

[0029] The processor obtains the standard distance of the movement of the cleaning device and stores the standard distance in the memory;

[0030] The processor determines the water output of the water outlet of the cleaning module in the standard distance as the standard water output based on the thickness parameter; wherein, the thickness parameter is positively correlated with the standard water output;

[0031] The processor determines the suction force of the suction port of the cleaning module as the standard suction force based on the standard water output; wherein, the standard water output is positively correlated with the standard suction force.

[0032] In addition, to achieve the above object, the present invention also provides a computer-readable storage medium, on which a cleaning control program is stored. When the cleaning control program is executed by a processor, the steps of the control method of the foregoing cleaning device are implemented.

[0033] In the technical solution of the present invention, a thickness measurement module is provided on the device main body, and the thickness measurement module is connected to the cleaning module. During the process of the cleaning device cleaning the carpet, the thickness measurement module detects the thickness of the current carpet, and the cleaning module controls the appropriate amount of water flowing out of the water outlet, or controls the appropriate suction force provided by the suction port, or provides the appropriate suction force at the suction port while the appropriate amount of water flows out of the water outlet, which is manifested as: for carpets with a larger thickness, the amount of water flowing out of the water outlet is larger, or the suction force provided by the suction port is larger, or both the amount of water flowing out of the water outlet and the suction force of the suction port are larger; for carpets with a smaller thickness, the amount of water flowing out of the water outlet is smaller, or the suction force provided by the suction port is smaller, or both the amount of water flowing out of the water outlet and the suction force of the suction port are smaller. Thus, the cleaning device can have a good cleaning effect on carpets of various thicknesses, improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0035] Figure 1 It is a schematic structural diagram of an embodiment of the cleaning device of the present invention;

[0036] Figure 2 It is a schematic structural diagram of another embodiment of the cleaning device of the present invention;

[0037] Figure 3 It is a control logic diagram in another embodiment of the cleaning device of the present invention;

[0038] Figure 4 It is a flowchart of an embodiment of the control method of the cleaning device of the present invention;

[0039] Figure 5 For Figure 4 It is a detailed flowchart diagram of step S100 in

[0040] Figure 6 For Figure 5 It is a detailed flowchart diagram of step S120 in

[0041] Figure 7 For Figure 4 It is a detailed flowchart diagram of step S200 in

[0042] Figure 8 It is a system control logic diagram of an embodiment of the cleaning device of the present invention.

[0043] Description of the attached reference numerals:

[0044] Label Name Label Name 100 Device main body 110 Floating suction nozzle 111 Water suction port 120 Sewage tank 130 Water outlet 140 Drive wheel 200 First sensor 300 Second sensor 400 Current detector 10 Processor 20 Cleaning module 30 Memory 40 Thickness measurement module 50 Communication bus

[0045] The realization, functional features and advantages of the object of the present invention will be further described in conjunction with the embodiments with reference to the accompanying drawings. Detailed implementation manners

[0046] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention. It should be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention.

[0047] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0048] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and / or" appearing throughout the text includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, or solution B, or a solution where A and B are satisfied simultaneously. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0049] The present invention provides a cleaning device.

[0050] In the embodiments of the present invention, please refer to Figures 1 to 3 and Figure 8 , the cleaning device includes:

[0051] A device main body 100;

[0052] A cleaning module 20, the cleaning module 20 is arranged on the device main body 100 and is provided with a water outlet 130 and a water suction port 111. The water outlet 130 is used for discharging water towards the carpet, and the water suction port 111 is used for sucking the water of the carpet; and

[0053] The thickness measurement module 40 is provided on the device main body 100. The thickness measurement module 40 is used to obtain the thickness parameter of the carpet. The cleaning module 20 controls the water output of the water outlet 130 and / or the suction force of the suction port 111 according to the thickness parameter.

[0054] In the technical solution of the present invention, a thickness measurement module 40 is provided on the device main body 100, and the thickness measurement module 40 is connected to the cleaning module 20. During the process of the cleaning device cleaning the carpet, the thickness measurement module 40 detects the thickness of the current carpet, and the cleaning module 20 controls the appropriate water output of the water outlet 130 according to the thickness of the current carpet, or controls the appropriate suction force of the suction port 111, or provides an appropriate suction force at the suction port 111 while the water outlet 130 outputs an appropriate amount of water, which is manifested as: for carpets with a larger thickness, the water output of the water outlet 130 is larger, or the suction force provided by the suction port 111 is larger, or both the water output of the water outlet and the suction force of the suction port are larger; for carpets with a smaller thickness, the water output of the water outlet 130 is smaller, or the suction force provided by the suction port 111 is smaller, or both the water output of the water outlet and the suction force of the suction port are smaller. Thus, the cleaning device can have a good cleaning effect on carpets of various thicknesses, improving the user experience.

[0055] Among them, the thickness of the carpet is positively correlated with the water absorption of the carpet. The thicker the carpet, the greater the water absorption of the carpet, and the greater the water consumption for cleaning the carpet. During the process of cleaning the carpet, the ratio of the water volume absorbed by the suction port 111 to the water volume flowing out of the water outlet 130 being between 0.3 and 0.9 is a better water return ratio, which can ensure the cleaning effect of the carpet. It should be noted that the cleaning device can be configured as a carpet cleaning robot, which can achieve autonomous movement control and autonomous cleaning of the carpet. The cleaning device can also be configured as a manual cleaning device, avoiding the operation of the user manually adjusting the water output and suction force, which can improve the user experience. In this embodiment, the cleaning device is configured as a carpet cleaning robot. On the travel route of the cleaning device, the water outlet 130 is arranged in front of the suction port 111.

[0056] It can be understood that the cleaning module 20 has cleaning components such as a roller brush and a drum for cleaning the carpet. This component can be arranged in the water outlet 111 to clean the carpet at the position of the water outlet 111, or it can also be arranged between the suction port 111 and the water outlet 130 to clean the carpet after wetting the carpet with the water outlet 111. The thickness parameter of the carpet reflects the thickness of the carpet. Under the same thickness parameter, the water consumption for cleaning carpets of different materials will be different. Whether it is the same type of carpet or different types of carpets, the thickness parameter is positively correlated with the water consumption for cleaning the carpet.

[0057] In one embodiment, please refer toFigure 1 , the device main body 100 is provided with a floating member (not shown in the figure). The floating member is movably arranged on the device main body 100 and can maintain a state of being attached to the surface of the carpet to adapt to the thickness parameter. The thickness measurement module 40 includes a first sensor 200 fixed to the device main body 100. The first sensor 200 is disposed opposite to the floating suction nozzle 110. The first sensor 200 is used to detect the distance between the floating suction nozzle 110 and the first sensor 200. Specifically, the device main body 100 may be provided with a floating member on the front side in the advancing direction of the cleaning device, or may be provided with a floating member on the rear side or the left and right sides. The floating member can maintain a state of being attached to the surface of the carpet. Corresponding to carpets of different thicknesses, the distance between the first sensor 200 on the device main body 100 and the floating member detected by the first sensor 200 will be different. The thicker the carpet, the greater the distance between the first sensor 200 and the floating member. Thus, the cleaning device of this embodiment can control the cleaning module 20 to flow out an appropriate amount of water and provide an appropriate suction force according to different carpet thicknesses. In addition, if the floating member is provided on the front side of the device main body 100, it can react in advance to the carpet thickness situation on the current path, reserve a cleaning adjustment time for the cleaning module 20, ensure the timeliness of the cleaning adjustment of the cleaning device, better adapt to the situation of different thicknesses on a carpet, and thus improve the cleaning accuracy and cleaning effect on the carpet.

[0058] Furthermore, in this embodiment, please refer to Figure 1, the device main body 100 includes a sewage tank 120. The floating member is configured to clean the floating suction nozzle 110 where the module 20 communicates with the sewage tank 120. The floating suction nozzle 110 is provided with a water suction port 111. The floating suction nozzle 110 is rotatably arranged on the device main body 100 so that the water suction port 111 can maintain a state of being attached to the surface of the carpet. It should be noted that due to the weight of the cleaning device and the relatively soft characteristics of the carpet, during the process of the cleaning device cleaning the carpet, the weight of the cleaning device is concentrated on the device main body 100, causing the wheels under the device main body 100 to sink into the bottom of the carpet. The floating suction nozzle 110 is floating relative to the device main body 100, resulting in a relatively small acting force of the floating suction nozzle 110 on the carpet surface, so that the water suction port 111 on the floating suction nozzle 110 can be attached to the surface of the carpet without sinking into the carpet or sinking into the carpet to a relatively shallow depth. It can be understood that corresponding to carpets of different thicknesses, the movement range of the floating suction nozzle 110 relative to the device main body 100 will be different, which is manifested as: the thicker the carpet, the greater the distance between the floating suction nozzle 110 and the first sensor 200. Thus, for carpets of different thicknesses, the distance between the first sensor 200 and the floating suction nozzle 110 in the cleaning device will be different. By detecting the distance between the first sensor 200 and the floating suction nozzle 110 through the first sensor 200, the thickness of the current carpet can be indirectly reflected, so that the cleaning module 20 can control the appropriate amount of water flowing out of the water outlet 130 and control the appropriate suction force provided by the water suction port 111 to ensure the cleaning effect on the carpet. In addition, the first sensor 200 in this embodiment detects the floating suction nozzle 110, thereby using the original component in the cleaning device that can reflect the carpet thickness, avoiding setting a separate component for reflecting the carpet thickness, and thus reducing the cost. Without loss of generality, during the process of the cleaning device cleaning the carpet, the floating suction nozzle 110 can maintain being attached to the carpet surface to ensure the cleaning effect on carpets of different thicknesses or carpets with uneven surfaces. Of course, the floating suction nozzle 110 can also be only set to follow the thickness of the carpet without maintaining being attached to the carpet surface. Specifically, the first sensor 200 is configured as a ranging sensor such as a PSD (Position Sensitive Detector) sensor, a dot laser sensor, or an infrared sensor.

[0059] Further, in this embodiment, please refer to Figure 1, the rotational connection position between the floating suction nozzle 110 and the device main body 100 is arranged adjacent to the connection port (not shown in the figure) where the floating suction nozzle 110 communicates with the sewage tank 120. The distance from the water suction port 111 to the rotational connection position is greater than the distance from the connection port to the rotational connection position. The first sensor 200 is arranged adjacent to the water suction port 111. It can be understood that the floating amplitude of the floating suction nozzle 110 at the water suction port 111 is greater than that at the connection port. The first sensor 200 is arranged adjacent to the water suction port 111 of the floating suction nozzle 110, which expands the display of the change in carpet thickness during the floating process of the floating suction nozzle 110, reduces the detection error of the first sensor 200 and the accuracy requirement for the first sensor 200, so that the first sensor 200 can more accurately reflect the thickness of the carpet, thereby improving the accuracy of the water output and suction force controlled by the cleaning device for carpets of different thicknesses, and ensuring the cleaning effect and the user experience. In addition, during the floating process of the floating suction nozzle 110, the deformation amplitude at the connection between the floating suction nozzle 110 and the sewage tank 120 is relatively low, ensuring the connection tightness between the floating suction nozzle 110 and the sewage tank 120. Moreover, since the requirement for the elastic ability at the connection between the floating suction nozzle 110 and the sewage tank 120 is not high, most of the elastic materials on the market are applicable, thus reducing the production cost. Of course, in other embodiments, it can also be that the distance from the water suction port 111 to the rotational connection position is less than the distance from the connection port to the rotational connection position, the first sensor 200 is arranged adjacent to the connection port, or the first sensor 200 is configured as an angle sensor for detecting the rotational angle of the floating suction nozzle 110 at the rotational connection position to adapt to the thickness of the carpet.

[0060] In another embodiment, please refer to Figure 2, the thickness measurement module 40 includes a second sensor 300. The second sensor 300 is disposed obliquely or vertically downward, and the second sensor 300 is used to measure the distance between the device body 100 and the carpet surface. Without loss of generality, the device body 100 is configured with wheels to meet the movement requirements of the cleaning device. Due to the weight of the cleaning device and the relatively soft characteristics of the carpet, during the process of the cleaning device cleaning the carpet, the wheels of the cleaning device will sink into the bottom of the carpet. Therefore, for carpets of different thicknesses, the distance between the device body 100 and the carpet surface will also be different. In particular, when the wheels of the cleaning device sink deeper into a certain carpet, it not only reflects that the thickness of the carpet is larger, but also reflects that the water absorption of the carpet is stronger. Thus, the second sensor 300 is provided on the device body 100. The second sensor 300 measures the distance from the second sensor 300 to the carpet surface, and compares this distance with the distance from the second sensor 300 to the bottom of the wheels, thereby obtaining the thickness parameter of the carpet. The larger the thickness parameter, the greater the thickness of the carpet. When the distance from the second sensor 300 to the carpet surface is larger, the water output and suction of the cleaning module 20 are larger, so that the cleaning device can have a good cleaning effect on carpets of various thicknesses, improving the user experience.

[0061] Further, in this embodiment, please continue to refer to Figure 2, the second sensor 300 is disposed on the side of the device main body 100. The second sensor 300 is configured as a line laser sensor, which can project a horizontal line laser parallel to the side surface of the device main body 100 onto the carpet, and / or can project a vertical line laser on the vertical plane onto the carpet. It should be noted that the laser emitted by the line laser sensor forms a laser line on the carpet surface, which can detect multiple points on the carpet surface, and the multiple points of the laser line are linearly distributed, facilitating the calculation and analysis of the reflected laser, thereby improving the reliability and accuracy of detecting the carpet thickness. Specifically, the second sensor 300 is disposed on the front side of the device main body 100. For the horizontal line laser on the carpet surface, the distances from its respective reflection points to the device main body 100 are equal, that is, the horizontal line laser increases the coverage measurement area of the carpet at a preset distance from the device main body 100, thereby improving the accuracy of the second sensor 300 in detecting the carpet thickness; for the vertical line laser on the carpet surface, the distance reflected back to the line laser sensor changes in direct proportion, that is, it accurately reflects the change in the carpet thickness on the forward path of the cleaning device. While ensuring the reliability of detecting the carpet thickness, it also provides reliable carpet thickness change information for the cleaning device. Among them, the line laser sensor can project only the horizontal line laser, or only the vertical line laser, or project both the horizontal line laser and the vertical line laser, or the projected line laser has a component relative to the horizontal line laser and a component relative to the vertical line laser. In addition, the line laser sensor can also judge the laser reflectivity on the carpet surface. Different reflectivities correspond to carpets of different materials, so as to more accurately control the water output and suction of the cleaning module 20, and ensure the cleaning effect of the cleaning device on the carpet.

[0062] Without loss of generality, in this embodiment, please continue to refer to Figure 2 , the line laser sensor can be a sensor configured for obstacle avoidance in the cleaning device, that is, in this embodiment, a sensor for analyzing obstacle avoidance is added to the processor 10 to analyze the position information of the laser on the carpet surface, thereby obtaining the thickness of the carpet, avoiding the need to separately set a line laser sensor for measuring the carpet thickness, and thus reducing the cost. Of course, in other embodiments, a line laser sensor can also be separately set to measure the carpet thickness.

[0063] Further, in other embodiments, the second sensor 300 is disposed at the bottom of the device body 100, and the second sensor 300 is vertically opposite to the surface of the carpet. It can be understood that in this embodiment, the second sensor 300 is configured as an infrared sensor, a laser sensor or a PSD sensor. Among them, the second sensor 300 is vertically opposite to the surface of the carpet. By calculating the time from the measurement medium emitted by the second sensor 300 to the receiving medium, the distance between the second sensor 300 and the carpet surface can be obtained, which reduces the requirements for the second sensor 300. At the same time, the reliability and accuracy of the data measured by the second sensor 300 are improved, facilitating the cleaning module 20 to accurately control the water output and suction according to the carpet thickness. Without loss of generality, when the second sensor 300 is disposed at the bottom of the device body 100, the bottom of the device body 100 is recessed upward so as to form an effective measurement distance between the second sensor 300 and the surface of the carpet. In other embodiments, the second sensor 300 may also be disposed on the side surface of the device body 100 and form an effective measurement distance with the surface of the carpet, thereby ensuring the reliability and accuracy of the data measured by the second sensor 300 and reducing the accuracy requirements for the second sensor 300 at the same time.

[0064] In yet another embodiment, please refer to Figure 3 , the thickness measurement module 40 includes a current detector 400. The device body 100 is provided with a driving wheel 140. The current detector 400 is used to obtain the current signal of the driving wheel 140, and the thickness measurement module 40 obtains the thickness parameter according to the current signal. It should be noted that the driving wheel 140 of the cleaning device will encounter resistance in the carpet. For carpets with greater thickness, the driving wheel 140 sinks deeper and the area of the driving wheel 140 in contact with the carpet surface is larger, resulting in greater resistance encountered by the driving wheel 140. When the resistance encountered by the driving wheel 140 is greater, usually the current of the driving motor passing through the driving wheel 140 is increased to ensure the stable rotation speed of the driving wheel 140. Thus, by detecting the current passing through the driving wheel 140 by the current detector 400 to generate a current signal, in carpets with different thicknesses, the current detector 400 will generate current signals with different values, thereby obtaining the thickness of the carpet currently being cleaned by the cleaning device, and then controlling the cleaning module 20 to flow out an appropriate amount of water and provide an appropriate suction force.

[0065] In one embodiment, the cleaning device may be configured with a floating suction nozzle 110, a first sensor 200, a second sensor 300, and a current detector 400. A first thickness measurement module is formed by the floating suction nozzle 110 and the first sensor 200, a second thickness measurement module is formed by the second sensor 300, and a third thickness measurement module is formed by the current detector 400 and the drive wheel 140. During the operation of the cleaning device, the cleaning device may operate at least one of the first thickness measurement module, the second thickness measurement module, and the third thickness measurement module. Among them, according to the differences in the reliability and accuracy of the three thickness measurement modules 40 in measuring the carpet thickness, different weight ratios may be assigned to the thickness information obtained by the first thickness measurement module, the second thickness measurement module, and the third thickness measurement module. For example, the weight of the thickness information obtained by the first thickness measurement module may be 0.7 - 0.9, the weight of the thickness information obtained by the second thickness measurement module may be 0.1 - 0.2, and the weight of the thickness information obtained by the third thickness measurement module may be 0.05 - 0.1. In this way, the reliability and accuracy of the thickness parameters obtained by the thickness measurement module 40 can be improved, ensuring that the amount of water flowing out of the cleaning module 20 and the suction force provided can better adapt to the current carpet thickness, thereby improving the cleaning effect of the cleaning device on the carpet.

[0066] The present invention also proposes a control method for a cleaning device. Among them, the cleaning device in the embodiment of this control method is the aforementioned cleaning device. Since this cleaning device adopts all the technical solutions of the above-mentioned all embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be elaborated one by one here.

[0067] To facilitate the description of the control method of the cleaning device, first, the structure of the cleaning device in the hardware operating environment involved in the embodiments of the present invention will be described. As Figure 8 shown, the cleaning device may include: a cleaning module 20, a thickness measurement module 40, a processor 10, such as a central processing unit 10 (Central Processing Unit, CPU), a communication bus 50, and a memory 30. Among them, the communication bus 50 is used to realize the communication connection between these components. The memory 30 may be a high-speed RAM memory 30 or a stable memory 30 (non-volatile memory), such as a disk memory 30. Optionally, the memory 30 may also be a storage device independent of the aforementioned processor 10. According to the cleaning control program stored in the memory 30 and executable on the processor 10, when the cleaning control program is executed by the processor 10, the steps of the control method of the cleaning device of the technical solution of the present invention can be realized.

[0068] Those skilled in the art can understand that the memory 30, as a computer storage medium, may include an operating system, a network communication module, and a node positioning program. The operating system is a program that manages and controls the hardware and software resources of the node positioning system and supports the operation of the node positioning program and other software and / or programs. The network communication module is used to implement communication between components inside the memory 30 and communication between other hardware and software in the node positioning system.

[0069] For the control method of the cleaning device provided by the embodiments of the present application, please refer to Figures 4 to 7 , the control method of the cleaning device includes:

[0070] Step S100: Obtain the thickness parameter collected by the thickness measurement module 40 of the cleaning device;

[0071] Step S200: Control the cleaning module 20 of the cleaning device to operate at a preset gear according to the thickness parameter; wherein, the number of preset gears is multiple, and the cleaning module 20 has different water output and / or suction force at each preset gear;

[0072] Step S300: Control the cleaning device to clean the carpet at the selected preset gear.

[0073] In this way, after the processor 10 obtains the thickness parameter of the carpet collected by the thickness measurement module 40, it analyzes the thickness parameter to obtain the thickness of the carpet to be cleaned currently. Then, it controls the cleaning module 20 to flow out an appropriate amount of water or provide an appropriate suction force or both flow out an appropriate amount of water and provide an appropriate suction force. Finally, the processor 10 controls the cleaning device to clean the current carpet at a preset gear adapted to the current carpet thickness, so that the cleaning device can have a good cleaning effect on carpets of various thicknesses and improve the user experience. Among them, the preset gear of the cleaning module 20 is adapted to the thickness of the carpet, which can ensure that the ratio of the amount of water absorbed by the water suction port 111 to the amount of water flowing out of the water outlet 130 is a good water return ratio, such as between 0.3 and 0.9.

[0074] Further, in this embodiment, please refer to Figure 5 , the thickness measurement module 40 is configured as a sensor, the cleaning module 20 includes a floating suction nozzle 110, and step S100 specifically includes:

[0075] Step S110: The processor 10 obtains the height of the device main body 100 of the cleaning device from the ground and stores the height from the ground in the memory 30;

[0076] Step S120: The sensor obtains the distance from the sensor to the floating suction nozzle 110 or the distance from the device main body 100 to the carpet surface as a thickness signal;

[0077] Step S130: The processor 10 compares the ground clearance height and the thickness signal to obtain the thickness parameter.

[0078] It can be understood that the ground clearance height of the device main body 100 is the distance between the bottom of the device main body 100 and the bottom of the wheels. Due to the weight of the cleaning device and the relatively soft characteristics of the carpet, during the process of the cleaning device cleaning the carpet, the wheels of the cleaning device will have depressions relative to the surface of the carpet. Thus, for the floating suction nozzle 110, the water suction port 111 on the floating suction nozzle 110 needs to suck the water in the carpet on the surface of the carpet without sinking into the carpet. It can be understood that for carpets of different thicknesses, the movement range of the floating suction nozzle 110 relative to the device main body 100 will be different, which is manifested as: the thicker the carpet, the greater the distance between the floating suction nozzle 110 and the sensor. That is, when the sensor is opposite to the floating suction nozzle 110, the thickness signal is the distance from the sensor to the floating suction nozzle 110; for the carpet surface, for carpets of different thicknesses, the distance between the device main body 100 and the carpet surface will also be different. In particular, when the wheels of the cleaning device sink deeper into a certain carpet, it not only reflects that the thickness of the carpet is larger, but also reflects that the water absorption of the carpet is stronger. That is, when the sensor is opposite to the carpet surface, the thickness signal is the distance from the device main body 100 to the carpet surface. So that the thickness signal obtained by the sensor can be converted into the distance between the bottom of the device main body 100 and the carpet surface.

[0079] After the processor 10 obtains the thickness signal generated by the sensor, the processor 10 will compare the thickness signal with the ground clearance height of the device main body 100 to obtain the thickness parameter of the carpet, that is, obtain the thickness of the current carpet, so as to control the cleaning module 20 to clean the current carpet in a suitable preset gear, ensuring the cleaning effect of the carpet and the user experience.

[0080] Specifically, in this embodiment, please refer to Figure 6 , the sensor is configured as a line laser sensor, and one solution in step S120 specifically includes:

[0081] Step S121: The emitting end of the line laser sensor projects a horizontal line laser and / or a vertical line laser on the surface of the carpet;

[0082] Step S122: The receiving end of the line laser sensor obtains the position parameter and the reflectivity parameter of the horizontal line laser or the vertical line laser;

[0083] Step S123: The processor 10 obtains the thickness signal based on the position parameter, and / or obtains the type of the carpet based on the reflectivity parameter.

[0084] It should be noted that, please refer to Figure 6, the laser emitted by the line laser sensor forms a laser line on the carpet surface, which can detect multiple points on the carpet surface, and the multiple points of the laser line are linearly distributed, facilitating the calculation and analysis of the reflected laser, thereby improving the reliability and accuracy of detecting the carpet thickness and carpet type. Specifically, in this embodiment, the second sensor 300 is arranged on the front side of the device main body 100. For the horizontal line laser on the carpet surface, the distances reflected back to the line laser sensor are equal, and each point on the horizontal line laser can equivalently reflect the thickness and type of the carpet part at the same distance from the device main body 100, so as to improve the accuracy of detecting the carpet thickness and carpet type; for the vertical line laser on the carpet surface, the distances reflected back to the line laser sensor change in direct proportion, that is, it accurately reflects the changes in the carpet thickness and carpet type on the forward route of the cleaning device. While ensuring the reliability of detecting the carpet thickness and carpet type, it also provides reliable information on the changes in the carpet thickness and carpet type for the cleaning device. Among them, the line laser sensor can project only horizontal line laser or only vertical line laser, or project both horizontal line laser and vertical line laser; different reflectivities of the laser by the carpet surface correspond to carpets of different materials.

[0085] During this process, please refer to Figure 6 , the emitting end of the line laser sensor projects a line laser on the carpet surface, and then the line laser is reflected back to the receiving end of the line laser sensor. The processor 10 analyzes the thickness signal of the current carpet based on the position parameters of the current carpet carried by the reflected line laser, thereby obtaining the thickness parameter of the current carpet based on the thickness signal. At the same time, the processor 10 also synchronously analyzes the type of the current carpet based on the reflectivity parameters of the current carpet carried by the reflected line laser. In this way, the cleaning device knows both the thickness of the current carpet and the type of the current carpet. The processor 10 can better control the cleaning module 20 to operate at the adapted preset gear, that is, discharge an appropriate amount of water and provide an appropriate suction force to ensure the cleaning effect on the current carpet.

[0086] In one embodiment, please refer to Figure 7 , step S200 specifically includes:

[0087] Step S210, the processor 10 obtains the standard distance of the cleaning device's movement and stores the standard distance in the memory 30;

[0088] Step S220, the processor 10 determines the water output of the water outlet 130 of the cleaning module 20 at the standard distance based on the thickness parameter as the standard water output; among them, the thickness parameter is positively correlated with the standard water output;

[0089] Step S230: The processor 10 determines the suction force of the water suction port 111 of the cleaning module 20 based on the standard water output as the standard suction force, where the standard water output is positively correlated with the standard suction force.

[0090] It should be noted that, for reference Figure 7 , the standard distance can be set to 100 mm or 10 mm. After defining the size of the standard distance, the processor 10 will set different water outputs according to carpets of different thicknesses. That is, at a standard distance, for carpets of different thicknesses, there will be different standard water outputs. After the standard water output suitable for the current carpet thickness flows out from the water outlet 130, the processor 10 will select the standard suction force according to the current standard water output. That is, for different standard water outputs, there will be different standard suction forces. In this way, it is ensured that the standard water output flowing out from the water outlet 130 can adapt to the current carpet thickness at the standard distance, ensuring that there is enough water to clean the carpet. At the same time, it is also ensured that the standard suction force provided by the water suction port 111 can adapt to the current standard water output, thereby ensuring that the cleaning device has a good water return ratio, ensuring that the carpet after cleaning is in a good dry state, and improving the user experience.

[0091] The present invention also proposes a computer-readable storage medium. The above computer program product includes a computer-readable program medium storing a cleaning control program. The above computer program is operable to cause a computer to execute some or all of the steps of any method described in the above control method. That is, the specific implementation manner of the computer-readable storage medium of the present invention is basically the same as that of each embodiment of the above node positioning method, and will not be elaborated herein.

[0092] As a computer-readable storage medium, any combination of one or more computer-readable media can be adopted. The computer-readable storage medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the computer-readable storage medium include: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory 30 (RAM), a read-only memory 30 (ROM), an erasable programmable read-only memory 30 (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory 30 (CDROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, apparatus, or device.

[0093] The program code contained on a computer-readable storage medium can be transmitted by any suitable medium, including - but not limited to - wireless, wire, optical fiber, RF, etc., or any suitable combination of the above.

[0094] It should be noted that in this text, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or system comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or system comprising such element.

[0095] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described example methods can be implemented by means of software plus necessary hardware.

[0096] The above are only the preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A cleaning device, characterized in that, Comprising: The device body; A cleaning module, which is arranged on the device body and is provided with a water outlet and a water suction port. The water outlet is used for discharging water towards the carpet, and the water suction port is used for sucking the water of the carpet; And A thickness measuring module, which is arranged on the device body. The thickness measuring module is used for obtaining the thickness parameter of the carpet, and the cleaning module controls the water output of the water outlet and / or the suction force of the water suction port according to the thickness parameter.

2. The cleaning device according to claim 1, characterized in that, The device body is provided with a floating member, and the floating member is movably arranged on the device body and can maintain a state of being attached to the surface of the carpet to adapt to the thickness parameter; The thickness measuring module includes a first sensor fixedly arranged on the device body. The first sensor is arranged opposite to the floating member, and the first sensor is used for detecting the distance between the floating member and the first sensor.

3. The cleaning device according to claim 2, wherein, The device body includes a sewage tank, and the floating member is configured as a floating suction nozzle for connecting the cleaning module and the sewage tank. The floating suction nozzle is provided with the water suction port, and the floating suction nozzle is rotatably arranged on the device body so that the water suction port can maintain a state of being attached to the surface of the carpet.

4. The cleaning device according to claim 3, characterized in that, The rotational connection position of the floating suction nozzle and the device body is arranged adjacent to the connection port where the floating suction nozzle communicates with the sewage tank. The distance from the water suction port to the rotational connection position is greater than the distance from the connection port to the rotational connection position, and the first sensor is arranged adjacent to the water suction port.

5. The cleaning device according to claim 1, characterized in that The thickness measuring module includes a second sensor, and the second sensor is arranged obliquely or vertically downward. The second sensor is used for measuring the distance between the device body and the surface of the carpet.

6. The cleaning device according to claim 5, wherein, The second sensor is arranged on the side of the device body, and the second sensor is configured as a line laser sensor. The line laser sensor can project a horizontal line laser parallel to the side surface of the device body towards the carpet, and / or, the line laser sensor can project a vertical line laser on the vertical plane towards the carpet; Or, the second sensor is configured on the bottom of the device body, and the second sensor is vertically opposite to the surface of the carpet.

7. The cleaning device according to claim 1, wherein, The thickness measuring module includes a current detector, and the device body is provided with a driving wheel. The current detector is used for obtaining the current signal of the driving wheel, and the thickness measuring module obtains the thickness parameter according to the current signal.

8. A control method for a cleaning device, the cleaning device being the cleaning device according to any one of claims 1 to 7, characterized in that, The control method of the cleaning device includes: Obtaining the thickness parameter collected by the thickness measuring module of the cleaning device; Controlling the cleaning module of the cleaning device to operate at a preset gear according to the thickness parameter; wherein, the number of the preset gears is multiple, and the cleaning module under each preset gear has different water output and / or suction force; Controlling the cleaning device to clean the carpet at the selected preset gear.

9. The control method according to claim 8, wherein, The thickness measuring module is configured as a sensor, and the cleaning module includes a floating suction nozzle. The step of obtaining the thickness parameter collected by the thickness measuring module of the cleaning device specifically includes: The processor obtains the ground clearance of the device body of the cleaning device and stores the ground clearance in the memory; The sensor obtains the distance from the sensor to the floating suction nozzle or the distance from the device body to the carpet surface as a thickness signal; The processor compares the ground clearance height with the thickness signal to obtain the thickness parameter.

10. The control method according to claim 9, characterized in that, The sensor is configured as a line laser sensor. The step of the sensor obtaining the distance from the device body to the carpet surface as the thickness signal specifically includes: The emitting end of the line laser sensor projects a horizontal line laser and / or a vertical line laser on the surface of the carpet; The receiving end of the line laser sensor obtains the position parameter and the reflectivity parameter of the horizontal line laser or the vertical line laser; The processor obtains the thickness signal based on the position parameter, and / or obtains the type of the carpet based on the reflectivity parameter.

11. The control method according to claim 8, wherein, The step of controlling the cleaning module of the cleaning device to operate at a preset gear according to the thickness parameter specifically includes: The processor obtains the standard distance of the movement of the cleaning device and stores the standard distance in the memory; The processor determines the water output of the water outlet of the cleaning module in the standard distance as the standard water output based on the thickness parameter; wherein, the thickness parameter is positively correlated with the standard water output; The processor determines the suction force of the suction port of the cleaning module as the standard suction force based on the standard water output; wherein, the standard water output is positively correlated with the standard suction force.

12. A computer-readable storage medium, characterized in that, A cleaning control program is stored on the computer-readable storage medium. When the cleaning control program is executed by the processor, the steps of the control method of the cleaning device according to any one of claims 8 to 11 are implemented.

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