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

Abstract

The invention provides a control method and device of cleaning equipment, the cleaning equipment and a readable storage medium, and relates to the field of smart home. The method comprises the following steps: controlling the cleaning equipment to move towards a base station, and acquiring a real-time distance between the cleaning equipment and the base station in the moving process; when the real-time distance is smaller than or equal to a first preset acceleration distance, the cleaning equipment is controlled to conduct first acceleration movement, a cleaning assembly of the cleaning equipment passes through a protruding structure on a ramp of the base station, and the protruding structure makes contact with the cleaning assembly when the cleaning assembly passes through the base station.

Description

Technical Field

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

[0002] In the related art, there is a raised structure on the ramp of the base station. This raised structure is designed to match the structural characteristics of the cleaning equipment with a detachable mop. It is used to lift the universal wheel of the cleaning equipment to balance the force, thereby better realizing the disassembly and assembly of the mop of the cleaning equipment.

[0003] However, when the cleaning device is piled on the mop, the raised structure will form resistance with the mop of the cleaning device, making it difficult to pile on the cleaning device.

[0004] In addition, any discussion of background technology throughout the specification does not mean that the background technology is necessarily the prior art known to technicians in the relevant field, and any discussion of prior art throughout the specification does not mean that the prior art is necessarily widely known or necessarily constitutes common knowledge in the field. Summary of the Invention

[0005] In view of this, the present application provides a control method, device, cleaning equipment and readable storage medium for a cleaning device, which solves the problem in the related art that the resistance formed between the cleaning component of the cleaning device and the raised structure on the ramp of the base station causes the cleaning device to get stuck during the process of returning to the base station, or even be unable to return to the base station.

[0006] In a first aspect, an embodiment of the present application provides a method for controlling a cleaning device, comprising:

[0007] Controlling the cleaning device to move toward a base station, and obtaining a real-time distance between the cleaning device and the base station during the movement;

[0008] When the real-time distance is less than or equal to the first preset acceleration distance, the cleaning device is controlled to perform a first accelerated movement so that the cleaning component of the cleaning device passes through the raised structure on the ramp of the base station, and the raised structure contacts the cleaning component when the cleaning component passes through.

[0009] In a second aspect, an embodiment of the present application provides a control device for a cleaning device, comprising:

[0010] A control module is used to: control the cleaning device to move toward the base station;

[0011] A distance detection module is used to obtain the real-time distance between the cleaning device and the base station during movement;

[0012] The control module is also used to: when the real-time distance is less than or equal to a first preset acceleration distance, control the cleaning device to perform a first accelerated movement, so that the cleaning component of the cleaning device passes through the raised structure on the ramp of the base station, and the raised structure contacts the cleaning component when the cleaning component passes through.

[0013] In a third aspect, an embodiment of the present application provides a cleaning device, which includes a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the programs or instructions are executed by the processor, the steps of the method of the first aspect are implemented.

[0014] In a fourth aspect, an embodiment of the present application provides a readable storage medium, which stores a program or instruction. When the program or instruction is executed by a processor, the steps of the method of the first aspect are implemented.

[0015] In an embodiment of the present application, during the process of the cleaning equipment returning to the base station, when the distance between the cleaning equipment and the base station reaches a preset acceleration distance, the cleaning equipment is controlled to accelerate so that the cleaning equipment has greater momentum, which can overcome the resistance between the cleaning component of the cleaning equipment and the raised structure on the ramp of the base station, thereby rushing through the ramp of the base station and the raised structure on the ramp, avoiding the problem of the cleaning equipment getting stuck on the ramp of the base station during the process of returning to the base station, or even being unable to return to the base station, thereby improving the efficiency and success rate of the process of the cleaning equipment returning to the base station.

[0016] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0018] Figure 1 A schematic structural diagram of a base station ramp according to an embodiment of the present application is shown;

[0019] Figure 2 One of the flow charts of the control method of the cleaning device according to the embodiment of the present application is shown;

[0020] Figure 3 A second flow chart of a method for controlling a cleaning device according to an embodiment of the present application is shown;

[0021] Figure 4A structural block diagram of a control device for a cleaning device according to an embodiment of the present application is shown;

[0022] Figure 5 The structural block diagram of the cleaning device according to the embodiment of the present application is shown. DETAILED DESCRIPTION

[0023] The following will be combined with the accompanying drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0024] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0025] The control method, device, cleaning device and readable storage medium of the cleaning device provided in the embodiments of the present application are described in detail below with reference to the accompanying drawings through specific embodiments and their application scenarios.

[0026] In an embodiment of the present application, the cleaning device may be a sweeper, a mop, a sweeper-mop machine, etc. The cleaning device is provided with a detachable cleaning component, which may be a cleaning piece, a mop, a rag, etc.

[0027] like Figure 1 As shown, a protruding structure 102 is provided on the ramp 101 of the base station. When the cleaning components are replaced on the cleaning equipment, the protruding structure 102 can lift the universal wheel of the cleaning equipment to balance the forces, thereby better realizing the disassembly and assembly of the cleaning components of the cleaning equipment.

[0028] The present application embodiment provides a method for controlling a cleaning device, such as Figure 2 As shown, the method includes:

[0029] Step 201 : Control the cleaning device to move toward the base station, and obtain the real-time distance between the cleaning device and the base station during the movement.

[0030] In this step, when the cleaning device needs to return to the base station for operations such as charging, water replenishment, replacement of cleaning components, or emptying of the dust box, the pile-up action is performed.

[0031] Control the cleaning device to move toward the base station and detect the real-time distance between the cleaning device and the base station in real time. The real-time distance can be the distance between a preset point of the cleaning device and a preset point of the base station. The preset points include endpoints, center points, etc. For example, the real-time distance between the endpoint of one end of the cleaning device toward the base station and the endpoint of one end of the base station toward the cleaning device can be detected, and the distance between the center point of the cleaning device and the center point of the base station can also be detected. This application does not make specific limitations.

[0032] Step 202: When the real-time distance is less than or equal to the first preset acceleration distance, the cleaning device is controlled to perform a first accelerated movement so that the cleaning component of the cleaning device passes through the raised structure on the ramp of the base station, and the raised structure contacts the cleaning component when the cleaning component passes through.

[0033] In this step, the cleaning device moves toward the base station, and as it moves, the distance between the cleaning device and the base station becomes closer and closer. When it is detected that the real-time distance between the cleaning device and the base station is less than or equal to the first preset acceleration distance, the cleaning device is controlled to increase its speed and perform a first accelerated movement, thereby enabling the cleaning device to have greater momentum to rush over the ramp of the base station and the raised structure on the ramp.

[0034] In the embodiment of the present application, during the process of the cleaning device returning to the base station, when the distance between the cleaning device and the base station reaches a preset acceleration distance, the cleaning device is controlled to accelerate so that the cleaning device has a greater impulse, which can overcome the resistance between the cleaning component of the cleaning device and the raised structure on the ramp of the base station, thereby rushing through the ramp of the base station and the raised structure on the ramp, avoiding the problem of the cleaning device getting stuck on the ramp of the base station or even being unable to return to the base station during the process of returning to the base station, thereby improving the efficiency and success rate of the process of the cleaning device returning to the base station.

[0035] It should be noted that this application proposes a solution for cleaning equipment returning to a base station with a raised structure. By accelerating the cleaning equipment, it not only allows the cleaning equipment to rush over the base station ramp, but also enables it to rush over the raised structure on the base station ramp, thus preventing the raised structure from creating resistance on the cleaning components. This application addresses the technical problems encountered in the related art when cleaning equipment returns to a base station with a raised structure, and proposes a corresponding solution, which represents creative effort.

[0036] As a refinement and extension of the above embodiment, the embodiment of the present invention provides another control method for cleaning equipment, such as Figure 3 As shown, the method includes:

[0037] Step 301: Control the cleaning device to move toward the base station, and obtain the real-time distance between the cleaning device and the base station during the movement.

[0038] Step 302: When the real-time distance is less than or equal to the first preset acceleration distance, the cleaning device is controlled to perform a first accelerated movement so that the cleaning component of the cleaning device passes through the raised structure on the ramp of the base station. The raised structure contacts the cleaning component when the cleaning component passes through.

[0039] Step 303: If the cleaning component does not pass through the raised structure on the ramp of the base station after the first accelerated movement, the cleaning device is controlled to retreat a preset distance and then move toward the base station.

[0040] Among them, step 301 and step 302 are the same as or similar to step 201 and step 202 in the above embodiment, and are not repeated here.

[0041] In this embodiment, the raised structure is an upward protrusion on the ramp of the base station. After the cleaning device performs the first accelerated movement, if the cleaning component of the cleaning device does not pass the raised structure on the ramp of the base station, the cleaning device is controlled to retreat a preset distance to prevent prolonged impact contact between the cleaning device and the base station, which may damage both. After retreating the preset distance, the cleaning device continues to move toward the base station to perform the second pile-up operation.

[0042] The cleaning equipment can determine whether it is stuck by the raised structure on the base station ramp based on devices such as laser ranging sensors, infrared sensors, ultrasonic sensors, touch sensors, and gyroscopes, and when confirmed to be stuck, it will promptly perform a backward movement to avoid damage.

[0043] In one embodiment of the present application, the protrusion is a spacer extending from the outer edge of the ramp to the inner side of the base station, and is used to guide the cleaning equipment up the ramp; Figure 3 As shown, after step 303 in the above embodiment, the following steps may also be included:

[0044] Step 304: obtain the real-time distance between the cleaning device and the base station during the movement toward the base station, and when the real-time distance is less than or equal to the second preset acceleration distance, control the cleaning device to perform a second accelerated movement, so that the cleaning component passes through the raised structure on the ramp of the base station. The ramp speed during the second accelerated movement is greater than the ramp speed during the first accelerated movement, and the ramp speed is the speed when reaching or passing the raised structure.

[0045] In this embodiment, after the cleaning device performs the first accelerated movement, if the cleaning component of the cleaning device does not pass through the raised structure on the ramp of the base station, the cleaning device is controlled to retreat a preset distance and then perform a secondary pile-up action again.

[0046] The cleaning device retreats a preset distance greater than or equal to a second preset acceleration distance. After retreating, the cleaning device is again controlled to move toward the base station and the real-time distance between the two is detected. When the real-time distance is less than or equal to the second preset acceleration distance, the cleaning device is controlled to perform a second accelerated movement, causing the cleaning assembly to pass over the raised structure on the ramp of the base station.

[0047] It should be noted that the second preset acceleration distance may be greater than, equal to, or less than the first preset acceleration distance, that is, the size relationship between the second preset acceleration distance and the first preset acceleration distance is not limited. The cleaning device performs accelerated movement within at least a portion of the distance within the second preset acceleration distance or the first preset acceleration distance. For example, the cleaning device performs accelerated movement within the first section of the preset acceleration distance, and after reaching the upper speed limit, it continues to move at a constant speed at the upper speed limit until it passes through the raised structure or reaches the position of the raised structure and is stuck. Furthermore, the length of the first distance accelerated by the second accelerated movement may not be equal to that of the first accelerated movement.

[0048] The acceleration of the second accelerated movement can be equal to the acceleration of the first accelerated movement, but the slope speed of the second accelerated movement must be greater than the slope speed of the first accelerated movement, or in other words, the acceleration time of the second accelerated movement must be greater than the acceleration time of the first accelerated movement, so that the accelerated movement executed again will have greater impact than the previous accelerated movement, and can better ensure that the cleaning equipment overcomes the resistance between the cleaning component and the raised structure on the ramp of the base station, thereby rushing through the ramp of the base station and the raised structure on the ramp.

[0049] In an embodiment of the present application, when the cleaning equipment fails to successfully pass through the raised structure on the ramp of the base station after accelerating once, it can retreat and accelerate again at a higher ramp speed, further ensuring that the cleaning equipment can pass through the ramp of the base station and the raised structure on the ramp.

[0050] It should be noted that if the cleaning device fails to pass the raised structure on the ramp of the base station during accelerated movement, the device can repeatedly move backward and accelerate again, with each acceleration occurring at a greater speed than the previous acceleration to increase the impact of the cleaning device. This continues until the cleaning device successfully passes the raised structure on the ramp of the base station, or the number of accelerated movements reaches a preset upper limit set by the user.

[0051] In one embodiment of the present application, the method further comprises:

[0052] Recording the number of times the cleaning component fails to pass the raised structure on the ramp of the base station;

[0053] If the number of failed attempts is greater than or equal to a preset upper limit, the prompt device of the cleaning device or the prompt device of the base station is controlled to issue a prompt message.

[0054] In this embodiment, the number of times the cleaning device fails to pass the raised structure on the ramp of the base station during its return to the base station, that is, the number of times the accelerated movement is performed, is recorded. If the number reaches a preset upper limit, an error is reported.

[0055] The prompt device of the cleaning equipment can emit light, text, voice and other prompt information, or the prompt device of the base station can be controlled to emit light, text, voice and other prompt information, and a message can be sent to the user terminal to prompt that the cleaning equipment cannot return to the base station.

[0056] In the above manner, when the user fails to accelerate through the raised structure on the ramp of the base station repeatedly, a prompt can be given, so that the user can understand the information in time and take corresponding intervention measures.

[0057] In one embodiment of the present application, controlling the cleaning device to perform accelerated movement includes: determining a target acceleration parameter corresponding to the current number of accelerated movements of the cleaning device based on a correspondence between the number of accelerated movements and the acceleration parameter; and controlling the cleaning device to perform accelerated movement according to the target acceleration parameter.

[0058] In this embodiment, each time the cleaning device is controlled to accelerate, the target acceleration parameter corresponding to the current number of accelerations is found based on the correspondence between the number of accelerations and the acceleration parameter, and the cleaning device is then controlled to accelerate according to the target acceleration parameter. By controlling the acceleration of the cleaning device using the appropriate acceleration parameter corresponding to the current number of accelerations, it is possible to maximize the cleaning component's ability to pass through the raised structure on the base station ramp and to ensure that after passing through, it does not collide with the base station due to excessive speed.

[0059] In one embodiment of the present application, the acceleration parameters include ramp speed and / or acceleration time; wherein the number of acceleration movements is proportional to the ramp speed, and the number of acceleration movements is proportional to the acceleration time.

[0060] In this embodiment, the acceleration parameters include ramp speed and / or acceleration time. Specifically, based on the correspondence between the number of accelerated movements and the ramp speed, a target ramp speed corresponding to the current number of accelerated movements of the cleaning device can be determined, thereby controlling the cleaning device to accelerate according to the target ramp speed. Alternatively, based on the correspondence between the number of accelerated movements and the acceleration time, a target acceleration time corresponding to the current number of accelerated movements of the cleaning device can be determined, thereby controlling the cleaning device to accelerate according to the target acceleration time.

[0061] The number of accelerated movements is proportional to the ramp speed and / or acceleration time. The greater the number of accelerated movements, the greater the ramp speed and / or acceleration time. For example, the first accelerated movement corresponds to a first ramp speed. The second accelerated movement, because the number of accelerated movements is two, corresponds to a second ramp speed, which is greater than the first ramp speed. If a third accelerated movement is also performed, the third ramp speed corresponds to a third ramp speed, which is greater than the second ramp speed.

[0062] In this embodiment of the present application, by determining an appropriate ramp speed and / or acceleration time corresponding to the number of accelerated movements, the acceleration of the cleaning device is controlled, thereby maximizing the cleaning component's ability to pass through the raised structure on the base station ramp and ensuring that it does not collide with the base station due to excessive speed after passing. Furthermore, the number of accelerated movements is proportional to the ramp speed and / or acceleration time, resulting in a greater impact force during the current accelerated movement than during the previous one, ensuring that the cleaning component can smoothly pass through the raised structure on the base station ramp.

[0063] It should be noted that during the process of controlling the cleaning device to accelerate, a speed limit is set to limit the speed of the cleaning device during the acceleration process. The speed limit can be set to 0.15m / s to 0.25m / s, for example, 0.2m / s. When the speed reaches the speed limit, it will no longer increase and will maintain the speed limit until it passes the raised structure on the base station ramp. This prevents the speed from being too high and colliding with the base station with a large impact after passing the raised structure on the base station ramp.

[0064] In one embodiment of the present application, the method further includes: controlling the cleaning device to slow down after the cleaning component passes through the raised structure on the ramp of the base station.

[0065] In this embodiment, after the cleaning component passes through the raised structure on the ramp of the base station, the cleaning device is controlled to slow down and move, so as to prevent the cleaning device from hitting the base station due to excessive speed.

[0066] In one embodiment of the present application, the second speed of the cleaning device after the decelerated movement is less than or equal to the first speed of the cleaning device before the accelerated movement.

[0067] In this embodiment, the second speed of the cleaning device after deceleration can be equal to the first speed before acceleration, or can be less than the first speed. After the cleaning component passes through the raised structure on the ramp of the base station, it continues to move at a slow speed to avoid hitting the base station due to excessive speed. The slow speed is also conducive to the contact between the charging shrapnel of the cleaning device and the charging shrapnel of the base station during charging, and the alignment of the water inlet of the cleaning device with the water outlet of the base station during water replenishment.

[0068] In one embodiment of the present application, the method further comprises:

[0069] When the cleaning device enters the base station and contacts the base station, the cleaning device is controlled to perform a squeezing action on the base station for a preset time period;

[0070] The squeezing action includes: controlling the cleaning device to squeeze the base station in a manner of gradually decreasing speed.

[0071] In this embodiment, when the cleaning device enters the base station through the raised structure on the ramp of the base station and the cleaning device contacts the base station, the cleaning device is controlled to squeeze the base station for a preset period of time, such as 500ms, to ensure close contact between the cleaning device and the base station, such as ensuring close contact between the charging shrapnel of the cleaning device and the charging shrapnel of the base station, and close contact between the water inlet of the cleaning device and the water outlet of the base station, so that the charging, water replenishment and other effects are better.

[0072] The entire squeezing action is performed at a gradually decreasing speed to prevent the cleaning device from causing excessive impact on the base station. For example, at the beginning of the squeezing process, the charging spring of the cleaning device is pushed toward the charging spring of the base station at a peak speed of 0.2m / s. This high-speed squeezing phase helps quickly overcome the slight gap between the springs, ensuring initial close contact between the two and helping to ensure stable transmission of the charging current. Subsequently, the squeezing speed begins to decrease linearly, and the increasing speed gradually slows down to avoid excessive impact on the charging spring.

[0073] In one embodiment of the present application, the method further includes: obtaining a guidance signal of the base station while the cleaning device moves toward the base station; and adjusting the relative angle between the cleaning device and the base station based on the guidance signal.

[0074] In this embodiment, when the cleaning device moves toward the base station, the relative angle with the base station is adjusted based on the guidance signal of the base station, that is, the direction of movement toward the base station is adjusted to achieve rapid pile placement.

[0075] In an embodiment of the present application, when the cleaning device moves toward the base station, the cleaning device can determine the direction of the center line of the base station based on the guidance signal and move along the direction of the center line of the base station, or it can use a random walk method to search for the base station and continuously adjust the direction of travel based on the guidance signal.

[0076] As a specific implementation of the control method of the above-mentioned cleaning equipment, the embodiment of the present application provides a control device for cleaning equipment. Figure 4 As shown, the control device 400 of the cleaning equipment includes: a control module 401 and a distance detection module 402.

[0077] The control module 401 is used to: control the cleaning device to move toward the base station;

[0078] The distance detection module 402 is used to obtain the real-time distance between the cleaning device and the base station during the movement process;

[0079] The control module 401 is also used to: when the real-time distance is less than or equal to the first preset acceleration distance, control the cleaning device to perform a first accelerated movement, so that the cleaning component of the cleaning device passes through the raised structure on the ramp of the base station, and the raised structure contacts the cleaning component when the cleaning component passes.

[0080] Furthermore, the raised structure is an upward protrusion on the ramp of the base station; the control module 401 is also used to: if the cleaning component does not pass through the raised structure on the ramp of the base station after the first accelerated movement, control the cleaning device to retreat a preset distance and then move toward the base station.

[0081] Furthermore, the distance detection module 402 is further configured to: obtain the real-time distance between the cleaning device and the base station during movement;

[0082] The control module 401 is also used to: when the real-time distance is less than or equal to the second preset acceleration distance, control the cleaning equipment to perform a second accelerated movement, so that the cleaning component passes through the raised structure on the ramp of the base station, and the ramp speed during the second accelerated movement is greater than the ramp speed during the first accelerated movement, and the ramp speed is the speed when reaching or passing the raised structure.

[0083] Furthermore, the device further comprises: a number recording module, configured to: record the number of times the cleaning component fails to pass through the raised structure on the ramp of the base station;

[0084] The control module 401 is further configured to control the prompt device of the cleaning device or the prompt device of the base station to issue a prompt message if the number of failed attempts is greater than or equal to a preset upper limit.

[0085] Furthermore, the control module 401 is specifically configured to:

[0086] According to the corresponding relationship between the number of accelerated movements and the acceleration parameter, a target acceleration parameter corresponding to the current number of accelerated movements of the cleaning device is determined; and the cleaning device is controlled to perform accelerated movement according to the target acceleration parameter.

[0087] Furthermore, the acceleration parameters include the ramp speed and / or the acceleration time; wherein the number of acceleration movements is proportional to the ramp speed, and the number of acceleration movements is proportional to the acceleration time.

[0088] Furthermore, the control module 401 is also used to control the cleaning device to slow down after the cleaning component passes through the raised structure on the ramp of the base station.

[0089] Furthermore, the second speed of the cleaning device after the decelerated movement is less than or equal to the first speed of the cleaning device before the accelerated movement.

[0090] Furthermore, the control module 401 is further configured to: when the cleaning device enters the base station and contacts the base station, control the cleaning device to perform a squeezing action on the base station for a preset time period;

[0091] The squeezing action includes: controlling the cleaning device to squeeze the base station in a manner of gradually decreasing speed.

[0092] Furthermore, the control module 401 is further configured to: obtain a guidance signal from the base station while the cleaning device is moving toward the base station; and adjust a relative angle between the cleaning device and the base station based on the guidance signal.

[0093] The control device 400 of the cleaning device in the embodiment of the present application can be a cleaning device, or a component in the cleaning device, such as an integrated circuit or a chip. The control device 400 of the cleaning device provided in the embodiment of the present application can realize Figure 2 and Figure 3 To avoid repetition, the various processes implemented in the embodiment of the control method for the cleaning equipment will not be described here.

[0094] The present application also provides a cleaning device, such as Figure 5 As shown, the cleaning device 500 includes a processor 501 and a memory 502. The memory 502 stores programs or instructions that can be run on the processor 501. When the program or instructions are executed by the processor 501, the various steps of the control method embodiment of the above-mentioned cleaning device are implemented and the same technical effect can be achieved. To avoid repetition, they will not be repeated here.

[0095] The memory 502 can be used to store software programs and various data. The memory 502 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store an operating system, applications or instructions required for at least one function (such as a sound playback function, an image playback function, etc.). In addition, the memory 502 may include volatile memory or non-volatile memory, or the memory 502 may include both volatile and non-volatile memory. The non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DRRAM). The memory 502 in the embodiment of the present application includes but is not limited to these and any other suitable types of memory.

[0096] Processor 501 may include one or more processing units. Optionally, processor 501 integrates an application processor and a modem processor. The application processor primarily handles operations related to the operating system, user interface, and application programs, while the modem processor primarily processes wireless communication signals, such as a baseband processor. It is understood that the modem processor may not be integrated into processor 501.

[0097] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, each process of the control method embodiment of the above-mentioned cleaning equipment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0098] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0099] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

Claims

1. A method for controlling a cleaning device, characterized in that: include: Controlling the cleaning device to move toward a base station, and obtaining a real-time distance between the cleaning device and the base station during the movement; When the real-time distance is less than or equal to the first preset acceleration distance, the cleaning device is controlled to perform a first accelerated movement so that the cleaning component of the cleaning device passes through the raised structure on the ramp of the base station, and the raised structure contacts the cleaning component when the cleaning component passes through.

2. The method according to claim 1, characterized in that The raised structure is an upward protrusion on the ramp of the base station; and the method further includes: If the cleaning component does not pass through the raised structure on the ramp of the base station after the first accelerated movement, the cleaning device is controlled to retreat a preset distance and then move toward the base station.

3. The method according to claim 2, characterized in that The protrusion is a gasket extending from the outer edge of the ramp to the inner side of the base station, and is used to guide the cleaning device up the ramp; the method further includes: When the real-time distance is less than or equal to the second preset acceleration distance, the cleaning device is controlled to perform a second accelerated movement so that the cleaning component passes through the raised structure on the ramp of the base station. The ramp speed during the second accelerated movement is greater than the ramp speed during the first accelerated movement. The ramp speed is the speed when reaching or passing the raised structure.

4. The method according to claim 3, characterized in that The method further comprises: Recording the number of times the cleaning component fails to pass through the raised structure on the ramp of the base station; If the number of failures is greater than or equal to a preset upper limit, the prompt device of the cleaning device or the prompt device of the base station is controlled to issue a prompt message.

5. The method according to claim 3, characterized in that Controlling the cleaning device to move at an accelerated speed includes: Determining a target acceleration parameter corresponding to the current number of accelerated movements of the cleaning device according to a correspondence between the number of accelerated movements and the acceleration parameter; The cleaning device is controlled to move at an accelerated speed according to the target acceleration parameter.

6. The method according to claim 5, characterized in that The acceleration parameters include the ramp speed and / or the acceleration time; wherein the number of acceleration movements is proportional to the ramp speed, and the number of acceleration movements is proportional to the acceleration time.

7. The method according to claim 1 or 3, characterized in that The method further comprises: After the cleaning component passes through the raised structure on the ramp of the base station, the cleaning device is controlled to slow down and move.

8. A control device for a cleaning device, characterized in that: include: A control module is used to: control the cleaning device to move toward the base station; A distance detection module is used to obtain the real-time distance between the cleaning device and the base station during movement; The control module is also used to: when the real-time distance is less than or equal to a first preset acceleration distance, control the cleaning device to perform a first accelerated movement, so that the cleaning component of the cleaning device passes through the raised structure on the ramp of the base station, and the raised structure contacts the cleaning component when the cleaning component passes through.

9. A cleaning device, characterized in that: The device comprises a processor and a memory, wherein the memory stores a program or instruction running on the processor, and when the program or instruction is executed by the processor, the steps of the control method of the cleaning device according to any one of claims 1 to 7 are implemented.

10. A readable storage medium having a program or instruction stored thereon, characterized in that: When the program or instruction is executed by a processor, the steps of the method for controlling the cleaning device according to any one of claims 1 to 7 are implemented.

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