Control method and device of electric cleaning brush, electric cleaning brush and storage medium

Abstract

The embodiment of the invention provides a control method and device of an electric cleaning brush, the electric cleaning brush and a storage medium, and the method comprises the steps that when the electric cleaning brush is tightly attached to a target to-be-cleaned surface, the target surface material of the target to-be-cleaned surface is determined; determining a first motor control parameter set for the target surface material; and controlling a motor for driving the electric cleaning brush according to the first motor control parameter. According to the embodiment of the invention, the cleaning force of the electric cleaning brush can adapt to the target surface material of the target to-be-cleaned surface, and the problems that the cleaning is not in place, the target to-be-cleaned surface is damaged and the like are avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric cleaning brushes, and in particular to a control method and device of an electric cleaning brush, an electric cleaning brush and a storage medium. BACKGROUND

[0002] Cleaning devices such as sweeping robots and mopping robots are provided with electric cleaning brushes. When the cleaning device is running, the electric cleaning brush can be started to clean the surface (for example, the ground) to be cleaned. However, the electric cleaning brush in the related art cleaning device often scratches the surface to be cleaned, thereby causing a poor user experience. SUMMARY

[0003] In view of the above problems, a control method and device of an electric cleaning brush, an electric cleaning brush and a storage medium are provided to overcome the above problems or at least partially solve the above problems, comprising:

[0004] A control method of an electric cleaning brush, the method comprising:

[0005] When the electric cleaning brush is attached to a target surface to be cleaned, determining a target surface material of the target surface to be cleaned;

[0006] Determining a first motor control parameter set for the target surface material;

[0007] Controlling a motor for driving the electric cleaning brush according to the first motor control parameter.

[0008] Optionally, the controlling the motor for driving the electric cleaning brush according to the first motor control parameter comprises:

[0009] Determining a battery remaining capacity;

[0010] Determining a second motor control parameter according to the battery remaining capacity and the first motor control parameter;

[0011] Controlling the motor according to the second motor control parameter.

[0012] Optionally, the determining a second motor control parameter according to the battery remaining capacity and the first motor control parameter comprises:

[0013] Determining a compensation factor according to the battery remaining capacity;

[0014] Determining the second motor control parameter according to the compensation factor and the first motor control parameter.

[0015] Optionally, the method further comprises:

[0016] acquiring a target pressure value of the electric cleaning brush;

[0017] determining that the electric cleaning brush is attached to the target surface to be cleaned when the target pressure value is greater than a preset pressure value.

[0018] Optionally, after the electric cleaning brush is attached to the target surface to be cleaned, the method further comprises:

[0019] starting the tactile sensor and / or the optical sensor;

[0020] The determination of the target surface material of the target surface to be cleaned comprises:

[0021] acquiring target tactile sensor data from the tactile sensor and / or target optical sensor data from the optical sensor;

[0022] determining the target surface material of the target surface to be cleaned according to the target tactile sensor data and / or the target optical sensor data.

[0023] Optionally, each surface material corresponds to a tactile sensor data and / or an optical sensor data, and the determination of the target surface material of the target surface to be cleaned according to the target tactile sensor data and / or the target optical sensor data comprises:

[0024] the surface material whose tactile sensor data is closest to the target tactile sensor data and / or whose optical sensor data is closest to the target optical sensor data is taken as the target surface material.

[0025] Optionally, each surface material corresponds to a tactile sensor data interval and an optical sensor data interval, and the determination of the target surface material of the target surface to be cleaned according to the target tactile sensor data and / or the target optical sensor data comprises:

[0026] determining a target tactile sensor data interval to which the target tactile sensor data belongs and a target optical sensor data interval to which the target optical sensor data belongs;

[0027] determining the target surface material according to the target tactile sensor data interval and the target optical sensor data interval.

[0028] Optionally, the determination of the first motor control parameter set for the target surface material comprises:

[0029] determining the first motor control parameter according to the target tactile sensor data and the target optical sensor data;

[0030] The first motor control parameter comprises a first frequency and / or a second amplitude.

[0031] Optionally, the method further comprises:

[0032] According to the target haptic sensing data and the target optical sensing data, and the target haptic sensing data interval and the target optical sensing data interval, a first frequency and / or a second amplitude are calculated;

[0033] According to the first frequency and / or the second amplitude, the first motor control parameter is obtained.

[0034] Optionally, when the motor for driving the electric cleaning brush is controlled according to the first motor control parameter, the method further comprises:

[0035] The cleaning degree information and the cleaning damage information of the target to-be-cleaned surface that has been cleaned are collected;

[0036] According to the cleaning degree information and the cleaning damage information, the first motor control parameter is adjusted, and the motor is controlled according to the adjusted first motor control parameter.

[0037] Embodiments of the present application also provide a control device of an electric cleaning brush, the device comprising:

[0038] A material determination module is configured to determine a target surface material of a target to-be-cleaned surface when the electric cleaning brush is attached to the target to-be-cleaned surface;

[0039] A parameter determination module is configured to determine a first motor control parameter for the target surface material;

[0040] A motor control module is configured to control a motor for driving the electric cleaning brush according to the first motor control parameter.

[0041] Optionally, the motor control module is configured to determine a remaining battery capacity; determine a second motor control parameter according to the remaining battery capacity and the first motor control parameter; and control the motor according to the second motor control parameter.

[0042] Optionally, the motor control module is configured to determine a compensation factor according to the remaining battery capacity; and determine the second motor control parameter according to the compensation factor and the first motor control parameter.

[0043] Optionally, the device further comprises:

[0044] A judgment module is configured to obtain a target pressure value of the electric cleaning brush; and determine that the electric cleaning brush is attached to the target to-be-cleaned surface when the target pressure value is greater than a preset pressure value.

[0045] Optionally, a sensor starting module is configured to start the tactile sensor and / or the optical sensor after the electric cleaning brush is attached to the target surface to be cleaned.

[0046] The material determining module is configured to acquire target tactile sensor data from the tactile sensor and / or target optical sensor data from the optical sensor, and determine the target surface material of the target surface to be cleaned according to the target tactile sensor data and / or the target optical sensor data.

[0047] Optionally, each surface material corresponds to a tactile sensor data and / or an optical sensor data, and the material determining module is configured to determine the target surface material as the surface material with the tactile sensor data closest to the target tactile sensor data and / or the optical sensor data closest to the target optical sensor data.

[0048] Optionally, each surface material corresponds to a tactile sensor data interval and an optical sensor data interval, and the material determining module is configured to determine a target tactile sensor data interval to which the target tactile sensor data belongs and a target optical sensor data interval to which the target optical sensor data belongs, and determine the target surface material according to the target tactile sensor data interval and the target optical sensor data interval.

[0049] Optionally, the parameter determining module is configured to determine the first motor control parameter according to the target tactile sensor data and the target optical sensor data, and the first motor control parameter includes a first frequency and / or a second amplitude.

[0050] Optionally, the parameter determining module is configured to calculate the first frequency and / or the second amplitude according to the target tactile sensor data and the target optical sensor data, the target tactile sensor data interval and the target optical sensor data interval, and obtain the first motor control parameter according to the first frequency and / or the second amplitude.

[0051] Optionally, the motor control module is further configured to collect cleaning degree information and cleaning damage information of the target surface to be cleaned according to the first motor control parameter when controlling the motor for driving the electric cleaning brush, adjust the first motor control parameter according to the cleaning degree information and the cleaning damage information, and control the motor according to the adjusted first motor control parameter.

[0052] The embodiment of the present application further provides an electric cleaning brush, which comprises a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and the computer program is executed by the processor to realize the control method of the electric cleaning brush.

[0053] The embodiment of the present application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a processor to realize the control method of the electric cleaning brush.

[0054] The embodiment of the present application has the following advantages:

[0055] In the embodiment of the present application, when the electric cleaning brush is attached to a target surface to be cleaned, the target surface material of the target surface to be cleaned is determined, the first motor control parameter set for the target surface material is determined, and the motor for driving the electric cleaning brush is controlled according to the first motor control parameter. Through the embodiment of the present application, the cleaning strength of the electric cleaning brush can be adapted to the target surface material of the target surface to be cleaned, so that the cleaning is not incomplete and the target surface to be cleaned is not damaged. BRIEF DESCRIPTION OF DRAWINGS

[0056] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed to be used in the description of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0057] Figure 1 is a step flow chart of a control method of an electric cleaning brush according to an embodiment of the present application;

[0058] Figure 2 is a step flow chart of a control method of an electric cleaning brush according to another embodiment of the present application;

[0059] Figure 3 is a step flow chart of a control method of an electric cleaning brush according to another embodiment of the present application;

[0060] Figure 4 is a step flow chart of a control method of an electric cleaning brush according to another embodiment of the present application;

[0061] Figure 5 is a step flow chart of a control method of an electric cleaning brush according to another embodiment of the present application;

[0062] Figure 6 is a step flow chart of a control method of an electric cleaning brush according to another embodiment of the present application;

[0063] Figure 7 is a structural schematic diagram of a system according to an embodiment of the present application;

[0064] Figure 8 is a control flow chart of an electric cleaning brush according to an embodiment of the present application;

[0065] Figure 9 is a structural schematic diagram of a control device of an electric cleaning brush according to an embodiment of the present application. DETAILED DESCRIPTION

[0066] In order to make the above objectives, characteristics and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0067] In the related art, an electric cleaning brush can usually only work in a fixed mode and cannot be self-adaptively adjusted according to the characteristics of different material surfaces. Such a single working mode can not only result in poor cleaning effect, but also can cause damage to some sensitive surfaces. In view of this, the embodiments of the present application provide a control method of an electric cleaning brush, which can self-adaptively adjust the cleaning strength of the electric cleaning brush according to the surface material of the surface to be cleaned.

[0068] For example, reference can be made to Figure 1 , which shows a step flowchart of a control method of an electric cleaning brush according to an embodiment of the present application, which can include the following steps:

[0069] Step 101: When the electric cleaning brush is attached to a target surface to be cleaned, the target surface material of the target surface to be cleaned is determined.

[0070] In some feasible embodiments, when it is detected that the electric cleaning brush starts to work, i.e., it is detected that the electric cleaning brush is attached to the target surface to be cleaned and starts to clean the target surface to be cleaned, the material of the target surface to be cleaned, i.e., the target surface material, can be determined first. For example, the target surface material can be a leather material, a ceramic material, a carpet material, etc., and the embodiments of the present application do not limit this.

[0071] The electric cleaning brush can be a cleaning brush on a sweeping robot, a sweeping and mopping robot, etc., and the embodiments of the present application do not limit this.

[0072] Step 102: A first motor control parameter set for the target surface material is determined.

[0073] After the target surface material of the target surface to be cleaned is determined, a first motor control parameter set for the target surface material in advance can be further determined. The electric cleaning brush can be driven by a motor, and the first motor control parameter can be a control parameter for controlling the motor driving the electric cleaning brush. The first motor control parameter can control the rotating speed of the motor, etc., and the embodiments of the present application do not limit this.

[0074] Compared with the electric cleaning brush working in a fixed mode in the related art, the control method of the electric cleaning brush provided in the embodiment of the present application can

[0075] Step 103, controlling the motor for driving the electric cleaning brush according to the first motor control parameter.

[0076] After the first motor control parameter is determined, the speed of the motor for driving the electric cleaning brush and other motor states can be controlled according to the first motor control parameter, so that the cleaning strength of the electric cleaning brush can be adapted to the target surface material of the target surface to be cleaned, and problems such as incomplete cleaning and damage to the target surface to be cleaned can be avoided.

[0077] In the embodiment of the present application, when the electric cleaning brush is close to the target surface to be cleaned, the target surface material of the target surface to be cleaned is determined, the first motor control parameter set for the target surface material is determined, and the motor for driving the electric cleaning brush is controlled according to the first motor control parameter. Through the embodiment of the present application, the cleaning strength of the electric cleaning brush can be adapted to the target surface material of the target surface to be cleaned, and problems such as incomplete cleaning and damage to the target surface to be cleaned can be avoided.

[0078] Referring to Figure 2 , a step flowchart of another control method of an electric cleaning brush is shown, which can include the following steps:

[0079] Step 201, obtaining a target pressure value of the electric cleaning brush.

[0080] In some feasible embodiments, a pressure sensor can be arranged on one side of the brush head of the electric cleaning brush. When the electric cleaning brush starts to work, the pressure change of the electric cleaning brush applied to the target surface to be cleaned can be obtained from the pressure sensor to obtain the target pressure value. The target pressure value can be used to detect whether the electric cleaning brush has been close to the target surface to be cleaned.

[0081] Step 202, when the target pressure value is greater than a preset pressure value, determining that the electric cleaning brush is close to the target surface to be cleaned.

[0082] If it is detected that the target pressure value is not greater than the preset preset pressure value, it can be considered that the electric cleaning brush has not been close to the target surface to be cleaned. At this time, a new target pressure value can be continuously obtained from the pressure sensor.

[0083] On the contrary, if it is detected that the target pressure value is greater than the preset preset pressure value, it can be considered that the electric cleaning brush has been close to the target surface to be cleaned. At this time, it can be determined that the electric cleaning brush is close to the target surface to be cleaned, and the subsequent step 203 is continued.

[0084] Step 203: When the electric cleaning brush is in close contact with the target surface to be cleaned, determine the target surface material of the target surface to be cleaned.

[0085] Once it's confirmed that the electric cleaning brush is close to the target surface to be cleaned, it can be assumed that the electric cleaning brush is about to begin cleaning the target surface, or has already begun cleaning the target surface. At this point, the target surface material is further determined.

[0086] For example, the target surface material can be input by the user or determined by the device to which the electric cleaning brush belongs; this embodiment of the invention does not limit this.

[0087] Step 204: Determine the first motor control parameters set for the target surface material.

[0088] After determining the target surface material of the surface to be cleaned, the first motor control parameters pre-set for that target surface material can be further determined.

[0089] Step 205: Control the motor used to drive the electric cleaning brush according to the first motor control parameters.

[0090] After determining the first motor control parameters, the motor speed and other motor states of the motor used to drive the electric cleaning brush can be controlled according to the first motor control parameters, so that the cleaning force of the electric cleaning brush can be adapted to the target surface material of the target surface to be cleaned, avoiding problems such as inadequate cleaning or damage to the target surface to be cleaned.

[0091] In one embodiment of the present invention, the above method may further include the following steps:

[0092] When controlling the motor used to drive the electric cleaning brush according to the first motor control parameters, the cleanliness level information and cleaning damage information of the target surface to be cleaned that has been cleaned are collected; the first motor control parameters are adjusted according to the cleanliness level information and cleaning damage information, and the motor is controlled according to the adjusted first motor control parameters.

[0093] After controlling the motor used to drive the cleaning brush for a period of time according to the first motor control parameters, the cleanliness level information and cleaning damage information of the target surface to be cleaned that has been cleaned can be collected; among them, the cleanliness level information can be determined based on the dust, garbage, etc. remaining on the target surface to be cleaned; the cleaning damage information can be determined based on the scratches, skin damage, etc. on the target surface to be cleaned.

[0094] After determining the cleanliness level information and the cleanliness damage information, the first motor control parameters of the control motor can be adjusted based on the cleanliness level information and the cleanliness damage information.

[0095] For example, if the cleaning degree information indicates that the target to-be-cleaned surface that has been cleaned is not clean, the first motor control parameter can be adjusted to increase the cleaning strength.

[0096] If the cleaning damage information indicates that the target to-be-cleaned surface that has been cleaned is damaged by the electric cleaning brush, the first motor control parameter can be adjusted to reduce the cleaning strength.

[0097] After the first motor control parameter is adjusted, the motor can be controlled based on the adjusted first motor control parameter, and the electric cleaning brush is driven to clean the target to-be-cleaned surface that has not been cleaned, so that the target to-be-cleaned surface can be cleaned completely and will not be damaged in subsequent cleaning.

[0098] In some embodiments, the cleaning degree information and the cleaning damage information can be integrated to adjust the control of the motor; for example, if the cleaning damage information indicates that the target to-be-cleaned surface has been severely damaged, but the cleaning degree information indicates that the target to-be-cleaned surface has not been cleaned, the motor can be controlled in a way of reducing the cleaning strength but increasing the cleaning times, and the embodiments of the present application do not limit this.

[0099] In the embodiments of the present application, a target pressure value of the electric cleaning brush is obtained; when the target pressure value is greater than a preset pressure value, it is determined that the electric cleaning brush is in close contact with the target to-be-cleaned surface; when the electric cleaning brush is in close contact with the target to-be-cleaned surface, a target surface material of the target to-be-cleaned surface is determined; a first motor control parameter set for the target surface material is determined; and the motor for driving the electric cleaning brush is controlled according to the first motor control parameter. Through the embodiments of the present application, the cleaning strength of the electric cleaning brush can be adapted to the target surface material of the target to-be-cleaned surface, and problems such as incomplete cleaning and damage to the target to-be-cleaned surface can be avoided.

[0100] Referring to Figure 3 , another step flowchart of a control method of an electric cleaning brush is shown, which can include the following steps:

[0101] Step 301, obtaining a target pressure value of the electric cleaning brush.

[0102] In some possible embodiments, a pressure sensor can be arranged on one side of the brush head of the electric cleaning brush; when the electric cleaning brush starts to work, the pressure sensor can be used to obtain the change of the pressure applied by the electric cleaning brush to the target to-be-cleaned surface, so as to obtain the target pressure value.

[0103] Step 302, when the target pressure value is greater than a preset pressure value, it is determined that the electric cleaning brush is in close contact with the target to-be-cleaned surface.

[0104] If the detected target pressure value is not greater than the preset pressure value, it can be considered that the electric cleaning brush has not yet closely adheres to the target surface to be cleaned. At this time, a new target pressure value can be continuously obtained from the pressure sensor.

[0105] On the contrary, if the detected target pressure value is greater than the preset pressure value, it can be considered that the electric cleaning brush has closely adheres to the target surface to be cleaned. At this time, it can be determined that the electric cleaning brush closely adheres to the target surface to be cleaned, and the subsequent step 303 is continued to be executed.

[0106] Step 303, after the electric cleaning brush closely adheres to the target surface to be cleaned, the tactile sensor and / or the optical sensor are started.

[0107] After it is determined that the electric cleaning brush has approached the target surface to be cleaned, it can be considered that the electric cleaning brush is about to start cleaning the target surface to be cleaned, or has already started cleaning the target surface to be cleaned. At this time, the target surface material of the target surface to be cleaned is further determined.

[0108] For example, the electric cleaning brush or the cleaning device to which the electric cleaning brush belongs can be provided with a tactile sensor and / or an optical sensor.

[0109] The tactile sensor can be used to detect the roughness and texture of the surface to be cleaned. The optical sensor can be used to sense the reflection characteristics of the surface to be cleaned.

[0110] When determining the target surface material of the target surface to be cleaned, the tactile sensor and / or the optical sensor can be started first.

[0111] For example, the target surface material can be determined based on only one sensor, or the target surface material can be determined based on multiple sensors, and the embodiments of the present application do not limit this.

[0112] Step 304, target tactile sensor data is obtained from the tactile sensor; and / or, target optical sensor data is obtained from the optical sensor.

[0113] After the sensor is started, corresponding sensor data can be obtained from the sensor; for example, if the tactile sensor is started, target tactile sensor data can be obtained from the tactile sensor. The target tactile sensor can be used to represent the roughness, texture and other characteristics of the target surface to be cleaned.

[0114] Another example, if the optical sensor is started, target optical sensor data can be obtained from the optical sensor. The target optical sensor data can be used to represent the reflection characteristics of the target surface to be cleaned.

[0115] In another example, if the tactile sensor and the optical sensor are activated, the target optical sensor data can be obtained from the optical sensor, and the target tactile sensor data can be obtained from the tactile sensor.

[0116] In step 305, the target surface material of the target surface to be cleaned is determined according to the target tactile sensor data and / or the target optical sensor data.

[0117] After obtaining the sensor data, the target surface material of the target surface to be cleaned can be determined based on the numerical value corresponding to the sensor data.

[0118] In an example, if the target tactile sensor data is obtained, the target surface material of the target surface to be cleaned can be determined based on the target tactile sensor data. The tactile sensor data of surfaces of different materials is different, and the target surface material corresponding to the target tactile sensor data can be determined based on a preset rule.

[0119] In another example, if the target optical sensor data is obtained, the target surface material of the target surface to be cleaned can be determined based on the target optical sensor data. Similarly, the optical sensor data of surfaces of different materials is different, and the target surface material corresponding to the target optical sensor data can be determined based on a preset rule.

[0120] In yet another example, if the target tactile sensor data and the target optical sensor data are obtained, the target surface material of the target surface to be cleaned can be determined based on the target tactile sensor data and the target optical sensor data.

[0121] In step 306, the first motor control parameter set for the target surface material is determined.

[0122] After determining the target surface material of the target surface to be cleaned, the first motor control parameter set for the target surface material in advance can be further determined.

[0123] In an example, surfaces of different materials are suitable for different cleaning intensity, and different motor control parameters can be set for surfaces of different materials. Then, after determining the target surface to be cleaned, the first motor control parameter corresponding to the target surface material of the target surface to be cleaned is determined.

[0124] In step 307, the motor for driving the electric cleaning brush is controlled according to the first motor control parameter.

[0125] After the first motor control parameter is determined, the rotation speed of the motor for driving the electric cleaning brush and other motor states can be controlled according to the first motor control parameter, so that the cleaning strength of the electric cleaning brush can be adapted to the target surface material of the target surface to be cleaned, and problems such as incomplete cleaning and damage to the target surface to be cleaned can be avoided.

[0126] In the embodiment of the application, a target pressure value of the electric cleaning brush is obtained; when the target pressure value is greater than a preset pressure value, it is determined that the electric cleaning brush is in close contact with the target surface to be cleaned; after the electric cleaning brush is in close contact with the target surface to be cleaned, a tactile sensor and / or an optical sensor are started; target tactile sensor data is obtained from the tactile sensor; and / or target optical sensor data is obtained from the optical sensor; the target surface material of the target surface to be cleaned is determined according to the target tactile sensor data and / or the target optical sensor data; a first motor control parameter set for the target surface material is determined; and the motor for driving the electric cleaning brush is controlled according to the first motor control parameter. Through the embodiment of the application, the cleaning strength of the electric cleaning brush can be adapted to the target surface material of the target surface to be cleaned, and problems such as incomplete cleaning and damage to the target surface to be cleaned can be avoided.

[0127] Referring to Figure 4 , a step flowchart of another control method of an electric cleaning brush is shown, which can include the following steps:

[0128] Step 401, a target pressure value of the electric cleaning brush is obtained.

[0129] In some possible embodiments, when the electric cleaning brush starts to work, the pressure change of the electric cleaning brush applied to the target surface to be cleaned can be obtained from the pressure sensor to obtain the target pressure value.

[0130] Step 402, when the target pressure value is greater than a preset pressure value, it is determined that the electric cleaning brush is in close contact with the target surface to be cleaned.

[0131] If it is detected that the target pressure value is not greater than the preset preset pressure value, it can be considered that the electric cleaning brush has not yet been in close contact with the target surface to be cleaned. At this time, a new target pressure value can be continuously obtained from the pressure sensor.

[0132] On the contrary, if it is detected that the target pressure value is greater than the preset preset pressure value, it can be considered that the electric cleaning brush has been in close contact with the target surface to be cleaned. At this time, it can be determined that the electric cleaning brush is in close contact with the target surface to be cleaned, and the subsequent step 403 is continued.

[0133] Step 403, after the electric cleaning brush is in close contact with the target surface to be cleaned, a tactile sensor and / or an optical sensor are started.

[0134] After determining that the electric cleaning brush has approached the target surface to be cleaned, it can be considered that the electric cleaning brush is about to start cleaning the target surface to be cleaned, or has started cleaning the target surface to be cleaned. At this time, the target surface material of the target surface to be cleaned is further determined.

[0135] When determining the target surface material of the target surface to be cleaned, the tactile sensor and / or the optical sensor can be started first.

[0136] Exemplarily, the target surface material can be determined based on only one sensor, or can be determined based on multiple sensors, and the embodiments of the present application do not limit this.

[0137] Step 404, obtaining target tactile sensor data from the tactile sensor; and / or, obtaining target optical sensor data from the optical sensor.

[0138] After starting the sensor, corresponding sensor data can be obtained from the sensor; exemplarily, if the tactile sensor is started, target tactile sensor data can be obtained from the tactile sensor. The target tactile sensor can be used to represent the roughness, texture and other characteristics of the target surface to be cleaned.

[0139] Another example is that if the optical sensor is started, target optical sensor data can be obtained from the optical sensor. The target optical sensor data can be used to represent the reflection characteristics of the target surface to be cleaned.

[0140] Still another example is that if the tactile sensor and the optical sensor are started, target optical sensor data can be obtained from the optical sensor, and target tactile sensor data can be obtained from the tactile sensor.

[0141] Step 405, each surface material corresponds to a tactile sensor data and / or an optical sensor data, and the surface material with the closest tactile sensor data to the target tactile sensor data and / or the closest optical sensor data to the target optical sensor data is taken as the target surface material.

[0142] In some possible embodiments, a corresponding tactile sensor data and / or an optical sensor data can be set in advance for each surface material.

[0143] After determining the sensor data, the target surface material of the target surface to be cleaned can be determined based on the sensor data.

[0144] Exemplarily, if the target tactile sensor data is obtained, the surface material corresponding to the tactile sensor data closest to the target tactile sensor data can be taken as the target surface material.

[0145] Another example, if the target optical sensing data is obtained, the surface material corresponding to the optical sensing data closest to the target optical sensing data can be taken as the target surface material.

[0146] Yet another example, if the target tactile sensing data and the target optical sensing data are obtained, the surface material corresponding to the tactile sensing data closest to the target tactile sensing data and the optical sensing data closest to the target optical sensing data can be taken as the target surface material.

[0147] Among them, the tactile sensing data can be determined first, that is, if the target surface material determined according to the target tactile sensing data and the target optical sensing data is different, the target surface material determined by the target tactile sensing data can be taken as the final target surface material.

[0148] Among them, the tactile sensing data and the optical sensing data can also be comprehensively determined, that is, the first similarity of the surface material of the target surface to be cleaned and each surface material is determined based on the target tactile sensing data, and the second similarity of the surface material of the target surface to be cleaned and each surface material is determined based on the target optical sensing data. Then, the surface material with greater similarity is taken as the target surface material. The first similarity can be determined based on the deviation of the target tactile sensing data and the tactile sensing data corresponding to each surface material; similarly, the second similarity can be determined based on the deviation of the target optical sensing data and the optical sensing data corresponding to each surface material, and the present embodiment is not limited thereto.

[0149] Step 406, determining the first motor control parameter set for the target surface material.

[0150] After determining the target surface material of the target surface to be cleaned, the first motor control parameter set for the target surface material in advance can be further determined.

[0151] An example, different materials are suitable for different cleaning strength; based on this, different motor control parameters can be set for different material surfaces. Then, after determining the target surface to be cleaned, the first motor control parameter corresponding to the target surface material of the target surface to be cleaned is determined.

[0152] In an embodiment of the present application, step 406 can be realized by the following sub-steps:

[0153] Sub-step 11, determining the first motor control parameter according to the target tactile sensing data and the target optical sensing data; wherein the first motor control parameter includes a first frequency and / or a second amplitude.

[0154] In some possible embodiments, the first motor control parameter can include a first frequency and / or a second amplitude. After the target haptic sensing data and the target optical sensing data are determined, the first motor control parameter can be determined according to the target haptic sensing data and the target optical sensing data.

[0155] For example, the corresponding frequency and amplitude can be set in advance for different surface materials, as shown in Table 1. Table 1

[0156] Surface material Frequency Amplitude (duty cycle) Leather 5K 40％ Ceramic tile 10K 60％ Carpet 20K 80％

[0157] After the target surface material is determined, the corresponding frequency can be determined as the first frequency and the corresponding amplitude can be determined as the second amplitude based on Table 2.

[0158] In actual applications, when the target haptic sensing data and the target optical sensing data only approximate a certain surface material, the corresponding frequency of the approximated surface material can be selected as the first frequency and the corresponding amplitude can be selected as the second amplitude.

[0159] For another example, when the target haptic sensing data and the target optical sensing data only approximate a certain surface material, the first frequency and the second amplitude can also be calculated based on a first deviation degree of the target haptic sensing data from the haptic sensing data corresponding to the approximated surface material and a second deviation degree of the target optical sensing data from the optical sensing data corresponding to the approximated surface material.

[0160] For example, the average of the first deviation degree and the second deviation degree can be calculated, and then the first frequency and the second amplitude can be calculated based on the average and the frequency and the amplitude corresponding to the approximated surface material, which is not limited in the embodiments of the present application.

[0161] In step 407, the motor for driving the electric cleaning brush is controlled according to the first motor control parameter.

[0162] After the first motor control parameter is determined, the speed of the motor for driving the electric cleaning brush and other motor states can be controlled according to the first motor control parameter, so that the cleaning strength of the electric cleaning brush can be adapted to the target surface material of the target surface to be cleaned, and problems such as incomplete cleaning and damage to the target surface to be cleaned can be avoided.

[0163] In the embodiment of the present application, a target pressure value of the electric cleaning brush is obtained; when the target pressure value is greater than a preset pressure value, it is determined that the electric cleaning brush is attached to the target surface to be cleaned; after the electric cleaning brush is attached to the target surface to be cleaned, a tactile sensor and / or an optical sensor are started; target tactile sensor data is obtained from the tactile sensor; and / or target optical sensor data is obtained from the optical sensor; each surface material corresponds to a tactile sensor data and / or an optical sensor data, the surface material with the closest tactile sensor data to the target tactile sensor data and / or the closest optical sensor data to the target optical sensor data is taken as the target surface material; a first motor control parameter set for the target surface material is determined; and the motor for driving the electric cleaning brush is controlled according to the first motor control parameter. Through the embodiment of the present application, the cleaning strength of the electric cleaning brush can be adapted to the target surface material of the target surface to be cleaned, so as to avoid the problems of incomplete cleaning and damage to the target surface to be cleaned.

[0164] Reference Figure 5 The step flow chart of another control method of the electric cleaning brush is shown, which can include the following steps:

[0165] Step 501, obtaining a target pressure value of the electric cleaning brush.

[0166] In some possible embodiments, when the electric cleaning brush starts to work, the pressure change of the electric cleaning brush applied to the target surface to be cleaned can be obtained from the pressure sensor to obtain the target pressure value.

[0167] Step 502, when the target pressure value is greater than a preset pressure value, it is determined that the electric cleaning brush is attached to the target surface to be cleaned.

[0168] If it is detected that the target pressure value is not greater than the preset preset pressure value, it can be considered that the electric cleaning brush has not yet attached to the target surface to be cleaned. At this time, the new target pressure value can be continuously obtained from the pressure sensor.

[0169] On the contrary, if it is detected that the target pressure value is greater than the preset preset pressure value, it can be considered that the electric cleaning brush has attached to the target surface to be cleaned. At this time, it can be determined that the electric cleaning brush is attached to the target surface to be cleaned, and the subsequent step 503 is continued.

[0170] Step 503, after the electric cleaning brush is attached to the target surface to be cleaned, a tactile sensor and / or an optical sensor are started.

[0171] After it is determined that the electric cleaning brush has attached to the target surface to be cleaned, it can be considered that the electric cleaning brush is about to start cleaning the target surface to be cleaned, or has started cleaning the target surface to be cleaned. At this time, the target surface material of the target surface to be cleaned is further determined.

[0172] In the process of determining the target surface material of the target surface to be cleaned, the tactile sensor and / or the optical sensor can be activated first.

[0173] For example, the target surface material can be determined based on one sensor or multiple sensors, and the embodiments of the present application do not limit this.

[0174] In step 504, target tactile sensor data is obtained from the tactile sensor, and / or target optical sensor data is obtained from the optical sensor.

[0175] After the sensor is activated, the corresponding sensor data can be obtained from the sensor. For example, if the tactile sensor is activated, target tactile sensor data can be obtained from the tactile sensor. The target tactile sensor data can be used to represent the roughness, texture, and other characteristics of the target surface to be cleaned.

[0176] For another example, if the optical sensor is activated, target optical sensor data can be obtained from the optical sensor. The target optical sensor data can be used to represent the reflection characteristics of the target surface to be cleaned.

[0177] For yet another example, if the tactile sensor and the optical sensor are activated, target optical sensor data can be obtained from the optical sensor, and target tactile sensor data can be obtained from the tactile sensor.

[0178] In step 505, each surface material corresponds to a tactile sensor data interval and an optical sensor data interval. The target tactile sensor data interval to which the target tactile sensor data belongs and the target optical sensor data interval to which the target optical sensor data belongs are determined.

[0179] In some possible embodiments, the roughness, texture, and reflection characteristics of the same material are not fixed at a certain value. Therefore, for each surface material, a corresponding tactile sensor data interval and an optical sensor data interval can be set. For example, as shown in Table 2: Table 2

[0180] Surface material Tactile sensing data interval / pF Optical sensing data interval / lux Leather 15-25 300-500 Ceramic tile 20-30 600-800 Carpet 35-50 100-300

[0181] After obtaining the target tactile sensor data and the target optical sensor data, the target tactile sensor data interval to which the target tactile sensor data belongs and the target optical sensor data interval to which the target optical sensor data belongs can be determined.

[0182] In step 506, the target surface material is determined according to the target tactile sensor data interval and the target optical sensor data interval.

[0183] Then, the target surface material can be determined according to the target haptic sensing data interval and the target optical sensing data interval, and Table 1 or other preset rules.

[0184] For example, the current target haptic sensing data is 25uF, and the target optical sensing data is 650lux. Then, the target haptic sensing data interval is 15-25 and 20-30, the target optical sensing data interval is 600-800, and the target surface material can be determined as ceramic tile based on Table 1.

[0185] In step 507, the first motor control parameter set for the target surface material is determined.

[0186] After the target surface material of the target surface to be cleaned is determined, the first motor control parameter set for the target surface material in advance can be further determined.

[0187] For example, different surface materials are suitable for different cleaning strength. Therefore, different motor control parameters can be set for different surface materials. Then, after the target surface to be cleaned is determined, the first motor control parameter corresponding to the target surface material of the target surface to be cleaned is determined.

[0188] In step 508, the motor for driving the electric cleaning brush is controlled according to the first motor control parameter.

[0189] After the first motor control parameter is determined, the motor speed and other motor states of the motor for driving the electric cleaning brush can be controlled according to the first motor control parameter. In this way, the cleaning strength of the electric cleaning brush can be adapted to the target surface material of the target surface to be cleaned, so that the problem of incomplete cleaning or damage to the target surface to be cleaned can be avoided.

[0190] In the embodiment of the present application, the target pressure value of the electric cleaning brush is obtained. When the target pressure value is greater than the preset pressure value, it is determined that the electric cleaning brush is in close contact with the target surface to be cleaned. After the electric cleaning brush is in close contact with the target surface to be cleaned, the haptic sensor and / or the optical sensor are started. The target haptic sensing data is obtained from the haptic sensor, and / or the target optical sensing data is obtained from the optical sensor. Each surface material corresponds to a haptic sensing data interval and an optical sensing data interval. The target haptic sensing data interval to which the target haptic sensing data belongs and the target optical sensing data interval to which the target optical sensing data belongs are determined. The target surface material is determined according to the target haptic sensing data interval and the target optical sensing data interval. The first motor control parameter set for the target surface material is determined. The motor for driving the electric cleaning brush is controlled according to the first motor control parameter. Through the embodiment of the present application, the cleaning strength of the electric cleaning brush can be adapted to the target surface material of the target surface to be cleaned, so that the problem of incomplete cleaning or damage to the target surface to be cleaned can be avoided.

[0191] Referring to Figure 6 , a step flow chart of another control method of the electric cleaning brush is shown, which can include the following steps:

[0192] Step 601, obtaining a target pressure value of the electric cleaning brush.

[0193] In some possible embodiments, when the electric cleaning brush starts to work, the pressure change of the electric cleaning brush applied to the target surface to be cleaned can be obtained from the pressure sensor to obtain the target pressure value.

[0194] Step 602, determining that the electric cleaning brush is close to the target surface to be cleaned when the target pressure value is greater than a preset pressure value.

[0195] If it is detected that the target pressure value is not greater than the preset pressure value, it can be considered that the electric cleaning brush is not close to the target surface to be cleaned. At this time, a new target pressure value can be continuously obtained from the pressure sensor.

[0196] On the contrary, if it is detected that the target pressure value is greater than the preset pressure value, it can be considered that the electric cleaning brush is close to the target surface to be cleaned. At this time, it can be determined that the electric cleaning brush is close to the target surface to be cleaned, and the subsequent step 603 is continued.

[0197] Step 603, starting the tactile sensor and / or the optical sensor after the electric cleaning brush is close to the target surface to be cleaned.

[0198] After it is determined that the electric cleaning brush is close to the target surface to be cleaned, it can be considered that the electric cleaning brush is about to start cleaning the target surface to be cleaned or has started to clean the target surface to be cleaned. At this time, the target surface material of the target surface to be cleaned is further determined.

[0199] When the target surface material of the target surface to be cleaned is determined, the tactile sensor and / or the optical sensor can be started first.

[0200] Exemplarily, the target surface material can be determined based on only one kind of sensor, or can be determined based on multiple kinds of sensors, and the embodiments of the present application do not limit this.

[0201] Step 604, obtaining target tactile sensor data from the tactile sensor; and / or, obtaining target optical sensor data from the optical sensor.

[0202] After the sensor is started, corresponding sensor data can be obtained from the sensor; exemplarily, if the tactile sensor is started, target tactile sensor data can be obtained from the tactile sensor. The target tactile sensor can be used to represent the roughness, texture and other characteristics of the target surface to be cleaned.

[0203] Another example, if the optical sensor is activated, target optical sensor data can be acquired from the optical sensor. Wherein, the target optical sensor data can be used to characterize the reflection characteristics of the target surface to be cleaned.

[0204] Yet another example, if the tactile sensor and the optical sensor are activated, target optical sensor data can be acquired from the optical sensor, and target tactile sensor data can be acquired from the tactile sensor.

[0205] Step 605, determine the target tactile sensor data interval to which the target tactile sensor data belongs, and the target optical sensor data interval to which the target optical sensor data belongs.

[0206] After obtaining the target tactile sensor data and the target optical sensor data, the target tactile sensor data interval to which the target tactile sensor data belongs, and the target optical sensor data interval to which the target optical sensor data belongs can be determined.

[0207] The interval to which the data belongs can be the interval in which the corresponding value of the sensor data is located, or the interval closest to the corresponding value of the sensor data, and the embodiments of the present application do not limit this.

[0208] Step 606, determine the target surface material according to the target tactile sensor data interval and the target optical sensor data interval.

[0209] Then, the target surface material can be determined according to the target tactile sensor data interval and the target optical sensor data interval, and Table 1 or other preset rules.

[0210] Step 607, determine the first motor control parameter set for the target surface material.

[0211] After determining the target surface material of the target surface to be cleaned, the first motor control parameter set for the target surface material in advance can be further determined.

[0212] In an embodiment of the present application, step 607 can be implemented by the following sub-steps:

[0213] Sub-step 21, calculate the first frequency and / or the second amplitude according to the target tactile sensor data and the target optical sensor data, and the target tactile sensor data interval and the target optical sensor data interval.

[0214] In some feasible embodiments, after determining the target tactile sensor data interval and the target optical sensor data interval, the first frequency and / or the second amplitude can be calculated according to the target tactile sensor data and the target optical sensor data, and the target tactile sensor data interval and the target optical sensor data interval.

[0215] For example, a third deviation degree of the target haptic sensing data from the boundary value of the target haptic sensing data interval can be determined, and a fourth deviation degree of the target optical sensing data from the boundary value of the target optical sensing data interval can be determined. Then, the first frequency and / or the second amplitude can be calculated based on the third deviation degree and the fourth deviation degree.

[0216] If the target haptic sensing data is 12 pF and the target optical sensing data is 200 lux, it can be determined based on Table 2 that the closest surface material is cortex, and the target surface material is cortex.

[0217] Then, a third deviation degree a = 15-12 = 3 pF of the target haptic sensing data from the target haptic sensing data interval corresponding to cortex can be calculated, and a fourth deviation degree b = 300-200 = 100 lux of the target optical sensing data from the target optical sensing data interval corresponding to cortex can be calculated.

[0218] Based on the frequency and amplitude corresponding to different surface materials in Table 1, the first frequency and the second amplitude can be calculated.

[0219] The first frequency = 5K-0.5*a = 5K-0.5*3 = 4.5K.

[0220] The second amplitude = 40% ± 0.05*b% = 40%-0.05*100% = 35%.

[0221] Table 3 shows the frequency interval and amplitude interval corresponding to part of the surface materials:

[0222] Surface material Frequency interval Amplitude (duty cycle) interval Leather 3K~8K 30％～50％ Ceramic tile 8K~15K 50％～70％ Carpet 15K~20K 70％～90％

[0223] The first frequency and the second amplitude determined based on the sub-step 21 cannot exceed the interval corresponding to Table 3.

[0224] The sub-step 22 obtains the first motor control parameter according to the first frequency and / or the second amplitude.

[0225] After the first frequency and / or the second amplitude are determined, the first frequency and / or the second amplitude can be used as the first motor control parameter.

[0226] Step 608, determining the remaining battery capacity.

[0227] The remaining battery capacity affects the speed of the motor, and under certain remaining battery capacity, the speed of the motor is determined by the frequency and amplitude. Therefore, when the remaining battery capacity decreases, the motor cannot maintain the specified speed with the same frequency and amplitude. In view of this, the embodiment of the present application can first determine the remaining battery capacity.

[0228] Step 609, determining the second motor control parameter according to the battery remaining capacity and the first motor control parameter.

[0229] After determining the battery remaining capacity, the second motor control parameter can be determined according to the battery remaining capacity and the first motor control parameter, which can maintain the stable speed of the motor when the battery power is too low.

[0230] In an embodiment of the present application, step 609 can be implemented by the following sub-steps:

[0231] Sub-step 31, determining the compensation factor according to the battery remaining capacity.

[0232] In some feasible embodiments, the battery remaining capacity can be divided into different levels, for example: high power, medium power and low power; for example: the battery remaining capacity of 0% to 35% is low power, the battery remaining capacity of 35% to 75% is medium power, and the battery remaining capacity of 75% to 100% is high power.

[0233] For different levels, corresponding compensation factors can be set; for example, Table 4 shows the compensation factors set for low power, medium power and high power:

[0234] High power Medium power Low power Frequency 1 1.2 1.5 Amplitude 1 1.2 1.5

[0235] The compensation factor can include a compensation factor for frequency and a compensation factor for amplitude.

[0236] Sub-step 32, determining the second motor control parameter according to the compensation factor and the first motor control parameter

[0237] After determining the compensation factor, the second motor control parameter can be determined according to the compensation factor and the first motor control parameter; for example: the second frequency can be calculated according to the compensation factor for frequency and the first frequency, and the second amplitude can be calculated according to the compensation factor for amplitude and the first amplitude.

[0238] For example: the first frequency is determined to be 5K, the first amplitude is 40%, and the battery remaining capacity corresponds to the low power, then the second frequency = 5K*1.2 = 6K; the second amplitude = 40%*1.2 = 48%.

[0239] Among them, for the second amplitude, it is forcibly set to be not greater than 100%.

[0240] After determining the second frequency and the second amplitude, the second frequency and / or the second amplitude can be taken as the second motor control parameter.

[0241] Step 610, controlling the motor according to the second motor control parameter.

[0242] After determining the control parameters of the second motor, the motor can be controlled according to the control parameters of the second motor.

[0243] In this embodiment of the invention, a target pressure value of the electric cleaning brush is obtained; when the target pressure value is greater than a preset pressure value, it is determined that the electric cleaning brush is in close contact with the target surface to be cleaned; after the electric cleaning brush is in close contact with the target surface to be cleaned, a tactile sensor and / or an optical sensor are activated; target tactile sensing data is obtained from the tactile sensor; and / or, target optical sensing data is obtained from the optical sensor; the target tactile sensing data range to which the target tactile sensing data belongs, and the target optical sensing data range to which the target optical sensing data belongs, are determined; the target surface material is determined based on the target tactile data range and the target optical sensing data range; a first motor control parameter is determined for the target surface material; the remaining battery power is determined; a second motor control parameter is determined based on the remaining battery power and the first motor control parameter; and the motor is controlled based on the second motor control parameter. Through this embodiment of the invention, the cleaning force of the electric cleaning brush can be adapted to the target surface material of the target surface to be cleaned, avoiding problems such as inadequate cleaning or damage to the target surface to be cleaned.

[0244] Furthermore, by setting a compensation factor, it can be ensured that the motor can still maintain the same amplitude and frequency for the same material properties even when the remaining battery power is reduced.

[0245] Reference Figure 7 The diagram illustrates a structural schematic of a system according to an embodiment of the present invention; as shown below. Figure 7 As shown, the system may include a sensor module 720, a main control module 710, a power management module 730, a motor 740, and a button 750; the motor 740 can be used to drive an electric cleaning brush; the sensor module 720 may include a pressure sensor, a tactile sensor, and an optical sensor; the main control module 710 can be electrically connected to the sensor module 720, the power management module 730, the motor 740, and the button 750 respectively, and is used to implement the control method of the electric cleaning brush mentioned in the above embodiments.

[0246] The user can control the electric cleaning brush to turn on via button 750; once turned on, the pressure sensor can send a target pressure value to the main control module 710. The main control module 710 can determine whether the electric cleaning brush is in close contact with the target surface to be cleaned based on the target pressure value.

[0247] After determining that the electric cleaning brush is in close contact with the target surface to be cleaned, the tactile sensor and the optical sensor can send corresponding sensing data to the main control module 710. The main control module 710 can generate control parameters for the first motor 740 based on this sensing data and send them to the motor 740 to change the frequency and amplitude of the motor 740's vibration, thereby changing the rotational speed of the motor 740.

[0248] Reference Figure 8 The diagram shows a control flowchart of an electric cleaning brush according to an embodiment of the present invention:

[0249] First, the sensor module 720 can be turned on to collect various sensor data; after the main control module 710 determines that the electric cleaning brush is in close contact with the target surface to be cleaned, it can analyze the target surface material based on the target tactile sensor data and the target optical sensor data.

[0250] If the target surface material is leather, the control parameters of the first motor 740 with low frequency amplitude can be set; if the target surface material is tile, the control parameters of the first motor 740 with medium frequency amplitude can be set; if the target surface material is carpet, the control parameters of the first motor 740 with high frequency amplitude can be set.

[0251] After determining the control parameters of the first motor 740, the main control module 710 can obtain the remaining battery power from the power management module 730, and generate dynamic control parameters for the second motor 740 based on the dynamic remaining battery power and the control parameters of the first motor 740, thereby dynamically adjusting the output of the motor 740; the main control module 710 can control the electric cleaning brush to continue cleaning until the cleaning is finished.

[0252] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0253] Reference Figure 9 The diagram shows a structural schematic of a control device for an electric cleaning brush according to an embodiment of the present invention, which may include the following modules:

[0254] The material determination module 901 is used to determine the target surface material of the target surface to be cleaned when the electric cleaning brush is in close contact with the target surface to be cleaned.

[0255] The parameter determination module 902 is used to determine the first motor control parameters set for the target surface material;

[0256] The motor control module 903 is used to control the motor used to drive the electric cleaning brush according to the first motor control parameters.

[0257] In an optional embodiment of the present invention, the motor control module 903 is used to determine the remaining battery power; determine the second motor control parameters based on the remaining battery power and the first motor control parameters; and control the motor based on the second motor control parameters.

[0258] In an optional embodiment of the present invention, the motor control module 903 is used to determine a compensation factor based on the remaining battery power; and to determine a second motor control parameter based on the compensation factor and the first motor control parameter.

[0259] In an optional embodiment of the present invention, the apparatus further includes:

[0260] The judgment module is used to obtain the target pressure value of the electric cleaning brush; when the target pressure value is greater than the preset pressure value, it is determined that the electric cleaning brush is in close contact with the target surface to be cleaned.

[0261] In an optional embodiment of the present invention, a sensor activation module is used to activate a tactile sensor and / or an optical sensor after the electric cleaning brush is in contact with the target surface to be cleaned.

[0262] The material determination module 901 is used to acquire target tactile sensing data from a tactile sensor; and / or acquire target optical sensing data from an optical sensor; and determine the target surface material of the target surface to be cleaned based on the target tactile sensing data and / or the target optical sensing data.

[0263] In an optional embodiment of the present invention, each surface material corresponds to a tactile sensing data and / or an optical sensing data. The material determination module 901 is used to select the surface material whose tactile sensing data is closest to the target tactile sensing data and / or whose optical sensing data is closest to the target optical data as the target surface material.

[0264] In an optional embodiment of the present invention, each surface material corresponds to a tactile sensing data range and an optical sensing data range. The material determination module 901 is used to determine the target tactile sensing data range to which the target tactile sensing data belongs, and the target optical sensing data range to which the target optical sensing data belongs; and to determine the target surface material based on the target tactile sensing data range and the target optical sensing data range.

[0265] In an optional embodiment of the present invention, the parameter determination module 902 is used to determine the first motor control parameters based on the target tactile sensing data and the target optical sensing data; wherein the first motor control parameters include a first frequency and / or a second amplitude.

[0266] In an optional embodiment of the present invention, the parameter determination module 902 is used to calculate a first frequency and / or a second amplitude based on the target tactile sensing data and the target optical sensing data, as well as the target tactile sensing data range and the target optical sensing data range; and to obtain the first motor control parameters based on the first frequency and / or the second amplitude.

[0267] In an optional embodiment of the present invention, the motor control module 903 is further configured to, when controlling the motor for driving the electric cleaning brush according to the first motor control parameters, collect the cleaning degree information and cleaning damage information of the currently cleaned target surface to be cleaned; adjust the first motor control parameters according to the cleaning degree information and cleaning damage information, and control the motor according to the adjusted first motor control parameters.

[0268] In this embodiment of the invention, when the electric cleaning brush is in close contact with the target surface to be cleaned, the target surface material of the target surface to be cleaned is determined; first motor control parameters set for the target surface material are determined; and the motor used to drive the electric cleaning brush is controlled according to the first motor control parameters. This embodiment of the invention allows the cleaning force of the electric cleaning brush to be adapted to the target surface material of the target surface to be cleaned, avoiding problems such as inadequate cleaning or damage to the target surface to be cleaned.

[0269] This invention also provides an electric cleaning brush, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, it implements the above-described control method for the electric cleaning brush.

[0270] This invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-described control method for an electric cleaning brush.

[0271] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0272] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0273] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0274] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0275] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0276] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0277] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0278] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0279] The control method, device, electric cleaning brush, and storage medium for an electric cleaning brush have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A control method for an electric cleaning brush, characterized in that, The method includes: When the electric cleaning brush is in contact with the target surface to be cleaned, the target surface material of the target surface to be cleaned is determined; Determine the first motor control parameters set for the target surface material; The motor used to drive the electric cleaning brush is controlled according to the first motor control parameters.

2. The control method for the electric cleaning brush according to claim 1, characterized in that, The step of controlling the motor for driving the electric cleaning brush according to the first motor control parameters includes: Determine the remaining battery power; The second motor control parameters are determined based on the remaining battery power and the first motor control parameters; The motor is controlled according to the second motor control parameters.

3. The control method for the electric cleaning brush according to claim 2, characterized in that, The step of determining the second motor control parameters based on the remaining battery power and the first motor control parameters includes: Determine the compensation factor based on the remaining battery power; The second motor control parameters are determined based on the compensation factor and the first motor control parameters.

4. The control method for the electric cleaning brush according to claim 1, characterized in that, The method further includes: Obtain the target pressure value of the electric cleaning brush; When the target pressure value is greater than the preset pressure value, it is determined that the electric cleaning brush is in close contact with the target surface to be cleaned.

5. The control method for the electric cleaning brush according to claim 1, characterized in that, After the electric cleaning brush is pressed against the target surface to be cleaned, the method further includes: Activate the tactile sensor and / or optical sensor; Determining the target surface material of the target surface to be cleaned includes: Acquire target tactile sensing data from the tactile sensor; and / or acquire target optical sensing data from the optical sensor; The target surface material of the target surface to be cleaned is determined based on the target tactile sensing data and / or the target optical sensing data.

6. The control method for the electric cleaning brush according to claim 5, characterized in that, Each surface material corresponds to a tactile sensing data point and / or an optical sensing data point. Determining the target surface material of the target surface to be cleaned based on the target tactile sensing data and / or the target optical sensing data includes: The surface material whose tactile sensing data is closest to the target tactile sensing data and / or whose optical sensing data is closest to the target optical sensing data is used as the target surface material.

7. The control method for the electric cleaning brush according to claim 5, characterized in that, Each surface material corresponds to a tactile sensing data range and an optical sensing data range. Determining the target surface material of the target surface to be cleaned based on the target tactile sensing data and / or the target optical sensing data includes: Determine the target tactile sensing data range to which the target tactile sensing data belongs, and the target optical sensing data range to which the target optical sensing data belongs; The target surface material is determined based on the target tactile sensing data range and the target optical sensing data range.

8. The control method for the electric cleaning brush according to claim 6, characterized in that, The determination of the first motor control parameters set for the target surface material includes: The control parameters of the first motor are determined based on the target tactile sensing data and the target optical sensing data; The first motor control parameters include a first frequency and / or a second amplitude.

9. The control method for the electric cleaning brush according to claim 7, characterized in that, The determination of the first motor control parameters set for the target surface material includes: Calculate the first frequency and / or the second amplitude based on the target tactile sensing data and the target optical sensing data, as well as the target tactile sensing data range and the target optical sensing data range; The first motor control parameters are obtained based on the first frequency and / or the second amplitude.

10. The control method for the electric cleaning brush according to claim 1, characterized in that, When controlling the motor for driving the electric cleaning brush according to the first motor control parameters, the method further includes: Collect information on the cleanliness level and cleaning damage of the currently cleaned target surface to be cleaned; Based on the cleanliness information and the cleanliness damage information, the control parameters of the first motor are adjusted, and the motor is controlled according to the adjusted control parameters.

11. A control device for an electric cleaning brush, characterized in that, The device includes: The material determination module is used to determine the target surface material of the target surface to be cleaned when the electric cleaning brush is in contact with the target surface to be cleaned. A parameter determination module is used to determine the first motor control parameters set for the target surface material; The motor control module is used to control the motor used to drive the electric cleaning brush according to the first motor control parameters.

12. An electric cleaning brush, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the control method of the electric cleaning brush as described in any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the control method for the electric cleaning brush as described in any one of claims 1 to 10.

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