Cleaning equipment control method and cleaning equipment
By employing an intermittent cycle drying strategy and mop rotation control, the problems of heat loss and uneven drying of the robot vacuum cleaner mop have been solved, achieving uniform drying and extended lifespan of the mop.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHEN ZHEN 3IROBOTICS CO LTD
- Filing Date
- 2025-12-22
- Publication Date
- 2026-05-08
AI Technical Summary
Traditional robotic vacuum cleaners suffer significant heat loss during the drying process, affecting their lifespan and resulting in uneven drying.
An intermittent cycle drying strategy is adopted, which controls the lifting and rotation of the mop and combines it with an intermittent cycle heating method to dry the mop, avoiding damage from continuous high temperature, and monitors the drying status through a humidity sensor.
It effectively extends the lifespan of the mop, ensures the mop dries evenly, reduces energy consumption, and improves the user experience.
Smart Images
Figure CN121987101A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of intelligent cleaning equipment technology, specifically to a cleaning equipment control method and a cleaning equipment. Background Technology
[0002] With the increasing popularity of smart cleaning equipment, robotic vacuum cleaners and their associated base stations have become important tools for household cleaning. The mop on the robotic vacuum cleaner is used to clean stains on the floor. After use, the mop needs to be washed and dried at the base station.
[0003] The mops used in robotic vacuum cleaners are mainly divided into tracked mops, roller mops, disc mops, and flat mops. Currently, the drying of tracked and roller mops in robotic vacuum cleaners is mainly achieved by statically drying the mops using continuous heating.
[0004] However, this continuous drying mode leads to significant heat loss of the mop material, affecting the mop's lifespan; in addition, because the mop is always static, there is a large difference in moisture content between the mop's core and edges, resulting in uneven drying of the mop. Summary of the Invention
[0005] In view of this, this application aims to provide a cleaning equipment control method and cleaning equipment to solve the problems of significant material heat loss of mops in traditional related technologies, which affects the life of mops and uneven drying of mops.
[0006] The first aspect of this application provides a method for controlling a cleaning device, the cleaning device including a sweeping robot and a base station, the sweeping robot being equipped with a mop, the rotation axis of the mop being parallel to the surface to be cleaned, and the base station being equipped with a washing tank containing a drying component; the method includes: When the mop is detected to have finished washing in the washing tank, the cleaning equipment is controlled to cyclically execute the preset drying strategy according to the preset cycle during the preset drying stage. The preset drying strategy is as follows: within each preset cycle, the mop of the sweeping robot is raised, and the drying component of the base station is controlled to dry the mop in an interval cycle; and within each preset cycle, the mop of the sweeping robot is controlled to rotate at least once by a preset angle. During the preset drying phase, when the mop is detected to be dry, the preset drying strategy is stopped.
[0007] In one possible implementation, the drying component of the control base station dries the mop in an intermittent cycle drying manner, including: the drying component of the control base station is energized according to a preset duty cycle to achieve the intermittent cycle drying of the mop.
[0008] In one possible implementation, the preset drying stage includes a first drying stage and a second drying stage; correspondingly, the step of cyclically executing a preset drying strategy according to a preset cycle within the preset drying stage when it is detected that the mop has finished washing in the washing tank includes: when it is detected that the mop has finished washing in the washing tank, controlling the cleaning equipment to enter the first drying stage, and cyclically executing the preset drying strategy according to a first preset cycle in the first drying stage; when it is detected that the first drying stage has ended, controlling the cleaning equipment to enter the second drying stage, and cyclically executing the preset drying strategy according to a second preset cycle in the second drying stage; wherein the duration of the second drying stage is shorter than that of the first drying stage, and the duration of the second preset cycle is shorter than that of the first preset cycle.
[0009] In one possible implementation, after the control of the robot vacuum cleaner's mop to rotate at least once by a preset angle, the method further includes: monitoring the angle of rotation of the mop; if the error between the angle of rotation and the preset angle exceeds an error threshold, then correcting the angle of rotation of the mop to keep the error within the error threshold.
[0010] In one possible implementation, the base of the robotic vacuum cleaner is equipped with a ground information acquisition sensor, and the method further includes: acquiring stain characteristic information of ground stains through the ground information acquisition sensor; determining the degree of staining of the ground stains based on the stain characteristic information; and adjusting the matching relationship between the rotation speed of the mop and the moving speed of the robotic vacuum cleaner based on the change in the degree of staining of the ground stains.
[0011] In one possible implementation, adjusting the matching relationship between the rotation speed of the mop and the moving speed of the sweeping robot based on changes in the degree of soiling on the ground includes: when a change in the degree of soiling on the ground is detected from small to large, increasing the rotation speed of the mop and decreasing the moving speed of the sweeping robot; and when a change in the degree of soiling on the ground is detected from large to small, decreasing the rotation speed of the mop and increasing the moving speed of the sweeping robot.
[0012] In one possible implementation, adjusting the matching relationship between the rotational speed of the mop and the moving speed of the robotic vacuum cleaner based on changes in the degree of soiling of the floor stains includes: when the degree of soiling of the floor stains is detected to be lightly soiled, controlling the rotational speed of the mop to be within a first rotational speed range and the moving speed of the robotic vacuum cleaner to be within a first speed range; when the degree of soiling of the floor stains is detected to be moderately soiled, controlling the rotational speed of the mop to be within a second rotational speed range and the moving speed of the robotic vacuum cleaner to be within a second speed range; wherein the rotational speed in the second rotational speed range is greater than that in the first rotational speed range, and the moving speed in the second speed range is less than that in the first speed range; when the degree of soiling of the floor stains is detected to be heavily soiled, controlling the rotational speed of the mop to be within a third rotational speed range and the moving speed of the robotic vacuum cleaner to be within a third speed range; wherein the rotational speed in the third rotational speed range is greater than that in the second rotational speed range, and the moving speed in the third speed range is less than that in the second speed range.
[0013] In one possible implementation, after determining the degree of stain on the ground based on the stain feature information, the method further includes: generating a stain concentration heatmap based on the degree of stain on the ground, wherein ground stains of different degrees of stain are displayed in different colors in the stain concentration heatmap; and sending the stain concentration heatmap to a client for display.
[0014] In one possible implementation, the base station is further provided with electrode plates and an electrode detection assembly; the method further includes: When the mop is detected to have finished washing in the cleaning tank, the power supply to the base station's power supply electrode is cut off. The electrode detection assembly is used to detect whether the electrode plate is in a dry state. When it is detected that the electrode plate is not dry, the drying assembly is controlled to dry the electrode plate. When the power supply electrode is detected to be in a dry state, the power supply electrode of the control base station is restored.
[0015] A second aspect of this application provides a cleaning device, including a robotic vacuum cleaner and a base station, wherein the robotic vacuum cleaner or the base station is used for the cleaning device control method described in the first aspect and its possible implementations.
[0016] The cleaning equipment control method and cleaning equipment provided in this application, wherein when drying the mop of the sweeping robot, the following drying strategy is executed cyclically according to a preset cycle: in each preset cycle, the sweeping robot's mop is controlled to be raised, the base station's drying component is controlled to dry the mop in an intermittent cycle, and the sweeping robot's mop is controlled to rotate at least once at a preset angle. The method of controlling the mop to be raised and the intermittent cycle drying avoids the mop from being severely damaged by continuous high temperature drying, which would affect its lifespan. At the same time, controlling the mop to rotate at a preset angle reduces the difference in moisture content between the mop's axis and edge, so that the mop can be dried evenly. Attached Figure Description
[0017] To more clearly illustrate the technical solutions in the specific embodiments or related technologies of this application, the drawings used in the description of the specific embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0018] Figure 1 This is a schematic diagram illustrating an application scenario for cleaning equipment control provided in an embodiment of this application.
[0019] Figure 2 Flowchart of the cleaning equipment control method provided in the embodiments of this application Figure 1 .
[0020] Figure 3 A flowchart illustrating the cleaning equipment control method provided in this application embodiment. Figure 2 .
[0021] Figure 4 Flowchart of the cleaning equipment control method provided in the embodiments of this application Figure 3 .
[0022] Figure 5 Flowchart of the cleaning equipment control method provided in the embodiments of this application Figure 4 .
[0023] Figure 6 This is a schematic diagram of the structure of the cleaning equipment control device provided in the embodiments of this application.
[0024] Figure 7 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation
[0025] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0026] The mop pad of a robotic vacuum cleaner is located at the bottom of the robot and is used to clean the floor. Robotic vacuum cleaner mops come in various types, including rolling mops, disc mops, and flat mops. Rolling mops are further divided into tracked and roller mops. With the development of robotic vacuum cleaners' intelligence, the mops can usually be automatically washed and dried. This means that after the robot returns to its base station, the mop is washed and dried automatically. However, currently, the drying process for rolling mops in robotic vacuum cleaners mainly involves continuously heating and drying the rolling mop within a fixed period of time. This continuous high temperature damages the rolling mop, affecting its lifespan. Furthermore, the rolling mop is stationary during the drying process, resulting in a significant difference in moisture content between the mop's axis and edges, leading to uneven drying.
[0027] To address the aforementioned technical problems, this application proposes the following technical concept: When drying the rolling mop of a robotic vacuum cleaner, a cyclical drying strategy is implemented, specifically: In each cycle, the mop is controlled to rise away from the drying component of the base station. The mop heating device is controlled to intermittently heat the rolling mop in a cyclical manner to prevent continuous high-temperature exposure and heat damage. Simultaneously, in each cycle, the rolling mop is controlled to rotate at a certain angle once or multiple times, ensuring that the rolling mop is dried evenly.
[0028] Figure 1 This is a schematic diagram illustrating an application scenario of the cleaning equipment provided in an embodiment of this application. (See reference...) Figure 1 The scenario includes: a robot vacuum cleaner 101 and a base station 102.
[0029] The robotic vacuum cleaner 101 is equipped with a mop, the rotation axis of which is parallel to the surface to be cleaned. This mop can be either a tracked mop or a roller mop. In addition to the roller mop, the robotic vacuum cleaner 101 also includes a controller, a charging port, and other related components. The controller controls the operation of all components of the robotic vacuum cleaner 101. The charging port connects to the power supply terminal of the base station 102, allowing the base station to supply power or charge the robotic vacuum cleaner 101. The base station 102 has a cleaning tank for cleaning the mop entering the base station; a drying component within the cleaning tank dries the mop. The controller of the robotic vacuum cleaner 101 can also communicate with the controller of the base station 102. Furthermore, the controller of the robotic vacuum cleaner 101 can control the base station 102 via communication connections (Bluetooth, WiFi, etc.).
[0030] Exemplary methods Figure 2 Flowchart of the cleaning equipment control method provided in the embodiments of this application Figure 1 The execution entity in this embodiment can be... Figure 1 The illustrated cleaning robot or base station includes a cleaning device comprising a cleaning robot and a base station. The cleaning robot is equipped with a mop, the mop's rotation axis being parallel to the surface to be cleaned. The base station is equipped with a washing tank containing a drying component. Figure 2 As shown, the method includes: S201: When it is detected that the mop has finished washing in the washing tank, the cleaning equipment is controlled to execute a preset drying strategy in a preset drying phase according to a preset cycle. The preset drying strategy includes controlling the mop of the sweeping robot to lift in each preset cycle and controlling the drying component of the base station to dry the mop in an interval cycle. In addition, the mop of the sweeping robot is controlled to rotate at least once in each preset cycle.
[0031] In this embodiment, when the robot vacuum cleaner returns to the base station after completing the cleaning task, it controls the robot's mop to enter the cleaning tank of the base station. The base station controls the cleaning components in the cleaning tank to perform a mop cleaning task. When the mop cleaning task is detected to be over, it is determined that the mop has been cleaned in the cleaning tank, and then the base station controls the drying components to perform a mop drying task.
[0032] In the embodiments of this application, the duration of the preset drying stage can be set according to requirements. Optionally, the duration of the preset drying stage is 2 hours or 4 hours.
[0033] In the embodiments of this application, the duration of the preset period can also be set according to requirements. Optionally, the duration of the preset period is 10 minutes or 2 minutes.
[0034] In the embodiments of this application, the mop of the sweeping robot is raised so that the mop and the drying component of the base station are kept in a non-direct contact state.
[0035] In one embodiment of this application, the drying component of the control base station is used to dry the mop in an intermittent cycle drying manner, including: controlling the drying component of the control base station to be energized in a preset duty cycle manner to achieve the intermittent cycle drying of the mop.
[0036] The power-on method according to the preset power-on duty cycle can be the power-on method according to the preset modulation pulse width. Optionally, the preset power-on duty cycle of the preset modulation pulse width can be 30%, 40%, or 50%.
[0037] In the embodiments of this application, controlling the mop of the robot vacuum cleaner to perform at least one preset angle rotation can be controlled to perform at least one preset duration rotation of the mop of the robot vacuum cleaner to complete the corresponding preset angle rotation.
[0038] S202: During the preset drying stage, when it is detected that the mop has finished drying, the preset drying strategy is stopped.
[0039] In the embodiments of this application, the humidity value of the mop surface is detected by a humidity sensor. When it is determined that the humidity value does not exceed the humidity threshold, it is determined that the mop meets the dry state and the above-mentioned preset drying strategy is stopped.
[0040] The humidity sensor can be placed inside the mop or embedded in the mop holder to detect the humidity value of the mop surface.
[0041] As described above, when drying the mop of the robotic vacuum cleaner, the following drying strategy is executed cyclically according to a preset cycle: In each preset cycle, the robotic vacuum cleaner's mop is raised, the drying components of the base station are controlled to dry the mop in an intermittent cycle, and the robotic vacuum cleaner's mop is controlled to rotate at least once at a preset angle. This mop-raising control and intermittent drying method avoids continuous high-temperature drying, which could severely damage the mop and shorten its lifespan. Simultaneously, controlling the mop rotation at a preset angle reduces the difference in moisture content between the mop's axis and edges, ensuring uniform drying. Furthermore, the intermittent heating method achieves better energy savings compared to continuous heating.
[0042] Figure 3 Flowchart of the cleaning equipment control method provided in the embodiments of this application Figure 2This embodiment focuses on describing the implementation of different cycle drying control strategies in two drying stages, such as... Figure 3 As shown, the details are as follows: S301: When the mop is detected to have finished cleaning in the cleaning tank, the cleaning equipment is controlled to enter the first drying stage. In the first drying stage, the preset drying strategy is executed cyclically according to the first preset cycle.
[0043] S302: Upon detecting the end of the first drying stage, control the cleaning equipment to enter the second drying stage, and in the second drying stage, execute the preset drying strategy cyclically according to the second preset cycle; wherein the duration of the second drying stage is shorter than that of the first drying stage, and the duration of the second preset cycle is shorter than that of the first preset cycle.
[0044] S303: During the first and second drying stages, when the mop is detected to be dry, the preset drying strategy is stopped.
[0045] In the embodiments of this application, the duration of the first drying stage and the second drying stage can be set as needed. Optionally, the duration of the first drying stage is 3.5 hours, and the duration of the second drying stage is 0.5 hours.
[0046] In the embodiments of this application, the duration of the first preset period and the second preset period can be set as needed. Optionally, the duration of the first preset period is 10 minutes, and the duration of the second preset period is 2 minutes.
[0047] As described above, executing the preset drying strategy in a cyclical manner during the first drying stage, which involves a relatively long drying cycle, can prevent the mop from fogging due to excessively high drying temperatures when the initial moisture content of the mop is high, thus avoiding a negative impact on the user experience. Simultaneously, setting the duration and drying cycle of the second drying stage to be shorter than the first stage allows for rapid evaporation of residual moisture from the mop during the second stage, preventing the overall drying time from being too long and affecting the user experience.
[0048] In one embodiment of this application, based on the above embodiments, after controlling the mop of the sweeping robot to perform at least one rotation of a preset angle within each preset cycle, the method further includes: S401: Monitors the angle at which the mop has rotated.
[0049] In this embodiment, the angle of rotation of the mop is monitored by an angle sensor corresponding to the mop drive motor.
[0050] In one implementation, the angle sensor corresponding to the mop drive motor is an encoder integrated within the drive motor. This encoder determines the rotation angle by recording the number of rotor pulses of the drive motor. In another implementation, the angle sensor corresponding to the mop drive motor is a Hall sensor integrated within the drive motor. This Hall sensor generates pulse signals by sensing changes in the motor's magnetic field, and determines the rotation angle using these pulse signals.
[0051] S402: If the error between the rotated angle and the preset angle exceeds the error threshold, the rotated angle of the mop is corrected to keep the error within the error threshold.
[0052] In the embodiments of this application, the error threshold can be set as needed. Optionally, the error threshold is 2 degrees.
[0053] As can be seen from the above description, by monitoring the angle of rotation of the mop and correcting the angle of rotation, precise mop angle rotation can be achieved, further improving the uniform drying effect of the mop.
[0054] Figure 4 Flowchart of the cleaning equipment control method provided in the embodiments of this application Figure 3 Currently, most robotic vacuum cleaners use a fixed roller speed and robot movement speed to clean dirty floors. However, this method is insufficient for stubborn stains, requiring repeated cleaning, while it over-cleans minor stains, affecting battery life. To address these issues, this embodiment focuses on describing the control process of a robotic vacuum cleaner cleaning stains of varying degrees, as detailed below: S501: Collects stain characteristic information of ground stains through ground information acquisition sensors.
[0055] In this embodiment, the ground information acquisition sensor is mounted on the base of the sweeping robot, facing the ground.
[0056] The ground information acquisition sensor can be a multispectral sensor or a camera. Optionally, a multispectral sensor can be used to acquire spectral data of the ground and use the spectral data as stain feature information; alternatively, a camera can be used to acquire image data of the ground and use the image data as stain feature information.
[0057] S502: Determine the degree of staining on the floor based on stain characteristic information.
[0058] Specifically, the stain feature information is input into the machine learning model, which outputs the stain type of the ground stain; based on the stain type, the degree of stain on the ground stain is determined.
[0059] In embodiments of this application, the feature information of stains on the ground is input into a machine learning model to obtain the stain type of the ground stains. The machine learning model can be a convolutional neural network model.
[0060] In the embodiments of this application, if the stain type is an easy-to-clean stain (dust, hair, etc.), the stain degree of the ground stain is determined as a stain concentration of less than 20%, and recorded as light pollution; if the stain type is a common type stain (dust, cookie crumbs, etc.), the stain degree of the ground stain is determined as a stain concentration of 20%-60%, and recorded as moderate pollution; if the stain type is a stubborn type stain (dried oil stains, dried coffee stains, etc.), the stain degree of the ground stain is determined as a stain concentration of more than 60%, and recorded as heavy pollution.
[0061] S503: Adjust the matching relationship between the rotation speed of the robot vacuum's mop and the robot's moving speed according to the changes in the degree of dirt on the ground.
[0062] In another embodiment of this application, step S503 specifically includes: When the detected level of dirt on the floor changes from low to high, increase the mop's rotation speed and decrease the robot vacuum's movement speed; conversely, when the detected level of dirt on the floor changes from high to low, decrease the mop's rotation speed and increase the robot vacuum's movement speed.
[0063] For example, if the detected stain level changes from light to moderate, the mop speed is increased and the robot vacuum's movement speed is decreased. If the detected stain level changes from moderate to heavy, the mop speed is further increased and the robot vacuum's movement speed is further decreased.
[0064] For example, if the detected stain level changes from heavily soiled to moderately soiled, the mop speed is reduced and the robot vacuum's movement speed is increased. If the detected stain level changes from moderately soiled to lightly soiled, the mop speed continues to decrease and the robot vacuum's movement speed continues to increase.
[0065] In another embodiment of this application, step S503 specifically includes: When the degree of soiling on the ground is detected to be slightly soiled, the speed of the mop is controlled to be within the first speed range and the moving speed of the robot vacuum is controlled to be within the first speed range.
[0066] When the degree of soiling on the ground is detected to be moderate, the rotation speed of the mop is controlled to be in the second rotation speed range and the moving speed of the robot vacuum cleaner is controlled to be in the second speed range; wherein the rotation speed in the second rotation speed range is greater than that in the first rotation speed range, and the moving speed in the second speed range is less than that in the first speed range.
[0067] When the degree of soiling on the ground is detected to be heavily soiled, the speed of the mop is controlled to be in the third speed range and the moving speed of the robot vacuum cleaner is controlled to be in the third speed range; wherein the speed of the third speed range is greater than that of the second speed range, and the moving speed of the third speed range is less than that of the second speed range.
[0068] Optionally, the first speed range is 250rpm-300rpm, and the first speed range is 0.35m / s-0.4m / s. The second speed range is 350rpm-400rpm, and the second speed range is 0.25m / s-0.3m / s. The third speed range is 450rpm-500rpm, and the third speed range is 0.1m / s-0.15m / s.
[0069] As described above, by identifying the stain characteristics of the ground stains and determining the degree of staining based on these characteristics, and by adjusting the rotation speed of the robot vacuum's mop and its movement speed in real time according to the varying degrees of staining, the problem of repeatedly cleaning highly polluted areas and consuming excessive energy when cleaning low-polluted areas can be avoided. This achieves a highly efficient and low-energy cleaning effect for robot vacuums dealing with stains of different degrees.
[0070] In one embodiment of this application, after step S502 described above, the following is further included: S504: Generate a stain concentration heatmap based on the degree of staining on the ground, where different degrees of staining are displayed in different colors on the stain concentration heatmap.
[0071] In the embodiments of this application, the degree of soiling on the ground is divided into light pollution, moderate pollution and heavy pollution. In the soiling concentration heat map, the area of light pollution is displayed as yellow, the area of moderate pollution is displayed as orange, and the area of heavy pollution is displayed as red.
[0072] S505: Send the stain concentration heat map to the client for display.
[0073] In the embodiments of this application, after the sweeping robot cleans the stains on the ground in the target area, it can obtain a heat map of the stain concentration before cleaning and a heat map of the stain concentration after cleaning, and send the heat map of the stain concentration before cleaning and the heat map of the stain concentration after cleaning to the client for display.
[0074] As can be seen from the above description, by feeding back the stain concentration heatmap, which reflects the degree of staining, to the user's client, the user can understand the condition of the stains on the ground and the effect of the robot vacuum cleaner before and after cleaning, thus improving the user experience.
[0075] Figure 5 Flowchart of the cleaning equipment control method provided in the embodiments of this application Figure 4 Currently, the power supply electrodes of the base station power the robot vacuum cleaner during the cleaning process. However, these electrodes are easily contaminated by cleaning agents during cleaning, and when energized, an electrolytic reaction occurs, causing the plastic base near the electrodes to melt and deform, posing a fire safety risk. In existing technology, a polytetrafluoroethylene (PTFE) coating is typically sprayed onto the electrodes to solve this problem. However, this coating wears down after long-term use, leaving the electrodes at risk of short circuits. To address the problems of the existing technology, this embodiment focuses on describing the process of drying and protecting the power supply electrodes, detailed below: S601: When the robot vacuum cleaner is detected to have finished cleaning at the base station, the power supply to the base station's electrode plates is cut off.
[0076] In the embodiments of this application, the power supply to the electrode plates is cut off by interrupting the power supply to the base station.
[0077] S602: The electrode detection assembly detects whether the supply electrode sheet is in a dry state.
[0078] In one embodiment of this application, the electrode detection component is a humidity sensor, which is disposed on the side of the electrode supply sheet, adjacent to the electrode supply sheet. Specifically, the electrode detection component detects whether the electrode supply sheet is in a dry state, which includes: collecting the humidity value at the location of the electrode supply sheet using the humidity sensor, and determining whether the electrode supply sheet is in a dry state based on the humidity value at the location of the electrode supply sheet.
[0079] In another embodiment of this application, the electrode detection component is a camera. Specifically, the camera captures electrode detection images of the power supply electrode sheet of the base station; based on the electrode detection images, it is determined whether the power supply electrode sheet is in a dry state.
[0080] It should be noted that the camera is positioned on the base station near the power supply electrode plate.
[0081] In the embodiments of this application, an electrode detection image is obtained by acquiring an image of the surface of the supply electrode sheet. The image is then used to detect whether the surface of the supply electrode sheet has water droplet features and / or water ripple features. If water droplet features and / or water ripple features are present, it is determined that the supply electrode sheet is not in a dry state; otherwise, it is determined that the supply electrode sheet is in a dry state.
[0082] In embodiments of this application, detecting whether the surface of the electrode sheet has water droplet features and / or water ripple features through image recognition can be achieved by inputting the electrode detection image into a pre-trained image detection model.
[0083] S603: If the electrode plate is not detected to be dry, the drying assembly port is controlled to dry the electrode plate.
[0084] It should be noted that the drying assembly includes a heater, a centrifugal fan, and a drying air vent. The heater generates hot air, and the centrifugal fan delivers the hot air through the drying air vent to the electrode plate.
[0085] In the embodiments of this application, the heater is a positive temperature coefficient ceramic heater. Optionally, the operating parameters of the heater are: power density 1.5 W / cm². The operating parameters of the centrifugal fan are: wind speed 4 m / s.
[0086] In one embodiment of this application, the base station's power supply electrode has a protective cover, and the drying air vent of the drying assembly can be disposed on the protective cover. Optionally, the drying air vent is a slot in the protective cover.
[0087] In another embodiment of this application, the power supply electrode of the base station may also be without a protective cover, and the drying air vent of the drying component may be aligned with the position of the power supply electrode on the base station base.
[0088] In another embodiment of this application, the power supply electrode plate can be disposed at the bottom of the base station, and the drying assembly can be disposed at the bottom of the base station with the drying air vent facing the power supply electrode plate. For example, the power supply electrode plate can be disposed on the side of the base station base or on the support platform of the base station base. The support platform is used to support the sweeping robot.
[0089] S604: When the power supply electrode is detected to be in a dry state, control the power supply of the power supply electrode of the base station.
[0090] As can be seen from the above description, when the robot vacuum cleaner completes cleaning at the base station, it controls the base station to perform processes such as cutting off the power supply to the electrode plates, detecting the dryness of the electrode plates, drying the electrode plates, and restoring the power supply to the electrode plates. This ensures the electrical safety of the power supply electrode plates of the base station, while reducing the corrosion rate of the power supply electrode plates and extending their service life.
[0091] Exemplary device Figure 6 This is a schematic diagram of the structure of the cleaning equipment control device provided in an embodiment of this application. Figure 6 As shown, the cleaning equipment control device includes: The drying control module 701 is used to control the cleaning equipment to cyclically execute a preset drying strategy within a preset drying stage when it is detected that the mop has finished washing in the cleaning tank; wherein the preset drying strategy is as follows: within each preset cycle, the mop of the sweeping robot is controlled to be raised, and the drying component of the base station is controlled to dry the mop in an interval cyclic drying manner; and within each preset cycle, the mop of the sweeping robot is controlled to rotate at least once by a preset angle. The drying stop module 702 is used to stop executing the preset drying strategy when the mop is detected to be dry during the preset drying stage.
[0092] In one or more embodiments of this application, the drying control module 701 is specifically used to: control the drying component of the base station to be energized according to a preset energizing duty cycle, so as to dry the mop in an intermittent cyclic drying manner.
[0093] In one or more embodiments of this application, the preset drying stage includes a first drying stage and a second drying stage; the drying control module 701 is further specifically configured to: when it is detected that the mop has finished washing in the washing tank, control the cleaning equipment to enter the first drying stage, and cyclically execute the preset drying strategy according to a first preset cycle in the first drying stage; when it is detected that the first drying stage has ended, control the cleaning equipment to enter the second drying stage, and cyclically execute the preset drying strategy according to a second preset cycle in the second drying stage; wherein the duration of the second drying stage is shorter than that of the first drying stage, and the duration of the second preset cycle is shorter than that of the first preset cycle.
[0094] In one or more embodiments of this application, the drying control module 701 is further specifically used to: monitor the angle of rotation of the mop; if the error between the angle of rotation and the preset angle exceeds an error threshold, then correct the angle of rotation of the mop so that the error is within the error threshold.
[0095] In one or more embodiments of this application, the base of the robotic vacuum cleaner is provided with a ground information collection sensor, and the device further includes: The acquisition module 703 is used to acquire stain characteristic information of ground stains through ground information acquisition sensors.
[0096] The determination module 704 is used to determine the degree of staining of the ground stain based on the stain characteristic information.
[0097] The adjustment module 705 is used to adjust the matching relationship between the rotation speed of the mop and the moving speed of the sweeping robot according to the change in the degree of dirt on the ground.
[0098] In one or more embodiments of this application, the adjustment module 705 is specifically used to: increase the rotation speed of the mop and decrease the moving speed of the sweeping robot when the degree of soiling on the ground changes from small to large; and decrease the rotation speed of the mop and increase the moving speed of the sweeping robot when the degree of soiling on the ground changes from large to small.
[0099] In one or more embodiments of this application, the adjustment module 705 is specifically configured to: when the degree of soiling of the ground stain is detected to be slightly soiled, control the rotation speed of the mop to be within a first rotation speed range and the moving speed of the sweeping robot to be within a first speed range; when the degree of soiling of the ground stain is detected to be moderately soiled, control the rotation speed of the mop to be within a second rotation speed range and the moving speed of the sweeping robot to be within a second speed range; wherein the rotation speed in the second rotation speed range is greater than that in the first rotation speed range, and the moving speed in the second speed range is less than that in the first speed range; when the degree of soiling of the ground stain is detected to be heavily soiled, control the rotation speed of the mop to be within a third rotation speed range and the moving speed of the sweeping robot to be within a third speed range; wherein the rotation speed in the third rotation speed range is greater than that in the second rotation speed range, and the moving speed in the third speed range is less than that in the second speed range.
[0100] In one or more embodiments of this application, the apparatus further includes: a heat map processing module 706, configured to generate a stain concentration heat map based on the degree of staining of the ground stains, wherein ground stains of different degrees of staining are displayed in different colors in the stain concentration heat map; and to send the stain concentration heat map to a client for display.
[0101] In one or more embodiments of this application, the apparatus further includes: The cut-off module 707 is used to cut off the power supply to the base station's power supply electrode plate when it is detected that the mop has finished washing in the washing tank.
[0102] The detection module 708 is used to detect whether the supply electrode sheet is in a dry state through the electrode detection component.
[0103] The drying module 709 is used to control the drying assembly to dry the electrode sheet when it is detected that the electrode sheet is not in a dry state.
[0104] The recovery module 710 is used to control the restoration of power supply to the base station's power supply electrode when the power supply electrode is detected to be in a dry state.
[0105] The apparatus provided in this application embodiment can be used to execute the technical solutions of the above method embodiments. Its implementation principle and technical effect are similar, and will not be repeated here.
[0106] Figure 7 This is a schematic diagram of the hardware structure of the electronic device provided in an embodiment of this application. Figure 7 As shown, the electronic device of this embodiment includes a processor 801 and a memory 802.
[0107] The memory 802 stores computer execution instructions; the processor 801 executes the computer execution instructions stored in the memory to implement the various steps performed by the electronic device in the above embodiments. For details, please refer to the relevant descriptions in the foregoing method embodiments.
[0108] Alternatively, the memory 802 can be either standalone or integrated with the processor 801.
[0109] When the memory 802 is set up independently, the electronic device also includes a bus 803 for connecting the memory 802 and the processor 801.
[0110] This application also provides a cleaning device, including a sweeping robot and a base station, wherein the sweeping robot or the base station is used to execute the above-described cleaning device control method.
[0111] This application also provides a computer storage medium storing computer execution instructions. When the processor executes the computer execution instructions, the above-described cleaning equipment control method is implemented.
[0112] This application also provides a computer program product, including a computer program, which, when executed by a processor, implements the above-described cleaning equipment control method.
[0113] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or modules, and may be electrical, mechanical, or other forms.
[0114] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to implement the solution of this embodiment according to actual needs.
[0115] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The unit composed of the above modules can be implemented in hardware or in the form of hardware plus software functional units.
[0116] The integrated modules described above, implemented as software functional modules, can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods of the various embodiments of this application.
[0117] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly manifested as execution by a hardware processor, or execution by a combination of hardware and software modules within the processor.
[0118] The memory may include high-speed RAM, and may also include non-volatile storage (NVM), such as at least one disk storage device, and may also be a USB flash drive, external hard drive, read-only memory, disk or optical disc, etc.
[0119] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.
[0120] The aforementioned storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.
[0121] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor. Both the processor and the storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and storage medium can exist as discrete components in an electronic device or host device.
[0122] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.
[0123] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.
Claims
1. A method for controlling cleaning equipment, characterized in that, The cleaning equipment includes a sweeping robot and a base station. The sweeping robot is equipped with a mop, the rotation axis of which is parallel to the surface to be cleaned. The base station is equipped with a washing tank containing a drying component. The method includes: When the mop is detected to have finished washing in the washing tank, the cleaning equipment is controlled to cyclically execute the preset drying strategy according to the preset cycle during the preset drying stage. The preset drying strategy is as follows: within each preset cycle, the mop of the sweeping robot is raised, and the drying component of the base station is controlled to dry the mop in an interval cycle; and within each preset cycle, the mop of the sweeping robot is controlled to rotate at least once by a preset angle. During the preset drying phase, when the mop is detected to be dry, the preset drying strategy is stopped.
2. The method according to claim 1, characterized in that, The drying component of the control base station dries the mop in an intermittent, cyclic drying manner, including: The drying components of the control base station are energized according to a preset duty cycle to dry the mop in an intermittent cycle.
3. The method according to claim 1, characterized in that, The preset drying stage includes a first drying stage and a second drying stage; Accordingly, when it is detected that the mop has finished washing in the washing tank, the preset drying strategy is executed cyclically according to a preset cycle during the preset drying stage, including: When the cleaning device is controlled to enter the first drying stage after the mop has finished washing in the cleaning tank, the preset drying strategy is executed cyclically according to the first preset cycle in the first drying stage. Upon detection of the end of the first drying stage, the cleaning equipment is controlled to enter the second drying stage, during which the preset drying strategy is executed cyclically according to the second preset cycle. The duration of the second drying stage is shorter than that of the first drying stage, and the duration of the second preset cycle is shorter than that of the first preset cycle.
4. The method according to claim 1, characterized in that, After the control of the robot vacuum cleaner's mop to rotate at least once at a preset angle, the method further includes: Monitor the angle at which the mop has rotated; If the error between the rotated angle and the preset angle exceeds the error threshold, the rotated angle of the mop is corrected to keep the error within the error threshold.
5. The method according to any one of claims 1 to 4, characterized in that, The robot vacuum cleaner's base is equipped with a ground information collection sensor, and the method further includes: Ground information sensors are used to collect stain characteristic information of ground stains; Based on the stain characteristic information, determine the degree of staining on the ground; The matching relationship between the rotation speed of the robot vacuum's mop and the robot's moving speed is adjusted according to the change in the degree of soiling on the ground.
6. The method according to claim 5, characterized in that, The step of adjusting the matching relationship between the rotation speed of the mop and the moving speed of the sweeping robot based on changes in the degree of soiling on the ground includes: When the degree of soiling on the ground changes from small to large, the mop speed is increased and the robot vacuum's movement speed is decreased. When the degree of soiling on the ground changes from large to small, the mop speed is reduced and the robot vacuum's movement speed is increased.
7. The method according to claim 5, characterized in that, The step of adjusting the matching relationship between the rotation speed of the mop and the moving speed of the sweeping robot based on changes in the degree of soiling on the ground includes: When the degree of soiling of the ground stain is detected to be slightly soiled, the rotation speed of the mop is controlled to be within the first rotation speed range and the moving speed of the sweeping robot is controlled to be within the first speed range. When the degree of soiling of the ground stains is detected to be moderate, the rotation speed of the mop is controlled to be in a second rotation speed range and the moving speed of the sweeping robot is controlled to be in a second speed range; wherein the rotation speed in the second rotation speed range is greater than that in the first rotation speed range, and the moving speed in the second speed range is less than that in the first speed range; When the degree of soiling on the ground is detected to be heavily soiled, the rotation speed of the mop is controlled to be in the third rotation speed range and the moving speed of the sweeping robot is controlled to be in the third speed range; wherein the rotation speed in the third rotation speed range is greater than that in the second rotation speed range, and the moving speed in the third speed range is less than that in the second speed range.
8. The method according to claim 5, characterized in that, After determining the degree of staining on the ground based on the stain characteristic information, the process further includes: A stain concentration heatmap is generated based on the degree of staining on the ground, wherein different degrees of staining on the ground are displayed in different colors in the stain concentration heatmap; The heat map of stain concentration is sent to the client for display.
9. The method according to any one of claims 1 to 4, characterized in that, The base station is also equipped with electrode plates and electrode detection components; the method further includes: When the mop is detected to have finished cleaning in the cleaning tank, the power supply to the base station's power supply electrode is cut off. The electrode detection assembly is used to detect whether the electrode plate is in a dry state. When it is detected that the electrode plate is not dry, the drying assembly is controlled to dry the electrode plate. When the power supply electrode is detected to be in a dry state, the power supply electrode of the control base station is restored.
10. A cleaning device, characterized in that, include: A robotic vacuum cleaner and a base station, wherein the robotic vacuum cleaner or the base station is used to perform the cleaning equipment control method according to any one of claims 1 to 9.