Operation method and device, cleaning equipment, storage medium and program product

Abstract

The invention provides an operation method and device of cleaning equipment, the cleaning equipment, a storage medium and a program product, and the method comprises the steps: responding to the operation state of the cleaning equipment, and obtaining influence parameters generated by at least two types of influence factors of the cleaning equipment in the operation process of the cleaning equipment; wherein the different types of influence factors are respectively used for indicating different influences of the operation of the cleaning equipment on the target object; based on the influence parameters of the at least two types of influence factors, target operation parameters of the cleaning equipment are determined; and operating the cleaning equipment according to the target operating parameters. According to the embodiment of the invention, the influence of the operation of the cleaning equipment on the target object can be reduced.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent cleaning, and in particular to a method for operating a cleaning device, an apparatus, a cleaning device, a storage medium, and a program product. Background Technology

[0002] In related technologies, intelligent cleaning equipment can provide users with intelligent cleaning services. However, in the process of providing intelligent cleaning services, the operation of the cleaning equipment may often affect users, as the equipment cannot provide cleaning services silently, resulting in a poor user experience. Summary of the Invention

[0003] To overcome the problems in related technologies, this disclosure provides a method, apparatus, cleaning equipment, storage medium, and program product for operating cleaning equipment, so as to reduce the impact of the operation of cleaning equipment on the target object.

[0004] According to a first aspect of the present disclosure, a method for operating a cleaning device is provided, comprising:

[0005] In response to the cleaning equipment entering the operating state, the system acquires the impact parameters generated by at least two types of influencing factors during the operation of the cleaning equipment; wherein, the different types of influencing factors are used to indicate the different impacts of the operation of the cleaning equipment on the target object;

[0006] Determine the target operating parameters of the cleaning equipment based on the influence parameters of at least two types of influencing factors.

[0007] Operate the cleaning equipment according to the target operating parameters.

[0008] In one embodiment, the target operating parameters of the cleaning equipment are determined based on the influence parameters of at least two types of influencing factors, including:

[0009] Based on the impact parameters of the impact factor, the first degree of impact of the impact factor is determined; there is a corresponding relationship between the impact parameters and the first degree of impact.

[0010] Based on the type of impact factor, determine the preset weight value of the impact factor;

[0011] The second degree of influence of the influence factor is obtained by weighting the first degree of influence of the influence factor based on the preset weight value.

[0012] Based on the degree of each secondary influence, the target operating parameters are determined.

[0013] In one embodiment, the target operating parameters are determined based on the degree of each second influence, including:

[0014] If the sum of the values ​​of all second-degree influences exceeds the threshold of the first degree, the current operating parameters of the cleaning equipment are adjusted to obtain the target operating parameters; or,

[0015] Determine the target impact factor whose second level of influence is greater than the second level threshold, and adjust the current operating parameters of the cleaning equipment when the number of target impact factors is greater than the preset number, so as to obtain the target operating parameters.

[0016] In one embodiment, when the sum of the various second degree of influence is greater than the first degree threshold, the current operating parameters of the cleaning equipment are adjusted to obtain target operating parameters, including:

[0017] If the sum is greater than a first threshold, a first adjustment range is determined based on a first difference between the sum and the first threshold; wherein the first adjustment range is positively correlated with the first difference.

[0018] Based on the first adjustment range, the current operating parameters are adjusted to obtain the target operating parameters.

[0019] In one embodiment, when the number of target influencing factors exceeds a preset number, the current operating parameters of the cleaning equipment are adjusted to obtain the target operating parameters, including:

[0020] When the number of target impact factors is greater than the preset number, the second difference between the second degree of impact and the second degree threshold of each target impact factor is determined.

[0021] From the current operating parameters, determine the operating parameters corresponding to each target impact factor;

[0022] Based on the second difference corresponding to each target influencing factor, a second adjustment magnitude corresponding to each second difference is determined; wherein, the second difference and the second adjustment magnitude are positively correlated.

[0023] Based on each second adjustment range, the operating parameters corresponding to each target influencing factor are adjusted to obtain the target operating parameters.

[0024] In one embodiment, in response to the cleaning equipment entering an operating state, the impact parameters generated by at least two types of influencing factors of the cleaning equipment during the operation of the cleaning equipment are obtained, including:

[0025] When the cleaning equipment is in operation and within the preset range of the target object, the influence parameters of the first type of influence factor and the second type of influence factor during the operation of the cleaning equipment are obtained.

[0026] Among them, the first type of influencing factor is related to the sound generated by the cleaning equipment, and the second type of influencing factor is related to the movement of the cleaning equipment.

[0027] In one embodiment, in response to the cleaning equipment entering an operating state, the impact parameters generated by at least two types of influencing factors of the cleaning equipment during the operation of the cleaning equipment are obtained, including:

[0028] When the cleaning equipment is in operation and is outside the preset range of the target object, obtain the influence parameters of the third and fourth types of influence factors during the operation of the cleaning equipment.

[0029] Among them, the third type of influencing factor is related to the interactive operation of the cleaning equipment, and the fourth type of influencing factor is related to the cleaning operation of the cleaning equipment.

[0030] In one embodiment, the influencing parameter includes at least one of the following:

[0031] The acoustic parameters of the sounds emitted by the cleaning equipment;

[0032] The operating mode of the cleaning equipment; different operating modes correspond to different usage frequencies and / or usage durations; the sound parameters emitted by the cleaning equipment are different in different operating modes;

[0033] The relative pose between the cleaning equipment and the target object;

[0034] The frequency and / or type of interaction in the interactive operations applied to cleaning equipment;

[0035] The remaining capacity of the waste-holding space in the cleaning equipment;

[0036] The degree of dirtiness of the cleaning components of the cleaning equipment;

[0037] The remaining amount of cleaning material stored in the cleaning equipment.

[0038] The method for operating the cleaning equipment includes:

[0039] According to a second aspect of the present disclosure, an operating apparatus for a cleaning device is provided, the apparatus comprising:

[0040] The acquisition module is configured to acquire, in response to the cleaning equipment entering the operating state, the impact parameters generated by at least two types of influencing factors of the cleaning equipment during the operation of the cleaning equipment; wherein, the different types of influencing factors are used to indicate the different impacts of the operation of the cleaning equipment on the target object;

[0041] The module is configured to determine the target operating parameters of the cleaning equipment based on the influence parameters of at least two types of influence factors.

[0042] The operation module is configured to run the cleaning equipment according to the target operating parameters.

[0043] According to a third aspect of the present disclosure, a cleaning device is provided, comprising:

[0044] processor;

[0045] Memory used to store computer programs or instructions;

[0046] The processor executes computer programs or instructions to implement the steps in the operation method of any of the cleaning devices described in the first aspect above.

[0047] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium is provided, comprising:

[0048] When a computer program or instruction in a storage medium is executed by a processor, the steps in the method of operating any of the cleaning devices described in the first aspect above are implemented.

[0049] According to a fifth aspect of the present disclosure, a computer program product is provided, including a computer program or instructions, which, when executed by a processor, implement the steps in the operation method of any of the cleaning devices described in the first aspect.

[0050] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0051] In this embodiment of the disclosure, the impact of at least two types of influencing factors on the target object can be comprehensively considered, thereby improving the accuracy of the degree of influence of the cleaning equipment operation on the target object as indicated by the influencing factors. In this way, it is possible to adapt to the degree of influence of the cleaning equipment operation on the target object indicated by various influencing factors, accurately determine the appropriate target operating parameters of the cleaning equipment, and thus effectively reduce the impact of the cleaning equipment operation on the target object when operating the cleaning equipment according to the appropriate target operating parameters.

[0052] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0053] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0054] Figure 1 This is a flowchart illustrating a method for operating a cleaning device according to an exemplary embodiment. Figure 1 .

[0055] Figure 2 This is a flowchart illustrating a method for operating a cleaning device according to an exemplary embodiment. Figure 2 .

[0056] Figure 3 This is a flowchart illustrating a method for operating a cleaning device according to an exemplary embodiment. Figure 3 .

[0057] Figure 4 This is a flowchart illustrating a method for operating a cleaning device according to an exemplary embodiment. Figure 4 .

[0058] Figure 5 This is a flowchart illustrating a method for operating a cleaning device according to an exemplary embodiment. Figure 5 .

[0059] Figure 6 This is a structural block diagram of an operating device for a cleaning equipment according to an exemplary embodiment.

[0060] Figure 7 This is a structural block diagram of a cleaning device according to an exemplary embodiment.

[0061] Figure 8 This is a block diagram of an apparatus according to an exemplary embodiment. Detailed Implementation

[0062] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0063] To better understand the technical solutions in the embodiments of this disclosure, the following provides exemplary descriptions of the operation methods of some cleaning equipment in related technologies:

[0064] When using a smart robotic vacuum cleaner in the home, the noise it makes can be disruptive, and the robot may trip people up, both of which can interfere with the user's daily life. This embodiment of the disclosure quantifies this level of disruption and explores ways to reduce it, thereby improving the user's comfort in obtaining a clean space. In this way, users can enjoy the intelligent services of the cleaning equipment silently and seamlessly during the cleaning process.

[0065] The operating method of the cleaning device shown in this disclosure can be applied to cleaning devices. Here, the cleaning device can be an intelligent device with cleaning functions. For example, the cleaning device can be a robotic vacuum cleaner. Alternatively, the cleaning device can be a smart vacuum cleaner. It should be noted that the execution entity of this disclosure embodiment can be the central processing unit (CPU) in the cleaning device in hardware, and can be, for example, a related background service or application in the cleaning device in software, without limitation.

[0066] Based on this Figure 1 This is a schematic flowchart illustrating an operation method of a cleaning device according to an exemplary embodiment, such as... Figure 1 As shown, the method includes:

[0067] Step 11: In response to the cleaning equipment entering the operating state, obtain the influence parameters generated by at least two types of influence factors of the cleaning equipment during the operation of the cleaning equipment; wherein, different types of influence factors are used to indicate the different effects of the operation of the cleaning equipment on the target object.

[0068] In one embodiment, the influencing factors may include at least two of the following, but are not limited to: a first type of influencing factor related to the sound generated by the cleaning equipment, a second type of influencing factor related to the movement of the cleaning equipment, a third type of influencing factor related to the interactive operation of the cleaning equipment, and a fourth type of influencing factor related to the cleaning operation of the cleaning equipment.

[0069] It should be noted that the first type of influencing factor can be used to indicate the impact of the sound generated by the cleaning equipment on the hearing of the target object. The second type of influencing factor can be used to indicate the impact of the movement of the cleaning equipment on the movement of the target object. The third type of influencing factor can be used to indicate the impact of the interactive operations performed on the cleaning equipment on the interactive operations that the target object needs to perform manually. The fourth type of influencing factor is used to indicate the impact of the cleaning operations performed by the cleaning equipment on the frequency and / or type of cleaning that the user needs to manually clean the cleaning equipment.

[0070] In one embodiment, the impact parameters of the first type of influencing factors during the operation of the cleaning equipment may include the sound parameters of the sound generated by the cleaning equipment. The impact parameters of the second type of influencing factors during the operation of the cleaning equipment may include the relative pose between the cleaning equipment and the target object. The impact parameters of the third type of influencing factors during the operation of the cleaning equipment may include the frequency and / or type of interaction operations performed on the cleaning equipment. The impact parameters of the fourth type of influencing factors during the operation of the cleaning equipment may include at least one of the following: the remaining capacity of the waste-holding space in the cleaning equipment; the degree of soiling of the cleaning components of the cleaning equipment; and the remaining amount of cleaning material stored in the cleaning equipment.

[0071] It should be noted that a sound sensor can be installed in the cleaning equipment to collect the sound parameters generated by the cleaning equipment. A radar wave sensor can be installed in the cleaning equipment to obtain the relative pose between the cleaning equipment and the target object by using the emission and echo parameters of the radar waves emitted towards the target object. Alternatively, an image acquisition module can be installed in the cleaning equipment to acquire images of the target object, and the relative pose between the cleaning equipment and the target object can be obtained after image analysis. Pressure sensors and / or air pressure sensors can be used to detect the influence parameters generated by the fourth type of influencing factor during the operation of the cleaning equipment. The above are merely illustrative examples of sensors that can be used to obtain the influence parameters corresponding to the influencing factors. In the actual application scenarios of this disclosure, the use of the above types of sensors to obtain the influence parameters corresponding to various influencing factors is not limited to this one method.

[0072] In one embodiment, the impact parameters of the fourth type of influencing factor during the operation of the cleaning equipment may include at least one of the following: a first change in the remaining capacity of the storage space for holding garbage in the cleaning equipment during a first preset time period; a second change in the degree of dirtiness of the cleaning components of the cleaning equipment during the first preset time period; the amount of cleaning substance used in the cleaning equipment during the first preset time period; and the amount of wastewater generated during the first preset time period.

[0073] It should be noted that the storage space for waste in the cleaning equipment can be the same as the dust box space in the cleaning equipment. The cleaning agent in the cleaning equipment can be clean water, which can be stored in the clean water tank of the cleaning equipment.

[0074] Step 12: Determine the target operating parameters of the cleaning equipment based on the influence parameters of at least two types of influencing factors.

[0075] In one embodiment, a preset first mapping relationship exists between the influence parameters of the influencing factors and the target operating parameters. Based on this first mapping relationship and the influence parameters of at least two types of influencing factors, the target operating parameters of the cleaning equipment corresponding to the influence parameters of the at least two types of influencing factors can be determined.

[0076] In one embodiment, the decision to adjust the current operating parameters of the cleaning equipment can be determined based on the influence parameters of at least two types of influencing factors. If the current operating parameters are adjusted, the adjusted operating parameters are determined as the target operating parameters of the cleaning equipment. If the current operating parameters are not adjusted, the current operating parameters are determined as the target operating parameters of the cleaning equipment. That is, the current operating parameters of the cleaning equipment can be kept unchanged, and the cleaning equipment can continue to operate according to the current operating parameters.

[0077] In one embodiment, determining whether to adjust the current operating parameters of the cleaning equipment based on the influence parameters of at least two types of influence factors includes: determining the first degree of influence of the influence factors based on their influence parameters; wherein there is a corresponding relationship between the influence parameters and the first degree of influence. It is possible to determine whether to adjust the current operating parameters of the cleaning equipment based on at least two first degrees of influence. Here, it is possible to determine whether it is necessary to adjust the current operating parameters of the cleaning equipment to reduce the degree of influence of the cleaning equipment's operation on the target object based on the magnitude of the first degree of influence of the cleaning equipment's operation on the target object.

[0078] In one embodiment, determining whether to adjust the current operating parameters of the cleaning equipment based on at least two first degree of influence includes: if the sum of the at least two first degree of influence is greater than a third degree threshold, then determining to adjust the current operating parameters of the cleaning equipment; if the sum of the at least two first degree of influence is less than or equal to the third degree threshold, then determining not to adjust the current operating parameters of the cleaning equipment.

[0079] In one embodiment, if the sum of at least two first degree of influence is greater than a third degree threshold, a third difference between the sum of each first degree of influence and the third degree threshold is determined; based on the third difference, a third adjustment magnitude is determined; wherein the third adjustment magnitude and the third difference are positively correlated. Based on the third adjustment magnitude, the current operating parameters are adjusted.

[0080] In one embodiment, determining whether to adjust the current operating parameters of the cleaning equipment based on at least two first degree of influence includes: determining a first target influence factor whose first degree of influence is greater than a fourth degree threshold; if the number of first target influence factors is greater than or equal to a preset number, then determining to adjust the current operating parameters of the cleaning equipment; or, if the number of first target influence factors is less than the preset number, then not adjusting the current operating parameters of the cleaning equipment.

[0081] In one embodiment, if the number of first target influence factors is greater than or equal to a preset number, a fourth difference between the first influence degree and the fourth degree threshold of each first target influence factor is determined; operating parameters corresponding to each first target influence factor are determined from the current operating parameters; a fourth adjustment range corresponding to each fourth difference is determined based on the fourth difference of each first target influence factor; wherein, the fourth difference and the fourth adjustment range are positively correlated; and the operating parameters corresponding to each first target influence factor are adjusted based on each fourth adjustment range to obtain the target operating parameters.

[0082] It should be noted that the impact of the cleaning equipment on the target object when operating according to the current operating parameters is greater than the impact when operating according to the target operating parameters. Here, based on each degree of impact, the timing for adjusting the current operating parameters is determined. This allows for timely adjustments to the current operating parameters when the cleaning equipment's operation has a significant impact on the target object, thereby reducing the overall impact of the cleaning equipment's operation on the target object.

[0083] In one embodiment, the impact parameters of the first type of impact factor include the sound parameters of the sound generated by the cleaning equipment. The degree of influence of the first type of impact factor can be determined based on the sound parameters of the sound generated by the cleaning equipment. Here, by obtaining the sound parameters of the sound generated by the cleaning equipment during operation, the impact of the sound generated by the cleaning equipment on the target object can be effectively assessed.

[0084] In one embodiment, the sound parameters include the volume and / or frequency band of the sound generated by the cleaning device. The first degree of influence of a first type of influence factor can be determined based on the volume and / or frequency band of the sound generated by the cleaning device. Specifically, for the same frequency band, the first degree of influence may be positively correlated with the volume.

[0085] It's important to note that target objects have varying sensitivities to different frequency bands. Therefore, at the same volume, the target object's sensitivity to a particular frequency band is positively correlated with the initial impact of that sound on the target object. For example, a target object may be more sensitive to mid-frequency sounds than to low-frequency sounds. In this case, if the volumes of the mid-frequency and low-frequency sounds are the same, the mid-frequency sound will have a greater impact on the target object.

[0086] Here, by acquiring the volume and / or frequency band of the sound generated during the operation of the cleaning equipment, the impact of the sound generated by the cleaning equipment on the target object can be effectively assessed. The degree of primary impact of the sound generated by the cleaning equipment on the target object can be understood as the degree of primary impact of the first type of influencing factor.

[0087] In another embodiment, the sound parameters may include at least one of the following: the frequency band of the sound generated by the cleaning device; the energy peak of the sound generated by the cleaning device in each frequency band; the average value of each energy peak of the sound generated by the cleaning device in a single frequency band; and the cumulative duration for which the energy value of the sound generated by the cleaning device in each frequency band exceeds the average value of the energy peak.

[0088] It should be noted that, for the same frequency band, the peak energy of the sound generated by the cleaning equipment in each frequency band is positively correlated with the first degree of influence of the first type of influence factor. The average value of the peak energy of the sound generated by the cleaning equipment in a single frequency band is positively correlated with the first degree of influence of the first type of influence factor. The cumulative duration for which the energy value of the sound generated by the cleaning equipment in each frequency band exceeds the average value of the peak energy is positively correlated with the first degree of influence of the first type of influence factor.

[0089] In one embodiment, the impact parameters of the first type of influencing factors during the operation of the cleaning equipment may further include: the operating mode of the cleaning equipment, and / or the relative distance between the cleaning equipment and the target object. Different operating modes correspond to different usage frequencies and / or usage durations.

[0090] In one embodiment, determining the first degree of influence of a first type of influencing factor based on the sound parameters of the sound generated by the cleaning equipment includes: determining the first degree of influence of the first type of influencing factor based on the sound parameters, the operating mode of the cleaning equipment, and / or the relative distance between the cleaning equipment and the target object.

[0091] It should be noted that, for the same sound parameters, the relative distance between the cleaning equipment and the target object is negatively correlated with the degree of influence of the first type of influence factor. In other words, when the cleaning equipment produces the same sound, the closer the distance between the cleaning equipment and the target object, the greater the degree of influence of the sound on the target object; conversely, the farther the distance, the smaller the degree of influence.

[0092] It should be noted that, for the same sound parameters, the frequency of use corresponding to the operating mode of the cleaning equipment is positively correlated with the degree of influence of the first type of influencing factor. The duration of use corresponding to the operating mode of the cleaning equipment is also positively correlated with the degree of influence of the first type of influencing factor.

[0093] In one embodiment, a preset second mapping relationship may exist between the influence parameters of the first type of influence factor and the first degree of influence of the first type of influence factor. The first degree of influence of the first type of influence factor can be determined based on the second mapping relationship and the influence parameters of the first type of influence factor.

[0094] In one embodiment, the influence parameters of the second type of influence factor include the relative pose between the cleaning equipment and the target object. The first degree of influence of the second type of influence factor can be determined based on the relative pose between the cleaning equipment and the target object. The relative pose between the cleaning equipment and the target object includes the relative distance and relative direction between them. There is a predetermined correspondence between the relative pose and the first degree of influence of the second type of influence factor.

[0095] In one embodiment, determining the first degree of influence of the second type of influencing factor based on the relative pose between the cleaning equipment and the target object includes: determining whether the cleaning equipment and the target object meet the collision risk conditions based on the relative pose between the cleaning equipment and the target object; if the collision risk conditions are met, determining that the first degree of influence of the second type of influencing factor is greater than the fourth degree threshold; if the collision risk conditions are not met, determining that the first degree of influence of the second type of influencing factor is less than the fourth degree threshold.

[0096] In one embodiment, a predetermined third mapping relationship may exist between the influence parameters of the second type of influence factor and the first degree of influence of the second type of influence factor. The first degree of influence of the second type of influence factor can be determined based on the third mapping relationship and the influence parameters of the second type of influence factor.

[0097] In one embodiment, the influence parameters of the third type of influence factor include the frequency and / or type of interaction operations applied to the cleaning equipment. The degree of first influence of the third type of influence factor can be determined based on the frequency and / or type of interaction operations applied to the cleaning equipment.

[0098] In one embodiment, the frequency and / or type of interaction operations acting on the cleaning equipment may refer to the frequency and / or type of interaction operations that have already been performed on the cleaning equipment. Alternatively, the frequency and / or type of interaction operations that will act on the cleaning equipment in a future second preset time period may be determined based on cleaning instructions already executed in the cleaning equipment.

[0099] Specifically, the cleaning instructions already executed by the cleaning equipment can be instructions to automatically clean a specified area. In this case, based on the cleaning instructions currently being executed by the cleaning equipment, it can be determined that within a future second preset time period, the target user only needs to perform one interactive operation to instruct the cleaning equipment to turn off after the cleaning equipment completes its cleaning. For example, if the cleaning instructions currently being executed by the cleaning equipment instruct the cleaning equipment to automatically clean the area to be cleaned for a specified duration, then based on this cleaning instruction, it can be determined that after the specified duration, the target user only needs to perform one interactive operation to instruct the cleaning equipment to turn off.

[0100] It should be noted that the initial difficulty level of the interaction differs depending on the type of interaction. For example, the interaction type can include a first interaction type and / or a second interaction type. The first interaction type could be a touch-based interaction, while the second interaction type could be a voice-based interaction. The initial difficulty level of the first interaction type can be higher than that of the second interaction type.

[0101] In one embodiment, the frequency of interaction of an interactive operation is positively correlated with the degree of influence of the first type of influence factor. The degree of difficulty corresponding to the interaction type of an interactive operation is positively correlated with the degree of influence of the first type of influence factor.

[0102] In one embodiment, a pre-defined fourth mapping relationship may exist between the influence parameters of the third-type influence factor and the first degree of influence of the third-type influence factor. The first degree of influence of the third-type influence factor can be determined based on this fourth mapping relationship and the influence parameters of the third-type influence factor.

[0103] In one embodiment, the degree of dirtiness of the object to be cleaned by the cleaning equipment can be determined based on the influence parameters corresponding to the fourth type of influence factor; and the first influence degree of the fourth type of influence factor can be determined based on the degree of dirtiness of the object to be cleaned. The degree of dirtiness of the object to be cleaned and the first influence degree of the fourth type of influence factor are positively correlated.

[0104] In one embodiment, the degree of soiling of the object to be cleaned can be determined based on a first change in the remaining capacity of the storage space in the cleaning equipment used to hold waste during a first preset time period; wherein the first change is positively correlated with the degree of soiling of the object to be cleaned.

[0105] In one embodiment, the degree of dirtiness of the object to be cleaned can be determined based on a second change in the degree of dirtiness of the cleaning components of the cleaning device over a first preset time period; wherein the second change is positively correlated with the degree of dirtiness of the object to be cleaned.

[0106] In one embodiment, the degree of soiling of the object to be cleaned can be determined based on the amount of cleaning substance used in the cleaning equipment during a first preset time period; wherein the amount of cleaning substance used during the first preset time period is positively correlated with the degree of soiling of the object to be cleaned.

[0107] In one embodiment, the degree of soiling of the object to be cleaned can be determined based on the amount of wastewater generated during a first preset time period; wherein the amount of wastewater generated during the first preset time period is positively correlated with the degree of soiling of the object to be cleaned.

[0108] In one embodiment, the influence parameters of the fourth type of influence factor may include at least one of the following: the remaining capacity of the waste-holding space in the cleaning equipment; the degree of soiling of the cleaning components of the cleaning equipment; and the remaining amount of cleaning material stored in the cleaning equipment. The first degree of influence of the fourth type of influence factor may be determined based on at least one of the remaining capacity of the waste-holding space in the cleaning equipment, the degree of soiling of the cleaning components of the cleaning equipment, and the remaining amount of cleaning material stored in the cleaning equipment.

[0109] It should be noted that the remaining capacity of the waste-holding space in the cleaning equipment can be negatively correlated with the first degree of influence of the fourth type of influencing factor. The degree of dirtiness of the cleaning components in the cleaning equipment can be positively correlated with the first degree of influence of the fourth type of influencing factor. The remaining amount of cleaning material stored in the cleaning equipment can be negatively correlated with the first degree of influence of the fourth type of influencing factor.

[0110] For example, in one embodiment, the degree of dirtiness of the object to be cleaned by the cleaning equipment can be determined based on at least one of the remaining capacity of the holding space in the cleaning equipment for holding waste, the degree of dirtiness of the cleaning components of the cleaning equipment, and the remaining amount of cleaning material stored in the cleaning equipment.

[0111] In one embodiment, determining the first degree of influence of a fourth type of influencing factor based on the degree of dirtiness of the object being cleaned includes: determining the frequency of manual cleaning of the cleaning equipment based on the degree of dirtiness of the object being cleaned; wherein the degree of dirtiness and the cleaning frequency are positively correlated. The first degree of influence of the fourth type of influencing factor is determined based on the cleaning frequency. The cleaning frequency and the first degree of influence of the fourth type of influencing factor are positively correlated.

[0112] In one embodiment, the type of cleaning required for manual cleaning of the cleaning equipment by the target object can be determined based on the impact parameters corresponding to the fourth type of impact factor. The first degree of influence of the fourth type of impact factor can be determined based on the cleaning type. Different cleaning types correspond to different degrees of difficulty in manual cleaning, and the second degree of difficulty corresponding to the cleaning type is positively correlated with the first degree of influence of the fourth type of impact factor.

[0113] In one embodiment, the cleaning type may include at least one of the following: a first cleaning type indicating that cleaning materials stored in the cleaning equipment need to be manually added; a second cleaning type indicating that the storage space in the cleaning equipment used to hold waste needs to be manually cleaned; and a third cleaning type indicating that the cleaning components of the cleaning equipment need to be manually cleaned. The second difficulty level corresponding to the third cleaning type may be greater than the second difficulty level corresponding to the other types.

[0114] In one embodiment, a pre-defined fifth mapping relationship may exist between the influence parameters of the fourth type of influence factor and the first degree of influence of the fourth type of influence factor. The first degree of influence of the fourth type of influence factor can be determined based on this fifth mapping relationship and the influence parameters of the fourth type of influence factor.

[0115] Step 13: Run the cleaning equipment according to the target operating parameters.

[0116] In one embodiment, the target operating parameters may include at least one of the following: the operating mode of the cleaning equipment; the moving speed of the cleaning equipment; the moving direction of the cleaning equipment; the correspondence between the cleaning instructions executed by the cleaning equipment and the interactive operations; and the cleaning parameters used by the cleaning equipment for the cleaning object.

[0117] In this embodiment of the disclosure, the impact of the cleaning equipment's operation on the target object can be comprehensively considered based on impact parameters generated from at least two types of influencing factors, thereby determining suitable target operating parameters for the cleaning equipment. Thus, by operating the cleaning equipment according to the appropriate target operating parameters, the impact of the cleaning equipment's operation on the target object can be reduced.

[0118] In one embodiment, the target operating parameters of the cleaning equipment are determined based on the influence parameters of at least two types of influencing factors, including:

[0119] Based on the impact parameters of the impact factor, the first degree of impact of the impact factor is determined; there is a corresponding relationship between the impact parameters and the first degree of impact.

[0120] Based on the type of impact factor, determine the preset weight value of the impact factor;

[0121] The second degree of influence of the influence factor is obtained by weighting the first degree of influence of the influence factor based on the preset weight value.

[0122] Based on the degree of each secondary influence, the target operating parameters are determined.

[0123] In one embodiment, a sixth mapping relationship may exist between the type of influence factor and the preset weight value. This sixth mapping relationship can be a preset mapping relationship. It should be noted that the preset weight values ​​corresponding to different types of influence factors can be the same. Alternatively, the preset weight values ​​corresponding to different types of influence factors can also be different. Here, the preset weight values ​​corresponding to each type of influence factor can be flexibly configured according to the needs of the actual application scenario.

[0124] In one embodiment, the preset weight value corresponding to the first type of influence factor can be greater than the preset weight values ​​corresponding to the third type of influence factor and / or the fourth type of influence factor. It should be noted that when the target object is more susceptible to noise interference from the cleaning equipment, the first type of influence factor is more important than other types of influence factors. In this case, by setting the preset weight value corresponding to the first type of influence factor to be greater than the weight values ​​of other types of influence factors, the importance of the influence of the noise generated by the cleaning equipment on the target object can be accurately reflected in the overall impact of the cleaning equipment's operation on the target object.

[0125] In one embodiment, the preset weight value corresponding to the second type of influence factor can be greater than the preset weight values ​​corresponding to the third type of influence factor and / or the fourth type of influence factor. It should be noted that when the target object is more susceptible to interference from the movement of the cleaning equipment, the importance of the second type of influence factor can be greater than that of other types of influence factors. In this case, by setting the preset weight value corresponding to the second type of influence factor to be greater than the weight values ​​of other types of influence factors, the importance of the influence of the cleaning equipment's movement on the target object can be accurately reflected in the overall impact of the cleaning equipment's operation on the target object.

[0126] In one embodiment, the preset weight value corresponding to the first type of influence factor can be greater than the preset weight value corresponding to the second type of influence factor.

[0127] In one embodiment, the second degree of influence is obtained by weighting the first degree of influence of the influencing factor based on a preset weight value. This can mean that the second degree of influence is determined by multiplying the preset weight value and the first degree of influence.

[0128] In this embodiment, the preset weight value corresponding to the influencing factor is related to the type of the influencing factor. Therefore, based on the type of the influencing factor, an appropriate preset weight value can be used to weight the first degree of influence of the influencing factor, so that the second degree of influence of each influencing factor can reflect the importance of each influencing factor in the overall influence process on the target object. In this way, the target operating parameters can be determined more accurately based on each second degree of influence, improving the accuracy of the determined target operating parameters.

[0129] In one embodiment, the target operating parameters are determined based on the degree of each second influence, including:

[0130] If the sum of the values ​​of all second-degree influences exceeds the threshold of the first degree, the current operating parameters of the cleaning equipment are adjusted to obtain the target operating parameters; or,

[0131] Determine the target impact factor whose second degree of influence is greater than the second degree threshold, and adjust the current operating parameters of the cleaning equipment when the number of target impact factors is greater than or equal to the preset number to obtain the target operating parameters.

[0132] In one embodiment, the value of a preset index can be determined based on the sum of the various second levels of influence. The preset index can be used to indicate the degree to which the target object is unaware of the operation of the cleaning equipment. The value of the preset index can be negatively correlated with the sum of the various second levels of influence. The higher the degree of unawareness of the target object regarding the operation of the cleaning equipment, the smaller the impact of the cleaning equipment's operation on the target object.

[0133] In one embodiment, when the sum of the various second degree of influence is greater than the first degree threshold, the current operating parameters of the cleaning equipment are adjusted to obtain the target operating parameters. This can refer to adjusting the current operating parameters of the cleaning equipment when the value of a preset indicator is less than a preset reference value. In other words, when the target object's level of insensitivity to the operation of the cleaning equipment is low, the current operating parameters of the cleaning equipment need to be adjusted promptly to improve the target object's level of insensitivity to the operation of the cleaning equipment.

[0134] In this embodiment of the disclosure, the "non-intrusiveness" index is proposed to quantify the degree of disturbance to users by the robot vacuum cleaner. This can more objectively reflect the user's comfort when using a certain product, so as to achieve the purpose of providing intelligent cleaning services to the target object silently.

[0135] In one embodiment, the first degree threshold may be greater than the second degree threshold.

[0136] In one embodiment, a second degree threshold can be determined based on the number of influence factors and a first degree threshold. For example, the second degree threshold can be determined based on the quotient between the first degree threshold and the number of influence factors.

[0137] In one embodiment, a second degree threshold for an impact factor can be determined based on its type. The second degree thresholds for different types of impact factors can be the same, or they can be different. For example, the second degree threshold for a first type of impact factor can be the same as the second type of impact factor, the second degree threshold for a third type of impact factor can be the same as the second type of impact factor, and the second degree thresholds for a fourth type of impact factor can be different from those for a first type of impact factor.

[0138] In one embodiment, the second-degree threshold corresponding to the first type of impact factor can be lower than the second-degree threshold corresponding to the third type of impact factor and / or the second-degree threshold corresponding to the fourth type of impact factor. The second-degree threshold corresponding to the second type of impact factor can also be lower than the second-degree threshold corresponding to the third type of impact factor and / or the fourth type of impact factor. Furthermore, the second-degree threshold corresponding to the second type of impact factor can be lower than the second-degree threshold corresponding to the first type of impact factor. It should be noted that the smaller the second-degree threshold corresponding to an impact factor, the greater the probability of adjusting the operating parameters corresponding to that impact factor when its influence is significant. This allows for effective and timely adjustment of the operating parameters corresponding to each impact factor to reduce its influence.

[0139] It should be noted that, in order to distinguish it from the first target impact factor mentioned above, the target impact factor whose second impact level is greater than the second level threshold can be called the second target impact factor.

[0140] In one embodiment, the current operating parameters of the cleaning equipment can be adjusted when the number of second target influencing factors is at least two. That is, the preset number can be two.

[0141] In one embodiment, the current operating parameters may include at least one of the following: operating mode; moving speed; moving direction; the correspondence between cleaning instructions and interactive operations; and cleaning parameters. Adjusting the current operating parameters of the cleaning equipment may involve adjusting all or some of the operating parameters in the current operating parameters of the cleaning equipment.

[0142] In one embodiment, the operating mode may include, but is not limited to, at least one of the following: sweeping mode, mopping mode, and sweeping-mopping mode. It should be noted that the sound parameters of the cleaning device may differ under different operating modes. In this case, by adjusting the operating mode in the current operating parameters, the influence parameters of the first influencing factor related to the sound generated by the cleaning device can be affected, thereby changing the second degree of influence of the first influencing factor.

[0143] In one embodiment, the operating mode in the current operating mode can be adjusted. For example, the operating mode can be switched from an operating mode where the corresponding sound parameters have a greater impact to an operating mode where the corresponding sound parameters have a less impact.

[0144] In one embodiment, the movement speed and / or movement direction in the current operating mode can be adjusted. For example, the movement speed of the cleaning equipment can be reduced. And / or, the movement direction of the cleaning equipment can be adjusted to deviate from the movement direction of the target object. Here, by changing the movement speed and / or movement direction in the operating mode, the influence parameters of the second type of influencing factors related to the movement state of the cleaning equipment during the operation of the cleaning equipment can be changed, thereby changing the second degree of influence of the second type of influencing factors.

[0145] In one embodiment, the interactive operation can be an operation related to intelligent interaction applied to the cleaning equipment. Different cleaning instructions correspond to different interaction frequencies and / or interaction types.

[0146] It should be noted that during the execution of a cleaning instruction, the cleaning equipment needs to detect the corresponding interactive operation before it can begin executing the cleaning instruction based on the detected interactive operation. In this case, the frequency of the interactive operation corresponding to the cleaning instruction can be understood as the frequency of interactive operations that the cleaning equipment needs to detect before it begins executing the cleaning instruction.

[0147] For example, the cleaning instruction is an instruction to the cleaning device to clean a specified area. In this case, the interactive operations corresponding to the cleaning instruction include: a first interactive operation to instruct the cleaning device to display all areas to be cleaned; a second interactive operation to instruct the cleaning device to select a specified area from all areas to be cleaned; and a third interactive operation to instruct the cleaning device to start cleaning the specified area.

[0148] At this point, for a single cleaning command, three interactive operations are required to trigger the cleaning equipment to begin cleaning the designated area. Because the frequency of user interactions is high, the second influence of the third type of influencing factor related to the interactive operations affecting the cleaning equipment is relatively strong during the operation of the cleaning equipment according to the current operating parameters.

[0149] In one embodiment, the correspondence between cleaning instructions and interactive operations in the current operating parameters can be adjusted. For example, for the same cleaning instruction, the frequency and / or type of interactive operations that need to be detected during the execution of the cleaning instruction can be adjusted. In this way, the influence parameters of the third type of influencing factors related to the interactive operations acting on the cleaning equipment during the operation of the cleaning equipment can be adjusted, thereby changing the degree of influence of the third type of influencing factors.

[0150] For example, for cleaning commands that require multiple interactive operations to initiate, a mapping can be established between the cleaning command and a preset interactive operation. This allows the cleaning command to be executed directly after a preset interactive operation is detected, eliminating the need for multiple interactive operations. Here, convenient interactive operations can be set for cleaning commands frequently used by the target object, enabling the target object to instruct the cleaning device to quickly begin executing the cleaning command.

[0151] In one embodiment, cleaning parameters in the current operating parameters can be adjusted. Cleaning parameters may include: the cleaning intensity during the cleaning operation on the object being cleaned, and / or the amount of cleaning material used per cleaning operation. It should be noted that by adjusting the cleaning parameters when the cleaning equipment performs a cleaning operation, the influence parameters of the fourth type of influencing factors related to the cleaning operation performed by the cleaning equipment can be changed during the operation of the cleaning equipment, thereby altering the second degree of influence of the fourth type of influencing factors.

[0152] In this embodiment of the disclosure, when the sum of the various second degree of influence is greater than the first degree threshold, that is, when the overall influence of the cleaning equipment on the target object is large, the current operating parameters of the cleaning equipment can be adjusted in a timely manner to obtain the target operating parameters, so as to reduce the overall influence of the cleaning equipment on the target object.

[0153] Alternatively, when there are many target influencing factors whose second degree of influence is greater than the second degree threshold, that is, when there are many single influencing factors that have a significant impact on the target object, the operating parameters of the cleaning equipment can be adjusted in a timely manner to reduce the impact of a single influencing factor on the target object during the operation of the cleaning equipment.

[0154] In this way, by limiting the timing of adjusting the current operating parameters, the current operating parameters can be adjusted in a timely manner when the operation of the cleaning equipment has a significant impact on the target object, thereby reducing the degree of impact of the operation of the cleaning equipment on the target object.

[0155] In one embodiment, when the sum of the various second degree of influence is greater than the first degree threshold, the current operating parameters of the cleaning equipment are adjusted to obtain target operating parameters, including:

[0156] If the sum is greater than a first threshold, a first adjustment range is determined based on a first difference between the sum and the first threshold; wherein the first adjustment range is positively correlated with the first difference.

[0157] Based on the first adjustment range, the current operating parameters are adjusted to obtain the target operating parameters.

[0158] In one embodiment, the current operating parameters include operating parameters corresponding to each influencing factor. It should be noted that the operating parameters corresponding to the influencing factors can affect the influencing parameters generated by the influencing factors during the operation of the cleaning equipment, thereby altering the secondary influence degree of the influencing factors.

[0159] In one embodiment, the operating mode of the cleaning equipment corresponds to the operating parameters corresponding to the first type of influencing factor. The moving speed and / or moving direction can be the operating parameters corresponding to the second type of influencing factor. The correspondence between cleaning instructions and interactive operations can be the operating parameters corresponding to the third type of influencing factor. The cleaning parameters can be the operating parameters corresponding to the fourth type of influencing factor.

[0160] In one embodiment, adjusting the current operating parameters based on the first adjustment range can be achieved by adjusting all operating parameters corresponding to the influencing factors using the same first adjustment range. This ensures that the operating parameters corresponding to each influencing factor are adjusted by the same amount, reducing the likelihood of performance degradation of the cleaning equipment due to excessively large adjustments to the operating parameters corresponding to some influencing factors.

[0161] It should be noted that different operating modes correspond to different ranges of sound parameters. Adjusting the operating mode in the current operating parameters based on the first adjustment range can refer to switching the operating mode of the cleaning equipment through the first adjustment range, thereby adjusting the range of sound parameters corresponding to the sound emitted by the cleaning equipment. The first adjustment range can be positively correlated with the third change in the range of values.

[0162] It should be noted that the correspondence between cleaning instructions and interactive operations can be used to indicate the interaction frequency and / or interaction type of the interactive operation corresponding to the cleaning instruction. Different interaction types correspond to different levels of difficulty. Adjusting the correspondence between cleaning instructions and interactive operations in the current operating parameters based on the first adjustment magnitude can refer to changing the interaction frequency and / or interaction type of the interactive operation corresponding to the cleaning instruction by adjusting the correspondence. The first adjustment magnitude can be positively correlated with the fourth change in interaction frequency, and the difference between the first level of difficulty corresponding to the interaction type before and after the adjustment can be positively correlated with the first adjustment magnitude.

[0163] In this embodiment, the first adjustment range for adjusting the current operating parameters can be accurately determined based on the first difference between the sum of the various second degree of influence and the first degree threshold. This reduces the likelihood of poor cleaning equipment performance due to excessively large adjustments to the current operating parameters, and also reduces the likelihood of excessive impact on the target object due to excessively small adjustments. Thus, while minimizing the impact of the cleaning equipment on the target object, it ensures good operating performance of the cleaning equipment when operating according to the adjusted parameters.

[0164] In one embodiment, when the number of target influencing factors exceeds a preset number, the current operating parameters of the cleaning equipment are adjusted to obtain the target operating parameters, including:

[0165] When the number of target impact factors is greater than the preset number, the second difference between the second degree of impact and the second degree threshold of each target impact factor is determined.

[0166] From the current operating parameters, determine the operating parameters corresponding to each target impact factor;

[0167] Based on the second difference corresponding to each target influencing factor, a second adjustment magnitude corresponding to each second difference is determined; wherein, the second difference and the second adjustment magnitude are positively correlated.

[0168] Based on each second adjustment range, the operating parameters corresponding to each target influencing factor are adjusted to obtain the target operating parameters.

[0169] It should be noted that different operating modes correspond to different ranges of sound parameter values. Adjusting the operating mode in the current operating parameters based on the second adjustment range can refer to switching the operating mode of the cleaning equipment through the second adjustment range to adjust the range of sound parameter values ​​corresponding to the sound emitted by the cleaning equipment. The second adjustment range can be positively correlated with the third change in the range of values.

[0170] It should be noted that the correspondence between cleaning instructions and interactive operations can be used to indicate the interaction frequency and / or interaction type of the corresponding interactive operation. Different interaction types correspond to different levels of difficulty. Adjusting the correspondence between cleaning instructions and interactive operations in the current operating parameters based on the second adjustment magnitude can refer to changing the interaction frequency and / or interaction type of the corresponding interactive operation by adjusting this correspondence. The second adjustment magnitude can be positively correlated with the fourth change in interaction frequency, and the difference between the first level of difficulty corresponding to the interaction type before and after the adjustment can be positively correlated with the second adjustment magnitude.

[0171] In this embodiment, a second adjustment range can be determined for each operating parameter corresponding to each second target influencing factor, so as to precisely adjust each operating parameter in a targeted manner to obtain the target operating parameter. This improves the flexibility and accuracy of adjusting the operating parameters.

[0172] In one embodiment, in response to the cleaning equipment entering an operating state, the impact parameters generated by at least two types of influencing factors of the cleaning equipment during the operation of the cleaning equipment are obtained, including:

[0173] When the cleaning equipment is in operation and within the preset range of the target object, the influence parameters of the first type of influence factor and the second type of influence factor during the operation of the cleaning equipment are obtained.

[0174] Among them, the first type of influencing factor is related to the sound generated by the cleaning equipment, and the second type of influencing factor is related to the movement of the cleaning equipment.

[0175] In one embodiment, when the cleaning equipment is in operation and within a preset range of the target object, it is not necessary to acquire the impact parameters of the third and fourth types of influencing factors during the operation of the cleaning equipment. Thus, when the cleaning equipment is within the preset range of the target object, the first and second types of influencing factors, which are most likely to affect the target object, can be comprehensively considered to accurately determine the impact of the cleaning equipment's operation on the target object. Simultaneously, by eliminating the need to consider the impact of secondary influencing factors on the target object and to acquire the impact parameters generated by these secondary factors, resource consumption can be reduced, and the power consumption of the cleaning equipment can be saved.

[0176] In another embodiment, when the cleaning equipment is in operation and within a preset range of the target object, the impact parameters generated by the first, second, third, and fourth types of impact factors during the operation of the cleaning equipment can be acquired. Here, the impact parameters generated by all impact factors that affect the target object can be acquired to accurately determine the overall impact of the cleaning equipment's operation on the target object based on the impact parameters corresponding to all impact factors.

[0177] In this embodiment of the disclosure, when the cleaning equipment is within a preset range of the target object, since the sound generated by the cleaning equipment and the movement state of the cleaning equipment will affect the target object, the first type of influence factor related to the sound generated by the cleaning equipment and the second type of influence factor related to the movement state of the cleaning equipment can be comprehensively considered to accurately determine the impact of the operation of the cleaning equipment on the target object.

[0178] In one embodiment, in response to the cleaning equipment entering an operating state, the impact parameters generated by at least two types of influencing factors of the cleaning equipment during the operation of the cleaning equipment are obtained, including:

[0179] When the cleaning equipment is in operation and is outside the preset range of the target object, obtain the influence parameters of the third and fourth types of influence factors during the operation of the cleaning equipment.

[0180] Among them, the third type of influencing factor is related to the interactive operation of the cleaning equipment, and the fourth type of influencing factor is related to the cleaning operation of the cleaning equipment.

[0181] It should be noted that when the cleaning equipment is in operation and outside the preset range of the target object, it is not necessary to acquire the influence parameters of the first and second types of influence factors generated during the operation of the cleaning equipment. In this case, since the cleaning equipment is outside the preset range of the target object, the likelihood of the sound generated by the cleaning equipment and the movement of the cleaning equipment affecting the target object is low. Therefore, it is unnecessary to acquire the influence parameters of the first type of influence factor related to the sound generated by the cleaning equipment and the second type of influence factor related to the movement of the cleaning equipment. This reduces the power consumption generated when acquiring influence parameters.

[0182] In this embodiment of the disclosure, when the cleaning equipment is outside the preset range of the target object, since the interactive operation on the cleaning equipment will affect the manual operation that the target object needs to perform in the future, and the cleaning operation of the cleaning equipment will affect the operation that the target object needs to perform on the cleaning equipment in the future, the third type of influence factor related to the interactive operation on the cleaning equipment and the fourth type of influence factor related to the cleaning operation of the cleaning equipment can be comprehensively considered to accurately determine the impact of the operation of the cleaning equipment on the target object.

[0183] In one embodiment, the influencing parameter includes at least one of the following:

[0184] The acoustic parameters of the sounds emitted by the cleaning equipment;

[0185] The operating mode of the cleaning equipment; different operating modes correspond to different usage frequencies and / or usage durations; the sound parameters emitted by the cleaning equipment are different in different operating modes;

[0186] The relative pose between the cleaning equipment and the target object;

[0187] The frequency and / or type of interaction in the interactive operations applied to cleaning equipment;

[0188] The remaining capacity of the waste-holding space in the cleaning equipment;

[0189] The degree of dirtiness of the cleaning components of the cleaning equipment;

[0190] The remaining amount of cleaning material stored in the cleaning equipment.

[0191] In one embodiment, in response to the cleaning equipment entering an operational state, the influence parameters corresponding to all types of influence factors are acquired. Based on the performance parameters of the cleaning equipment, influence parameters corresponding to at least two types of influence factors can be determined from the influence parameters corresponding to all types of influence factors. Based on the influence parameters corresponding to at least two types of influence factors, the target operating parameters of the cleaning equipment are determined. The performance parameters of the cleaning equipment include the remaining computing power resources of the cleaning equipment and / or the processing speed of the processor. In the process of determining the target operating parameters based on the influence parameters, the time required to determine the target operating parameters varies depending on the influence parameters.

[0192] In this embodiment of the disclosure, the influence of each influencing factor can be quantified by setting various influencing parameters, thereby accurately determining the target operating parameters of the cleaning equipment based on the quantified influence of each influencing factor, so as to reduce the impact of the operation of the cleaning equipment on the target object.

[0193] In one embodiment, a test environment can be set up in advance. The influence of various types of influencing factors is tested within this environment to obtain the test influence level corresponding to each factor. If the test influence level of an influencing factor exceeds a fifth-degree threshold, a target module related to the influencing factor is identified from the software and / or hardware modules of the cleaning equipment. This target module is then debugged until the test influence level of the influencing factor is less than the fifth-degree threshold. The cleaning equipment with a test influence level less than the fifth-degree threshold can then be shipped to the factory. It should be noted that the target module related to the influencing factor will affect the influence parameters generated by the influencing factor, thereby affecting the test influence level of the influencing factor. By debugging the target module related to the influencing factor, the test influence level of the influencing factor can be reduced, ensuring the cleaning equipment meets factory standards.

[0194] In one embodiment, this disclosure exemplarily provides a testing method for a cleaning device, the method comprising the following steps:

[0195] Step 201: Set up the first test environment; wherein, the first test environment is equipped with a cleaning device and at least two radio receivers; the relative distance between the different radio receivers and the cleaning device is different;

[0196] For example, the first test environment can include a first recording device, a second recording device, and a third recording device. The relative distance between the first recording device and the cleaning device can be 0.5m. The relative distance between the second recording device and the cleaning device can be 1m. The relative distance between the third recording device and the cleaning device can be 1.5m.

[0197] Step 202: Establish a communication connection between the radio receiver and the processing device.

[0198] Here, the communication connection can be wired or wireless. The data bandwidth of the communication connection only needs to meet the requirements for transmitting audio data. The processing device can be a computer, tablet, mobile phone, or other device with data storage and processing capabilities.

[0199] Step 203: Run the cleaning equipment according to different operating modes.

[0200] Step 204: The sound receiving device in the cleaning equipment collects the sound parameters of the sound emitted by the cleaning equipment to obtain first recording data; and / or, the sound receiving device collects the sound emitted by the cleaning equipment to obtain second recording data.

[0201] The first recording data and / or the second recording data can be transmitted to the processing device.

[0202] Step 205: In the processing device, the first recording data obtained in a single test cycle is analyzed using a signal processing algorithm to obtain the first sound parameters of the sound generated by the cleaning device; and / or, the second recording data obtained in a single test cycle is analyzed to obtain the second sound parameters of the sound heard by the receiving device.

[0203] The sound parameters include at least one of the following: the frequency band of the sound; the energy peak of the sound in each frequency band; the average value of each energy peak of the sound in a single frequency band; and the cumulative duration during which the energy value of the sound in each frequency band exceeds the average value of the energy peak.

[0204] Here, a single test cycle can refer to the number of times the cleaning equipment operates in a single operating mode. Sound acquisition and analysis can be performed for each test cycle corresponding to each operating mode.

[0205] Step 206: Store the first sound parameter and / or the second sound parameter in a preset database.

[0206] It should be noted that after storing the first sound parameter and / or the second sound parameter in the preset database, the sound parameter can be retrieved from the preset database at any time for analysis, which improves the flexibility of sound parameter analysis.

[0207] Step 207: Based on the target object's sensitivity to the audio frequency band, and the first sound parameter and / or the second sound parameter, determine the test influence degree corresponding to the first type of influence factor related to the sound emitted by the cleaning equipment within a single test cycle.

[0208] Step 208: Determine the first weight value for each operating mode based on the usage time corresponding to each operating mode.

[0209] The first weight value corresponding to each operating mode can be the same as the proportion of time each operating mode is used in the daily use of the target object.

[0210] Step 209: Based on the first weight value corresponding to each operating mode and the test influence degree of the first type of influence factor in a single test cycle corresponding to each operating mode, determine the comprehensive influence degree of the first type of influence factor in all operating modes.

[0211] Step 210: If the test impact of the first type of impact factor is greater than the fifth level threshold, and / or the comprehensive impact of the first type of impact factor is greater than the sixth level threshold, then the first target module related to the first type of impact factor is determined from the software module and / or hardware module of the cleaning equipment.

[0212] The sixth level threshold can be the product of the fifth level threshold and the number of operating modes.

[0213] Here, the sound components can be obtained from the first and / or second recording data, the sound source (i.e., the first target module) can be inferred, and thus improvement measures targeting the sound source can be found.

[0214] Step 211: Debug the first target module until the test impact of the first type of impact factor is less than the fifth level threshold, and / or the comprehensive impact of the first type of impact factor is less than the sixth level threshold.

[0215] In one embodiment, a second mapping relationship of any of the present disclosure may be established based on the relationship between the degree of test impact obtained in the first test environment and at least one of the following: sound parameters, the relative distance between the recording device and the cleaning device, the operating mode, the first sound parameters, and the sensitivity of the target object to the sound frequency band.

[0216] In one embodiment, this disclosure exemplarily provides a testing method for a cleaning device, the method comprising the following steps:

[0217] Step 301: Set up a second test environment; wherein, a moving object is set in the second test scenario;

[0218] The moving object can be the target object or any other object that the cleaning equipment can recognize as the target object.

[0219] Step 302: An image acquisition device can be set up in the second test environment; wherein, the image acquisition device is used to acquire images of cleaning equipment and moving objects; a communication connection is established between the image acquisition device and the processing device.

[0220] The image acquisition module can be a camera mounted at a high altitude, which can capture images of cleaning equipment and moving objects in the second test environment without blind spots.

[0221] Step 303: Control the cleaning equipment to clean the designated area in the second test environment, and control the moving object to move toward the cleaning equipment according to the preset relative pose.

[0222] The preset relative pose is used to indicate the relative distance and direction between the cleaning equipment and the moving object.

[0223] Here, when the moving object moves according to a preset relative pose, it is necessary to ensure that the moving object appears in the working path of the sweeping machine. For example, the preset relative pose may include a first relative pose, a second relative pose, and a third relative pose. The first relative pose indicates that the relative direction between the cleaning device and the moving object is 0°. The second relative pose may indicate that the relative direction between the cleaning device and the moving object is 45°. The third relative pose may indicate that the relative direction between the cleaning device and the moving object is 90°. Furthermore, for the same preset relative pose, the moving object can move towards the cleaning device at least twice according to that relative pose.

[0224] Step 304: Use the image acquisition module to record the entire process of cleaning equipment and moving objects, obtain video data, and transmit the video data to the processing equipment.

[0225] Step 305: Analyze the recorded data using a video processing algorithm in the processing device to obtain the number of times the relative distance between the cleaning device and the moving object is less than the distance threshold within a single test cycle.

[0226] Here, the movement direction that can produce a collision between the cleaning equipment and the moving object can be marked as the interference direction.

[0227] The distance threshold can be the minimum distance at which the target object can react to avoid the cleaning equipment, or the distance threshold can be the minimum distance at which the cleaning equipment can react to avoid the moving object.

[0228] Step 306: Store the video recording data and / or the number of interferences into a preset database.

[0229] Step 307: Test the degree of influence of the second type of influence factor based on the number of disturbances and the movement status of the cleaning equipment.

[0230] The number of interferences and the degree of impact on the test are positively correlated.

[0231] Step 308: If the test impact of the second type of impact factor is greater than the fifth level threshold, then determine the second target module related to the second type of impact factor from the software modules and / or hardware modules of the cleaning equipment.

[0232] Step 309: Debug the second target module until the influence of the second type of influence factor is less than the fifth level threshold.

[0233] It should be noted that there can be a correspondence between the fifth-level threshold and the type of impact factor. Different types of impact factors can have the same fifth-level threshold, or different types of impact factors can have different fifth-level thresholds.

[0234] In one embodiment, any third mapping relationship of this disclosure can be established based on the relationship between the test influence degree of the second type of influence factor obtained in the second test environment and the preset relative pose.

[0235] In one embodiment, this disclosure exemplarily provides a testing method for a cleaning device, the method comprising the following steps:

[0236] Step 401: Determine the cleaning instructions to be executed by the cleaning equipment;

[0237] Different cleaning instructions may correspond to different user needs, and the intensity of these needs may also differ. A second weight value can be determined for each cleaning instruction based on the intensity of user needs.

[0238] For example, the cleaning instruction to be executed may include at least one of the following: a first cleaning instruction for instructing the cleaning equipment to start performing a cleaning operation; a second cleaning instruction for instructing the cleaning equipment to stop performing a cleaning operation; a third cleaning instruction for instructing the cleaning equipment to perform a cleaning operation on a specified area; and a fourth cleaning area for instructing the cleaning equipment to perform a cleaning operation for a specified duration.

[0239] Step 402: For each cleaning instruction, determine the target operation path corresponding to the cleaning instruction;

[0240] The target operation path can be the optimal operation path among all operation paths that implement the cleaning instruction. An operation path includes at least one interactive operation to implement the cleaning instruction. The target operation path can be the path with the fewest interactive operations among all operation paths. For example, if multiple operation paths can be used to issue the same cleaning instruction, the path that is most time-saving and labor-saving can be selected as the target operation path.

[0241] Step 403: Determine the frequency and / or type of interactive operations that the user needs to perform on the cleaning equipment in the target operation path corresponding to each cleaning instruction.

[0242] Step 404: Add the interaction frequency and / or interaction type to the preset database.

[0243] Step 405: Based on the second weight value, interaction frequency and / or interaction type corresponding to each cleaning instruction, determine the test influence degree of the third type of influence factor related to the interactive operation acting on the cleaning equipment.

[0244] Step 406: If the test impact of the third type of impact factor is greater than the fifth level threshold, then determine the third target module related to the third type of impact factor from the software modules and / or hardware modules of the cleaning equipment.

[0245] Step 407: Debug the third target module until the test impact of the third type of influence factor is less than the threshold of the fifth level.

[0246] In one embodiment, any fourth mapping relationship of this disclosure can be established based on the relationship between the test influence degree of the third type of influence factor obtained during the testing process and the interactive operations corresponding to each cleaning instruction. In one embodiment, this disclosure exemplarily provides a testing method for cleaning equipment, the method comprising the following steps:

[0247] Step 501: Set up the third test environment; the third test environment contains multiple dirty scenarios, and the degree of dirtiness varies for different dirty scenarios.

[0248] For example, the third test environment can be used to simulate a dirty scenario with the amount of dust generated 12 hours after the window is opened; or, the third test environment can be used to simulate a dirty scenario with cat litter spilled; or, the third test environment can be used to simulate a dirty scenario with colored liquid spilled.

[0249] Step 502 allows you to control the cleaning equipment to perform cleaning operations for various dirty scenarios.

[0250] Step 503: During the cleaning process of the cleaning equipment for each dirty scenario, the dirt parameters corresponding to each dirty scenario can be determined.

[0251] The soiling parameters include at least one of the following: a first change in the remaining capacity of the storage space for holding garbage in the cleaning equipment during a first predetermined time period; a second change in the degree of soiling of the cleaning components of the cleaning equipment during the first predetermined time period; a fifth change in the remaining amount of cleaning material stored in the cleaning equipment during the first predetermined time period; and a sixth change in the amount of wastewater generated during the first predetermined time period.

[0252] Here, based on the dirt parameters corresponding to each dirt scenario and the degree of dirt on each part of the base station in the cleaning equipment, it can be determined whether manual cleaning of the base station in the cleaning equipment is required. It should be noted that if the third test environment is small, steps 501 to 503 can be repeated multiple times to accurately determine whether the target object needs manual cleaning of the cleaning equipment.

[0253] Step 504: Store the first change, the second change, the fifth change, and the sixth change in a preset database.

[0254] Step 505: During the cleaning process of the cleaning equipment for each dirty scenario, the cleaning frequency corresponding to each dirty scenario can be determined based on the dirt parameters corresponding to the dirty scenario, the total capacity of the holding space used to hold the garbage, and the total capacity of the storage space in the cleaning equipment that can store cleaning materials.

[0255] Step 506 allows for the determination of the test impact degree of the fourth type of influencing factor related to the cleaning operation of the cleaning equipment, based on the cleaning frequency corresponding to each type of soiling scenario. The cleaning frequency can be positively correlated with the test impact degree.

[0256] It should be noted that here, the amount of garbage in the dustbin of the cleaning equipment, the amount of water used in the water tank, the amount of wastewater generated, the total capacity of the dustbin and the total capacity of the water tank can be combined to calculate how many times the target object needs to manually clean the dustbin, add water and empty water in the same dirty scene. The number of cleaning times is graded and scored. The more times, the lower the score, that is, the less impact. The scores of various cleaning operations can be summed up into a comprehensive value.

[0257] Step 507: If the test impact level of the fourth type of impact factor is greater than the fifth level threshold, then determine the fourth target module related to the fourth type of impact factor from the software modules and / or hardware modules of the cleaning equipment.

[0258] Step 508: Debug the fourth target module until the test impact of the fourth type of influence factor is less than the threshold of the fifth level.

[0259] In one embodiment, any fifth mapping relationship of this disclosure can be established based on the relationship between the test impact degree of the fourth type of influence factor obtained in the third test environment and the degree of contamination corresponding to each contamination scenario. Alternatively, any fifth mapping relationship of this disclosure can be established based on the test impact degree of the fourth type of influence factor obtained in the third test environment and at least one of the first change, second change, fifth change, and sixth change.

[0260] It should be noted that all data obtained during the testing process can be stored in a preset database, so that relevant data can be retrieved at any time to determine the test impact level of each type of influencing factor, or to establish various mapping relationships based on the determined test impact level.

[0261] It should be noted that while there are methods in the industry to quantify equipment noise in related technologies, no one has quantified visual disturbance and operation frequency as influencing factors, and no one has proposed a concept that comprehensively considers the impact of user operation on the equipment. However, in this disclosed embodiment, in addition to noise, other influencing factors such as visual interference and operational interference are proposed, solving the problem of singularity and making the impact of the cleaning equipment's operation on the target object more representative of the user's true experience.

[0262] Figure 6 This is a block diagram illustrating an image processing apparatus according to an exemplary embodiment, such as Figure 6 As shown, the device includes:

[0263] The acquisition module 61 is configured to acquire, in response to the cleaning equipment entering the operating state, at least two types of influencing factors of the cleaning equipment during the operation of the cleaning equipment, as generated by the cleaning equipment during the operation of the cleaning equipment; wherein, the different types of influencing factors are used to indicate the different impacts of the operation of the cleaning equipment on the target object.

[0264] Module 62 is configured to determine the target operating parameters of the cleaning equipment based on the influence parameters of at least two types of influence factors.

[0265] Run module 63, configured to run the cleaning equipment according to the target operating parameters.

[0266] In one embodiment, the determining module 62 is further configured as follows:

[0267] Based on the impact parameters of the impact factor, the first degree of impact of the impact factor is determined; there is a corresponding relationship between the impact parameters and the first degree of impact.

[0268] Based on the type of impact factor, determine the preset weight value of the impact factor;

[0269] The second degree of influence of the influence factor is obtained by weighting the first degree of influence of the influence factor based on the preset weight value.

[0270] Based on the degree of each secondary influence, the target operating parameters are determined.

[0271] In one embodiment, the determining module 62 is further configured as follows:

[0272] If the sum of the values ​​of all second-degree influences exceeds the threshold of the first degree, the current operating parameters of the cleaning equipment are adjusted to obtain the target operating parameters; or,

[0273] Determine the target impact factor whose second level of influence is greater than the second level threshold, and adjust the current operating parameters of the cleaning equipment when the number of target impact factors is greater than the preset number, so as to obtain the target operating parameters.

[0274] In one embodiment, the determining module 62 is further configured to: determine a first adjustment range based on a first difference between the sum and the first degree threshold when the sum is greater than a first degree threshold; wherein the first adjustment range is positively correlated with the first difference;

[0275] The device also includes an adjustment module configured to adjust the current operating parameters based on a first adjustment range to obtain the target operating parameters.

[0276] In one embodiment, the adjustment module is further configured as follows:

[0277] When the number of target impact factors is greater than the preset number, the second difference between the second degree of impact and the second degree threshold of each target impact factor is determined.

[0278] From the current operating parameters, determine the operating parameters corresponding to each target impact factor;

[0279] Based on the second difference corresponding to each target influencing factor, a second adjustment magnitude corresponding to each second difference is determined; wherein, the second difference and the second adjustment magnitude are positively correlated.

[0280] Based on each second adjustment range, the operating parameters corresponding to each target influencing factor are adjusted to obtain the target operating parameters.

[0281] In one embodiment, the acquisition module 61 is further configured as follows:

[0282] When the cleaning equipment is in operation and within the preset range of the target object, the influence parameters of the first type of influence factor and the second type of influence factor during the operation of the cleaning equipment are obtained.

[0283] Among them, the first type of influencing factor is related to the sound generated by the cleaning equipment, and the second type of influencing factor is related to the movement of the cleaning equipment.

[0284] In one embodiment, the acquisition module 61 is further configured as follows:

[0285] When the cleaning equipment is in operation and is outside the preset range of the target object, obtain the influence parameters of the third and fourth types of influence factors during the operation of the cleaning equipment.

[0286] Among them, the third type of influencing factor is related to the interactive operation of the cleaning equipment, and the fourth type of influencing factor is related to the cleaning operation of the cleaning equipment.

[0287] In one embodiment, the influencing parameter includes at least one of the following:

[0288] The acoustic parameters of the sounds emitted by the cleaning equipment;

[0289] The operating mode of the cleaning equipment; different operating modes correspond to different usage frequencies and / or usage durations; the sound parameters emitted by the cleaning equipment are different in different operating modes;

[0290] The relative pose between the cleaning equipment and the target object;

[0291] The frequency and / or type of interaction in the interactive operations applied to cleaning equipment;

[0292] The remaining capacity of the waste-holding space in the cleaning equipment;

[0293] The degree of dirtiness of the cleaning components of the cleaning equipment;

[0294] The remaining amount of cleaning material stored in the cleaning equipment.

[0295] Figure 7 This is a structural block diagram illustrating a cleaning device 700 according to an exemplary embodiment. For example, device 700 may be a mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, medical device, fitness equipment, personal digital assistant, etc.

[0296] Reference Figure 7 The device 700 may include one or more of the following components: processing component 702, memory 704, power supply component 706, multimedia component 708, audio component 710, input / output (I / O) interface 712, sensor component 714, and communication component 716.

[0297] Processing component 702 typically controls the overall operation of device 700, such as operations associated with at least one of display, telephone call, data communication, camera operation, and recording operation. Processing component 702 may include one or more processors 720 to execute instructions to perform all or part of the steps of the methods described above. Furthermore, processing component 702 may include one or more modules to facilitate interaction between processing component 702 and other components. For example, processing component 702 may include a multimedia module to facilitate interaction between multimedia component 708 and processing component 702.

[0298] Memory 704 is configured to store various types of data to support operation of device 700. Examples of such data include at least one of the following: instructions for any application or method operating on device 700, contact data, phonebook data, messages, pictures, and videos. Memory 704 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.

[0299] Power supply component 706 provides power to various components of device 700. Power supply component 706 may include at least one of the following: a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to device 700.

[0300] Multimedia component 708 includes a screen that provides an output interface between device 700 and the user. In one embodiment, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a Touch Panel, the screen can be implemented as a touchscreen to receive input signals from the user. The Touch Panel includes one or more touch sensors to sense touches, swipes, and gestures on the Touch Panel. The touch sensors can sense not only the boundaries of touch or swipe actions but also the duration and pressure associated with the touch or swipe operation. In one embodiment, multimedia component 708 includes a front-facing camera and / or a rear-facing camera. When device 700 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or rear-facing camera can receive external multimedia data. Each front-facing camera and rear-facing camera can be a fixed optical lens system or have focal length and optical zoom capabilities.

[0301] Audio component 710 is configured to output and / or input audio signals. For example, audio component 710 includes a microphone (MIC) configured to receive external audio signals when device 700 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 704 or transmitted via communication component 716. In one embodiment, audio component 710 also includes a speaker for outputting audio signals.

[0302] I / O interface 712 provides an interface between processing component 702 and peripheral interface modules, such as keyboards, click wheels, and buttons. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0303] Sensor assembly 714 includes one or more sensors for providing state assessments of various aspects of device 700. For example, sensor assembly 714 may detect the on / off state of device 700, the relative positioning of components such as the display and keypad of device 700, changes in the position of device 700 or one of its components, the presence or absence of user contact with device 700, orientation or acceleration / deceleration of device 700, and temperature changes of device 700. Sensor assembly 714 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 714 may also include an optical sensor, such as a complementary metal-oxide-semiconductor (CMOS) or charge-coupled device (CCD) image sensor, for use in imaging applications. In one embodiment, sensor assembly 714 may also include, but is not limited to, at least one of the following: an accelerometer, a gyroscope, a magnetometer, a pressure sensor, and a temperature sensor.

[0304] Communication component 716 is configured to facilitate wired or wireless communication between device 700 and other devices. Device 700 can access wireless networks based on communication standards, such as Wi-Fi, 4G, 5G, or combinations thereof. In one exemplary embodiment, communication component 716 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 716 also includes a Near Field Communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, Infrared Data Association (IrDA) technology, Ultra Wide Band (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0305] In an exemplary embodiment, the device 700 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components.

[0306] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 704 including executable instructions or a computer program, which can be executed by the processor 720 of the device 700 to perform the above-described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device, etc.

[0307] A non-transitory computer-readable storage medium, when the instructions in the storage medium are executed by the processor of a mobile terminal, enables the mobile terminal to perform any of the above-described methods for operating a cleaning device according to embodiments of this disclosure. For example, the method for operating the cleaning device includes:

[0308] In response to the cleaning equipment entering the operating state, the system acquires the impact parameters generated by at least two types of influencing factors during the operation of the cleaning equipment; wherein, the different types of influencing factors are used to indicate the different impacts of the operation of the cleaning equipment on the target object;

[0309] Determine the target operating parameters of the cleaning equipment based on the influence parameters of at least two types of influencing factors.

[0310] Operate the cleaning equipment according to the target operating parameters.

[0311] This disclosure provides a computer program product comprising a computer program or executable instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer program or executable instructions from the computer-readable storage medium and executes the computer program or executable instructions, causing the computer device to perform any of the cleaning device operation methods described in this disclosure.

[0312] Figure 7 This is a block diagram illustrating a display device 700 according to an exemplary embodiment. For example, device 700 may be provided as a server. (Refer to...) Figure 7 The device 700 includes a processing component 722, which further includes one or more processors, and memory resources represented by memory 732 for storing instructions, such as application programs, that can be executed by the processing component 722. The application programs stored in memory 732 may include one or more modules, each corresponding to a set of instructions. Furthermore, the processing component 722 is configured to execute instructions to perform the aforementioned method of operating the cleaning device.

[0313] In response to the cleaning equipment entering the operating state, the system acquires the impact parameters generated by at least two types of influencing factors during the operation of the cleaning equipment; wherein, the different types of influencing factors are used to indicate the different impacts of the operation of the cleaning equipment on the target object;

[0314] Determine the target operating parameters of the cleaning equipment based on the influence parameters of at least two types of influencing factors.

[0315] Operate the cleaning equipment according to the target operating parameters.

[0316] Device 800 may also include a power supply component 826 configured to perform power management of device 800, a wired or wireless network interface 850 configured to connect device 800 to a network, and an input / output (I / O) interface 858. Device 800 can operate an operating system stored in memory 832, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, or similar.

[0317] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the foregoing claims.

[0318] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A method for operating a cleaning device, characterized in that, include: In response to the cleaning equipment entering the operating state, at least two types of influencing factors of the cleaning equipment are acquired as influence parameters generated during the operation of the cleaning equipment; wherein, the different types of influencing factors are used to indicate the different impacts of the operation of the cleaning equipment on the target object; Based on the influence parameters of the at least two types of influencing factors, the target operating parameters of the cleaning equipment are determined; The cleaning equipment is operated according to the target operating parameters.

2. The operating method according to claim 1, characterized in that, The determination of the target operating parameters of the cleaning equipment based on the influence parameters of the at least two types of influence factors includes: Based on the impact parameters of the impact factor, a first degree of impact of the impact factor is determined; wherein, there is a corresponding relationship between the impact parameters and the first degree of impact; Based on the type of the impact factor, a preset weight value for the impact factor is determined; The first degree of influence of the influencing factor is weighted based on the preset weight value to obtain the second degree of influence of the influencing factor. The target operating parameters are determined based on each of the second degree of influence.

3. The operating method according to claim 2, characterized in that, The determination of the target operating parameters based on each of the second degree of influence includes: If the sum of the values ​​of each of the second degree of influence is greater than the threshold of the first degree, the current operating parameters of the cleaning equipment are adjusted to obtain the target operating parameters; or... A target impact factor with a second impact level greater than a second impact threshold is determined, and if the number of the target impact factors is greater than a preset number, the current operating parameters of the cleaning equipment are adjusted to obtain the target operating parameters.

4. The operating method according to claim 3, characterized in that, When the sum of the various second degree of influence is greater than the first degree threshold, the current operating parameters of the cleaning equipment are adjusted to obtain the target operating parameters, including: If the sum is greater than the first degree threshold, a first adjustment range is determined based on a first difference between the sum and the first degree threshold; wherein the first adjustment range is positively correlated with the first difference. Based on the first adjustment range, the current operating parameters are adjusted to obtain the target operating parameters.

5. The operating method according to claim 3, characterized in that, When the number of target influencing factors is greater than a preset number, the current operating parameters of the cleaning equipment are adjusted to obtain the target operating parameters, including: When the number of target influence factors is greater than the preset number, a second difference between the second influence degree and the second degree threshold of each target influence factor is determined. From the current operating parameters, determine the operating parameters corresponding to each of the target influencing factors; Based on the second difference corresponding to each of the target influencing factors, a second adjustment range corresponding to each of the second differences is determined; wherein, the second difference and the second adjustment range are positively correlated; Based on each of the second adjustment ranges, the operating parameters corresponding to each of the target influencing factors are adjusted to obtain the target operating parameters.

6. The method according to claim 1, characterized in that, In response to the cleaning equipment entering the operating state, the system acquires the influence parameters of at least two types of influencing factors generated during the operation of the cleaning equipment, including: When the cleaning equipment enters the operating state and is within a preset range of the target object, the influence parameters generated by the first type of influence factor and the second type of influence factor during the operation of the cleaning equipment are obtained. The first type of influencing factor is related to the sound generated by the cleaning equipment, and the second type of influencing factor is related to the movement of the cleaning equipment.

7. The method according to claim 1, characterized in that, In response to the cleaning equipment entering the operating state, the system acquires the influence parameters of at least two types of influencing factors generated during the operation of the cleaning equipment, including: When the cleaning equipment enters the operating state and is outside the preset range of the target object, the influence parameters of the third type of influence factor and the fourth type of influence factor generated during the operation of the cleaning equipment are obtained. The third type of influencing factor is related to the interactive operation of the cleaning equipment, and the fourth type of influencing factor is related to the cleaning operation of the cleaning equipment.

8. The method according to any one of claims 1 to 7, characterized in that, The influencing parameters include at least one of the following: The acoustic parameters of the sound emitted by the cleaning equipment; The operating modes of the cleaning equipment; wherein, different operating modes correspond to different usage frequencies and / or usage durations; and the sound parameters of the sound emitted by the cleaning equipment are different in different operating modes; The relative pose between the cleaning equipment and the target object; The frequency and / or type of interaction of the interactive operations performed on the cleaning equipment; The remaining capacity of the waste-holding space in the cleaning equipment; The degree of dirtiness of the cleaning components of the cleaning equipment; The remaining amount of cleaning material stored in the cleaning equipment.

9. An operating device for a cleaning equipment, characterized in that, The operating device includes: The acquisition module is configured to, in response to the cleaning equipment entering the operating state, acquire at least two types of influencing factors of the cleaning equipment, which generate influence parameters during the operation of the cleaning equipment; wherein, the different types of influencing factors are used to indicate the different impacts of the operation of the cleaning equipment on the target object. The determination module is configured to determine the target operating parameters of the cleaning equipment based on the influence parameters of the at least two types of influence factors. The operation module is configured to run the cleaning equipment according to the target operating parameters.

10. A cleaning device, characterized in that, include: processor; Memory used to store computer programs or instructions; The processor executes the computer program or instructions to implement the steps of the method according to any one of claims 1 to 8.

11. A non-transitory computer-readable storage medium storing a computer program or instructions, characterized in that, When the computer program or instructions in the storage medium are executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

12. A computer program product, comprising a computer program or instructions, characterized in that, When the computer program or instructions are executed by a processor, they implement the steps of the method according to any one of claims 1 to 8.

Images