Calibration method, device, equipment and storage medium of cleaning equipment

Abstract

The application discloses a calibration method, device and equipment of a cleaning device and a storage medium. When the cleaning device is placed on a charging pile, the initial detection value of the accelerometer of the cleaning device is obtained, and the historical detection value detected when the cleaning device was placed on the charging pile last time is inquired. By calculating the difference value between the two and comparing the difference value with a preset threshold value, whether the output of the accelerometer changes significantly is determined. If the change exceeds the threshold value, a new calibration value is calculated and applied based on the fixed posture angle (first angle) of the device on the charging pile. The method intelligently binds the calibration trigger to the inherent behavior of charging the device, realizes on-demand and adaptive calibration, ensures the accuracy of the accelerometer data, avoids unnecessary resource consumption, and effectively improves the stability and cleaning efficiency of the cleaning device. The technical scheme of the application can be widely applied to the technical field of cleaning devices.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and in particular to a calibration method, apparatus, device and storage medium for cleaning equipment. Background Technology

[0002] With the development of smart home and automation technologies, cleaning equipment with autonomous navigation and path planning capabilities is becoming increasingly popular. To ensure the stability and motion accuracy of cleaning equipment during operation, accelerometers, as a key sensing component, are widely used, and the accuracy of their data directly affects the control effect and cleaning efficiency of the equipment.

[0003] In related technologies, the mainstream calibration scheme for cleaning equipment often involves periodically calibrating the sensor components, such as weekly or monthly, to eliminate drift that may occur during long-term use. However, in practical applications, it has been found that this scheme lacks flexibility, and the calibration cycle is difficult to adapt to the operating environment of the cleaning equipment. If the cycle is too short, it will lead to frequent unnecessary calibration procedures, increasing system power consumption and operational burden; if the cycle is too long, it may be unable to respond to calibration needs in a timely manner, affecting the operational stability and cleaning effect of the cleaning equipment. Summary of the Invention

[0004] This application provides a calibration method, apparatus, device, and storage medium for cleaning equipment, which can achieve on-demand, adaptive calibration, thereby effectively improving the stability and cleaning efficiency of the cleaning equipment.

[0005] One aspect of this application provides a calibration method for a cleaning device, wherein the cleaning device is equipped with an accelerometer; the method includes: When the cleaning device is placed on the corresponding charging pile, the initial detection value currently detected by the accelerometer is obtained; wherein, the charging pile is used to charge the cleaning device, and when the cleaning device is placed on the charging pile and is in a stationary state, it forms a first angle with the horizontal plane, and the value of the first angle is pre-stored in the cleaning device; Query the historical detection values ​​detected by the accelerometer when the cleaning equipment was last placed on the charging pile; Calculate the difference between the initial detection value and the historical detection value; If the difference value is greater than or equal to a preset first threshold, the calibration value corresponding to the accelerometer is determined based on the first angle and the initial detection value, and the accelerometer is calibrated based on the calibration value.

[0006] Specifically, in some embodiments, acquiring the initial detection value currently detected by the accelerometer when the cleaning equipment is placed on the corresponding charging station includes: When the cleaning equipment is placed on the corresponding charging station, the placement status of the cleaning equipment is detected; wherein, the category of the placement status includes the stationary state and the non-stationary state; When the cleaning equipment is in the stationary state, the initial detection value currently detected by the accelerometer is obtained.

[0007] Specifically, in some embodiments, detecting the placement state of the cleaning equipment includes: Collect acceleration data detected by the accelerometer; Detect the change value of the acceleration data within a preset time window corresponding to the current time point; If the change value is less than or equal to a preset second threshold, the placement state of the cleaning equipment is determined to be the static state. If the change value is greater than the second threshold, the placement state of the cleaning equipment is determined to be the non-static state.

[0008] Specifically, in some embodiments, the first angle is pre-stored in the cleaning device through the following steps: In response to an angle setting command from a first object for the cleaning equipment, the identity information of the first object is obtained; The first object is subject to permission verification based on the identity information; Once the permission verification is confirmed to be successful, the value of the first angle input by the first object is received; The value of the first angle is written into the non-volatile memory of the cleaning device.

[0009] Specifically, in some embodiments, calculating the difference between the initial detection value and the historical detection value includes: Calculate the absolute value of the difference between the initial detection value and the historical detection value, and use the absolute value as the difference value; Alternatively, calculate the absolute value of the difference between the initial detection value and the historical detection value, and calculate the ratio of the absolute value to the initial detection value or the historical detection value, and use the ratio as the difference value.

[0010] Specifically, in some embodiments, the initial detection value includes three detection sub-values ​​along three spatial axes; determining the calibration value corresponding to the accelerometer based on the first angle and the initial detection value includes: Obtain the standard gravitational acceleration value corresponding to the cleaning equipment; Based on the first angle and the standard gravitational acceleration value, the theoretical acceleration values ​​of the accelerometer in the three spatial axes are calculated. Calculate the difference between the detected sub-value and the theoretical acceleration value along the same spatial axis, and determine the difference as the calibration value of the accelerometer along the spatial axis.

[0011] Specifically, in some embodiments, obtaining the standard gravitational acceleration value corresponding to the cleaning device includes: Query the geographical location information of the cleaning equipment; Based on the geographical location information, the standard gravitational acceleration value corresponding to the cleaning equipment is determined.

[0012] On the other hand, embodiments of this application provide a calibration device for a cleaning device, wherein the cleaning device is equipped with an accelerometer; the device includes: The acquisition unit is used to acquire the initial detection value currently detected by the accelerometer when the cleaning device is placed on the corresponding charging pile; wherein the charging pile is used to charge the cleaning device, and the cleaning device forms a first angle with the horizontal plane when it is placed on the charging pile and is in a stationary state, and the value of the first angle is pre-stored in the cleaning device; The query unit is used to query the historical detection values ​​detected by the accelerometer when the cleaning equipment was last placed on the charging pile; A calculation unit is used to calculate the difference between the initial detection value and the historical detection value; The processing unit is configured to determine the calibration value corresponding to the accelerometer based on the first angle and the initial detection value if the difference value is greater than or equal to a preset first threshold, and to calibrate the accelerometer based on the calibration value.

[0013] On the other hand, embodiments of this application provide a cleaning device, including a processor and a memory; The memory is used to store computer programs; The processor executes the computer program to implement the aforementioned calibration method for the cleaning equipment.

[0014] On the other hand, embodiments of this application provide a computer-readable storage medium storing a computer program that is executed by a processor to implement the aforementioned calibration method for cleaning equipment.

[0015] On the other hand, embodiments of this application also provide a computer program product, which includes a computer program stored in a computer-readable storage medium. A processor of a computer device reads the computer program from the computer-readable storage medium and executes the computer program, causing the computer device to perform the aforementioned calibration method for the cleaning equipment.

[0016] The embodiments of this application include at least the following beneficial effects: This application provides a calibration method, apparatus, device, and storage medium for cleaning equipment. The method acquires the initial detection value of the accelerometer when the cleaning equipment is placed on a charging pile. It queries and retrieves historical detection values ​​of the accelerometer stored from the last time the equipment was on the charging pile. By calculating the difference between the current initial detection value and the historical detection value, and comparing it with a preset first threshold, it determines whether the sensor output has changed significantly. When the difference reaches or exceeds the threshold, it indicates that the current environment or sensor state may have changed significantly. At this point, based on the known charging posture of the equipment (i.e., the first angle with the horizontal plane) and the initial detection value, a new calibration value is calculated and applied. This method binds the calibration action to the inherent behavior of the cleaning equipment returning to the charging pile, triggering the calibration process when actually needed. This effectively ensures the accuracy of the accelerometer data without excessively increasing the system burden, thereby improving the stability and cleaning efficiency of the cleaning equipment. Attached Figure Description

[0017] The accompanying drawings are used to provide a further understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0018] Figure 1 This is a system architecture diagram of a calibration method for a cleaning device provided in the embodiments of this application; Figure 2 This is a flowchart illustrating a calibration method for a cleaning device provided in an embodiment of this application. Figure 3 This is a structural block diagram of a calibration device for a cleaning equipment provided in an embodiment of this application; Figure 4 This is a structural block diagram of a cleaning device provided in an embodiment of this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0020] It is understood that the terms “first,” “second,” etc., used in this application may be used to describe various concepts herein, but unless otherwise stated, these concepts are not limited by these terms. These terms are used only to distinguish one concept from another.

[0021] As used in this application, the terms "at least one", "multiple", "each", "any", etc., "at least one" includes one, two or more, "multiple" includes two or more, "each" refers to each of the corresponding multiples, and "any" refers to any one of the multiples.

[0022] With the development of smart home and automation technologies, cleaning equipment with autonomous navigation and path planning capabilities is becoming increasingly popular, such as household smart robotic vacuum cleaners and vacuum-mop combos, but it is not limited to these. To ensure the stability and motion accuracy of cleaning equipment during operation, accelerometers, as a key sensing component, are widely used, and the accuracy of their data directly affects the control effect and cleaning efficiency of the cleaning equipment.

[0023] In related technologies, the mainstream calibration scheme for cleaning equipment often involves periodically calibrating the sensor components, such as weekly or monthly, to eliminate drift that may occur during long-term use. However, in practical applications, it has been found that this scheme lacks flexibility, and the calibration cycle is difficult to adapt to the operating environment of the cleaning equipment. If the cycle is too short, it will lead to frequent unnecessary calibration procedures, increasing system power consumption and operational burden; if the cycle is too long, it may be unable to respond to calibration needs in a timely manner, affecting the operational stability and cleaning effect of the cleaning equipment.

[0024] In particular, it should be noted that during the entire lifecycle of cleaning equipment, significant changes in the working environment are common, and fixed periodic calibration strategies are often insufficient to address these issues. For example, after cleaning equipment leaves the factory, when it is transported from a constant temperature and humidity production and storage environment to a user's actual usage environment with different temperature and humidity conditions, the characteristics of the sensing components may have already undergone initial drift. However, the fixed initial calibration cycle may not have been triggered, resulting in measurement errors in the cleaning equipment during the initial use phase, thus affecting the user experience.

[0025] For example, when a user moves to a different location and transfers cleaning equipment from one geographical and climatic environment to another with a significantly different environment, the fixed calibration cycle cannot detect this drastic change and will have to wait until the next scheduled calibration time to perform the correction. This may result in the cleaning equipment being in a suboptimal working state for a long time in the new environment.

[0026] As can be seen, the above situation exposes the inherent problem of delayed response of fixed-cycle strategies, which cannot guarantee the timeliness and accuracy of attitude perception of the equipment after sudden environmental changes.

[0027] In view of this, this application provides a calibration method, apparatus, device, and storage medium for cleaning equipment. This application utilizes the known stable posture of the cleaning equipment when charging at a charging station, forming a fixed angle (first angle) with the horizontal plane, to achieve flexible calibration of the accelerometer. When the cleaning equipment is placed on the charging station, the initial detection value of the accelerometer is acquired and compared with the historical detection value from the last charging at the station, calculating the difference between the two. By determining whether the difference value reaches or exceeds a first threshold, it is determined whether a significant change has occurred in the working environment of the cleaning equipment, thus deciding whether calibration needs to be initiated. When calibration is required, a calibration value is calculated based on the first angle and the initial detection value, and the accelerometer is calibrated.

[0028] Compared to the fixed-period calibration schemes used in related technologies, this application achieves intelligent and adaptive judgment of calibration timing. It integrates the calibration process with the inherent behavior of cleaning equipment returning to its charging station for recharging. Calibration is triggered when a significant change in the accelerometer's readings relative to historical benchmarks is detected (indicating potential environmental changes or sensor drift). This avoids the resource consumption caused by unnecessary periodic calibrations and solves the problem of error accumulation due to excessively long cycles. This ensures that the cleaning equipment can navigate and control with more accurate attitude data, effectively improving its operational stability and cleaning performance.

[0029] System architecture and scenario description used in the embodiments of this application Please refer to Figure 1 , Figure 1 The diagram shows a system architecture diagram of a calibration method for a cleaning device provided in an embodiment of this application. It includes a cleaning device 140, an Internet 130, a gateway 120, a back-end server 110, etc.

[0030] In this embodiment, the cleaning device 140 can be an intelligent cleaning device with autonomous mobility, including but not limited to intelligent robotic vacuum cleaners, robotic vacuum and mop combos, and commercial floor cleaning robots. These devices typically integrate sensing components such as accelerometers and gyroscopes, as well as lidar and visual cameras for environmental perception. During operation, the cleaning device 140 uses its built-in sensors to perform attitude detection and environmental mapping, and plans a cleaning path based on a control algorithm.

[0031] The backend server 110 refers to a computer system that can provide certain services to the cleaning equipment 140. Compared to the ordinary cleaning equipment 140, the backend server 110 has higher requirements in terms of stability, security, and performance. The backend server 110 can be a single high-performance computer in a network platform, a cluster of multiple high-performance computers, a portion of a single high-performance computer (such as a virtual machine), or a combination of portions of multiple high-performance computers (such as virtual machines).

[0032] A gateway, also known as an internetwork connector or protocol converter, is a computer system or device that acts as a translator between two systems using different communication protocols, data formats, languages, or even completely different architectures. Gateways can also provide filtering and security functions.

[0033] The Internet is a global, open computer network interconnection system. Based on a set of common network communication protocols (such as the TCP / IP protocol suite), it connects hundreds of millions of computing devices, networks, and servers worldwide to enable the exchange and sharing of information and data.

[0034] In this embodiment, the cleaning device 140 can establish a connection with the gateway 120 via a wireless communication module, thereby accessing the Internet 130 and exchanging data with the backend server 110. The gateway 120 can be a home wireless router or other IoT gateway device. The backend server 110 can be operated by the device manufacturer or service provider, responsible for receiving operating data from the cleaning device 140, storing relevant parameters (such as historical detection values, calibration parameters, device operation logs, etc.), and issuing instructions or configuration updates to the device when necessary.

[0035] The calibration method for cleaning equipment provided in this application embodiment can be executed independently on the cleaning equipment 140 side, or based on data interaction between the cleaning equipment 140 and the backend server 110.

[0036] Of course, it is understood that the implementation environment corresponding to the method in the embodiments of this application is not limited to that of the implementation environment. Figure 1 As shown, those skilled in the art can flexibly select the specific implementation environment according to actual needs, and this application does not impose any restrictions on this.

[0037] General Description of Embodiments in this Application The calibration method provided in this application embodiment is applied to cleaning equipment equipped with accelerometers. Here, an accelerometer is a sensor used to measure the acceleration of an object's motion. Its main function is to detect the acceleration data of an object in space along one or more axes (usually the X, Y, and Z axes). In cleaning equipment, the accelerometer plays a crucial role, not only sensing the linear motion of the cleaning equipment (such as starting, stopping, and collisions), but also sensing the component of gravitational acceleration along its axes when the cleaning equipment is stationary, thereby accurately calculating the tilt angle of the cleaning equipment relative to the horizontal plane. This attitude information is fundamental for the cleaning equipment to achieve autonomous navigation, fall prevention, obstacle crossing, and maintain stable operation. Therefore, the long-term accuracy and stability of the accelerometer data directly affect the environmental perception accuracy and overall control performance of the cleaning equipment.

[0038] However, the output of accelerometers can drift due to environmental factors such as time, temperature, and humidity, as well as the aging of the device itself, causing the detected values ​​to deviate from the true situation. If not calibrated in time, the accumulated errors over a long period of time will directly cause inaccurate attitude sensing of the equipment, which in turn will lead to problems such as disordered path planning, incomplete cleaning coverage, or even abnormal equipment operation.

[0039] Traditional calibration methods typically rely on fixed time periods or runtimes to trigger the calibration process. For example, a calibration might be performed once when the cleaning equipment leaves the factory, or the equipment might be set to automatically calibrate after a specific cumulative running time (such as one week or one month). While this approach is feasible in ideal and stable environments, it has limitations in real-world, complex, and ever-changing user scenarios. Therefore, this application provides a calibration method for cleaning equipment that can be combined with traditional periodic calibration strategies to form a composite, multi-layered calibration system, thus overcoming the shortcomings of single, fixed-period calibration.

[0040] Please refer to Figure 2 , Figure 2 A schematic flowchart of a calibration method for a cleaning device provided in an embodiment of this application is shown. Figure 2 As shown, a calibration method for a cleaning device according to an embodiment of this application includes, but is not limited to, the following steps: Step 210: When the cleaning equipment is placed on the corresponding charging pile, the initial detection value detected by the accelerometer is obtained; wherein, the charging pile is used to charge the cleaning equipment, and when the cleaning equipment is placed on the charging pile and is in a stationary state, it forms a first angle with the horizontal plane, and the value of the first angle is pre-stored in the cleaning equipment. Step 220: Query the historical detection values ​​of the accelerometer when the cleaning equipment was last placed on the charging station; Step 230: Calculate the difference between the initial detection value and the historical detection values; Step 240: If the difference value is greater than or equal to the preset first threshold, determine the calibration value corresponding to the accelerometer based on the first angle and the initial detection value, and calibrate the accelerometer based on the calibration value.

[0041] This application provides a calibration method for cleaning equipment, which aims to improve the problems of untimely calibration and resource waste caused by the poor flexibility and inability to adapt to environmental changes in fixed-cycle calibration schemes in related technologies. By using the fixed posture of the cleaning equipment on the charging pile as a reference and introducing a dynamic comparison mechanism based on historical detection values, intelligent judgment of the timing of accelerometer calibration can be achieved.

[0042] Specifically, this method acquires the initial detection value of the accelerometer when the cleaning equipment is placed on the charging station. It then queries and retrieves historical detection values ​​from the last time the equipment was on the charging station. By calculating the difference between the current initial detection value and the historical detection value, and comparing it with a preset first threshold, it determines whether the sensor output has changed significantly. When the difference reaches or exceeds the threshold, it indicates that the current environment or sensor state may have changed significantly. At this point, based on the known charging posture of the equipment (i.e., the first angle with the horizontal plane) and the initial detection value, a new calibration value is calculated and applied. This method binds the calibration action to the inherent behavior of the cleaning equipment returning to the charging station, triggering the calibration process when actually needed. This effectively ensures the accuracy of the accelerometer data without excessively increasing the system load, thus improving the stability and cleaning efficiency of the cleaning equipment.

[0043] Below, in conjunction with Figure 2 This paper introduces and explains each step of the calibration method for the cleaning equipment in the embodiments of this application.

[0044] Step 210 is the starting and data acquisition stage of the calibration method provided in this application embodiment. Its triggering condition is that the cleaning equipment is placed on the corresponding charging pile. This design cleverly binds the calibration behavior with the charging behavior that is indispensable and occurs frequently during the operation of the cleaning equipment.

[0045] It is easy to understand that the charging station for cleaning equipment is used to charge the cleaning equipment. It is generally fixedly installed, with its base remaining relatively stationary to the ground, and the docking structure between it and the cleaning equipment is fixed. This physical characteristic ensures that after each successful docking, the angle formed by the cleaning equipment body relative to the horizontal plane is fixed. In this embodiment, this angle is denoted as the first angle. This angle is a highly stable constant, an inherent property determined by the design of the cleaning equipment body and the structure of the charging station, and does not change with daily use; it is pre-stored in the cleaning equipment. The specific size of the first angle can be flexibly set according to actual needs, and this application does not impose any restrictions on it.

[0046] Therefore, each time the cleaning device returns to its charging dock, it essentially places itself on a standardized physical reference platform with a known orientation. This makes the charging moment an ideal and natural calibration trigger point, ensuring not only the consistency of the calibration orientation but also seamlessly embedding the calibration process into the device's essential work cycle (cleaning / charging). This requires no additional user intervention and hardly occupies any of the device's effective working time, achieving seamless and routine calibration.

[0047] In step 210, when the cleaning equipment is placed on the corresponding charging station, the initial detection value currently detected by the accelerometer is acquired. Here, the time point at which the cleaning equipment is placed on the corresponding charging station can be determined based on the charging status of the cleaning equipment. For example, when the charging contacts of the cleaning equipment successfully connect with the electrodes of the charging station and form a valid electrical connection, the power management module inside the cleaning equipment will detect the appearance of charging voltage or charging current and generate a charging start event. At this point, it can be determined that the cleaning equipment has been placed on the corresponding charging station.

[0048] Of course, it should be noted that in some embodiments, in order to achieve more accurate judgment and avoid disturbances such as the contact points briefly contacting and then disconnecting, it can be determined that the cleaning device has been placed on the corresponding charging pile after a certain period of time (such as 10 seconds) has entered the charging state. This application does not limit this.

[0049] After determining that the cleaning equipment has been placed on the charging station, the initial detection value of the accelerometer can be obtained. Generally, the accelerometer measures and outputs the raw data of gravitational acceleration in space along the axes (usually X, Y, and Z), which can be a three-dimensional vector.

[0050] In step 220, the historical detection values ​​detected by the accelerometer when the cleaning equipment was last placed on the charging station are retrieved. This step aims to establish a benchmark for comparison with the initial detection values ​​acquired at the current moment, thereby assessing whether there have been significant changes in the accelerometer's sensor condition or the usage environment.

[0051] Specifically, the method proposed in this application does not unconditionally perform calibration every time it is charged, but introduces a dynamic judgment mechanism based on historical data. To achieve this, the system needs to maintain and access a set of reference data, namely the historical detection values ​​of the accelerometer. These historical detection values ​​are the accelerometer detection values ​​acquired and stored when the cleaning device was last placed on the charging pile and met the data acquisition conditions (such as being in a stationary state). It represents the sensor output data of the cleaning device in the most recent traceable, same physical posture (i.e., the same first angle). Exemplarily, the historical detection values ​​can be stored in the non-volatile memory of the cleaning device in vector form to ensure that the data is not lost after the device is powered off, or stored in the back-end server corresponding to the cleaning device; this application does not limit this.

[0052] After step 210 obtains the currently valid initial detection value, a query operation is then performed to read historical detection values ​​from a specified storage location. These historical detection values, together with the current initial detection value, constitute the input for subsequent judgments. By comparing these two measurements collected under the same posture conditions but at different time points, the constant component introduced by the fixed installation angle can be effectively eliminated, thereby sensitively capturing output differences mainly caused by sensor inherent characteristic drift (such as temperature drift and time drift) or changes in the equipment's operating environment (such as the equipment being moved to locations with different temperatures, humidity levels, or geographical latitudes). In this way, normal fluctuations in sensor readings can be distinguished from significant deviations requiring calibration, thus enabling on-demand calibration operations and avoiding resource waste.

[0053] In step 230, the initial detection value and the historical detection value are quantitatively compared to generate an index that can objectively reflect the degree of change in the accelerometer output, providing a direct basis for subsequent decisions on whether to perform calibration. In this embodiment, the index is marked as the difference value.

[0054] There are various ways to calculate the difference value, and this application does not limit it. For example, in some embodiments, the difference value can be the absolute value of the difference between the initial detection value and the historical detection value; while in other embodiments, the difference value can also be obtained by first calculating the absolute value of the difference between the initial detection value and the historical detection value, and then calculating the ratio of the absolute value to the initial detection value or the historical detection value.

[0055] Specifically, as described above, in some practical applications, the initial detection value and the historical detection value can be three-dimensional vectors, such as the initial detection value represented as vector C=(Cx,Cy,Cz), and the historical detection value represented as vector H=(Hx,Hy,Hz). In this case, the numerical value of the difference can be used to characterize the overall deviation between the states of the two vectors. One way to calculate the difference is to calculate the Euclidean distance between the two vectors (i.e., the magnitude of the vector difference), and the calculation formula can be expressed as: The difference value D = sqrt((Cx-Hx)²+(Cy-Hy)²+(Cz-Hz)²) This method comprehensively considers changes along three axes, thus fully reflecting the overall offset of the sensor output. Another feasible approach is to calculate the sum of the absolute differences along each axis, i.e.: The difference value D = |Cx - Hx| + |Cy - Hy| + |Cz - Hz| In addition, the absolute value (or percentage) of the difference can be calculated separately for one or two key axes that have the greatest impact on the attitude of the cleaning equipment, and this application does not limit this.

[0056] In step 240, the difference value calculated in step 230 is compared with a pre-set first threshold. This first threshold is a threshold value determined through experimental or theoretical analysis, representing the acceptable range of natural variation in sensor readings caused by noise or minor fluctuations during normal use of the cleaning equipment. Its specific value can be flexibly set according to requirements, and this application does not impose any restrictions on it.

[0057] If the calculated difference is less than the first threshold, it indicates that the current accelerometer output has not changed significantly compared to the historical benchmark and is within the normal fluctuation range. No calibration is required, and the process can end, continuing with charging or other tasks, thus avoiding unnecessary computational and energy consumption. Conversely, if the difference is greater than or equal to the first threshold, it indicates that the sensor reading has changed significantly relative to the last charge. This change is likely due to a major change in environmental conditions (such as the relocation of cleaning equipment to a different location) or significant drift error in the sensor itself, exceeding the acceptable range. Calibration is necessary to correct the error.

[0058] When it is determined that calibration is required, the calibration calculation process is initiated. In this embodiment, the calibration value corresponding to the accelerometer can be determined based on the first angle and the initial detection value. This calibration value can be stored in the cleaning device (or replace the existing calibration value). When the cleaning device is used subsequently, the accelerometer will be calibrated based on the newly determined calibration value until this calibration value is replaced by the one determined in the next calibration.

[0059] It is understood that the calibration method for cleaning equipment provided in this application embodiment acquires the initial detection value of its accelerometer when the cleaning equipment is placed on a charging pile. It then queries and retrieves the historical detection values ​​of the accelerometer stored from the last time the equipment was on the charging pile. By calculating the difference between the current initial detection value and the historical detection value, and comparing it with a preset first threshold, it determines whether the sensor output has changed significantly. When the difference reaches or exceeds the threshold, it indicates that the current environment or sensor state may have changed significantly. At this point, a new calibration value is calculated and applied based on the known charging posture of the equipment (i.e., the first angle with the horizontal plane) and the initial detection value. This method binds the calibration action to the inherent behavior of the cleaning equipment returning to the charging pile, triggering the calibration process when actually needed. This effectively ensures the accuracy of the accelerometer data without excessively increasing the system burden, thereby improving the stability and cleaning efficiency of the cleaning equipment.

[0060] It should be noted that the method provided in this application has the advantage of being able to quickly respond to sudden changes in measurement errors caused by equipment migration, drastic changes in environmental temperature and humidity, or sudden sensor drift. As a sensitive, event-driven calibration mechanism, it is particularly suitable for dealing with such non-gradual, relatively drastic changes. In practical applications, this method can be combined with traditional periodic calibration schemes to form a complementary composite calibration strategy. Periodic calibration (e.g., monthly) can serve as a basic, long-term maintenance method to slowly correct the gradual drift of sensors over time; while the method provided in this application serves as a fast, adaptive compensation mechanism specifically designed to capture and correct sudden errors that may occur between two periodic calibrations. The combination of the two ensures both long-term stability and rapid response to sudden changes, thereby achieving a better balance between system resource consumption and the immediacy and comprehensiveness of calibration results, comprehensively improving the robustness and reliability of the cleaning equipment's attitude sensing throughout its entire lifecycle.

[0061] Specifically, in some embodiments, when the cleaning equipment is placed on the corresponding charging station, the initial detection value currently detected by the accelerometer is obtained, including: When the cleaning equipment is placed on the corresponding charging station, the placement status of the cleaning equipment is detected; the placement status includes static state and non-static state. When the cleaning equipment is in a stationary state, acquire the initial detection value currently detected by the accelerometer.

[0062] In this embodiment of the application, a method is provided to determine the placement state of the cleaning equipment before obtaining the initial detection value of the accelerometer. This method can achieve precise control over the timing of calibration triggering, ensuring that the calibration process is only executed when the cleaning equipment is in a stable posture, thereby improving the effectiveness of calibration.

[0063] Specifically, after the cleaning equipment is initially determined to be placed on the charging pile (e.g., a charging signal is detected), the accelerometer reading is not immediately acquired. Instead, the detection process for the placement status is initiated first. In this embodiment, the status of the cleaning equipment on the charging pile is divided into two categories: a stationary state and a non-stationary state.

[0064] Subsequent operations, namely acquiring the accelerometer reading at that moment as the initial detection value, will only be performed when the current placement state of the cleaning equipment is determined to be stationary. This filters out noise data introduced by brief shaking of the cleaning equipment, unstable charging contact, or external interference, ensuring that the collected initial detection value is true and stable data of the cleaning equipment in the standard posture of the charging pile. This provides a reliable basis for subsequent difference comparisons and calibration value calculations.

[0065] It is understood that by introducing the above-mentioned state determination step, the embodiments of this application effectively avoid the risk of collecting invalid data and potentially triggering erroneous calibration when the cleaning equipment is unstable, thereby improving the reliability of the entire calibration process and the accuracy of the final calibration result.

[0066] Specifically, in some embodiments, detecting the placement status of the cleaning equipment includes: Collect acceleration data detected by the accelerometer; Detect the change in acceleration data within a preset time window corresponding to the current time point; If the change value is less than or equal to the preset second threshold, the placement state of the cleaning equipment is determined to be a stationary state. If the change value is greater than the second threshold, the placement state of the cleaning equipment is determined to be non-static.

[0067] This application provides a specific implementation method for determining whether a cleaning device is stationary on a charging pile using data from an accelerometer. This method achieves state determination by analyzing the stability of the accelerometer's output over a short period, eliminating the need for other sensors such as gyroscopes, thus simplifying system design and reducing implementation costs.

[0068] Specifically, in this embodiment, after triggering the placement state detection, acceleration data output by the accelerometer built into the cleaning device can be collected over a period of time. During this process, multiple sets of acceleration data can be continuously collected at a fixed sampling frequency (e.g., once every 100ms) to form a data sequence. Subsequently, using the current time point as the base point, a corresponding preset time window is sampled forward. The length of this time window can be flexibly set, for example, it could be 2 seconds or 5 seconds. The change value of the acceleration data within the preset time window is calculated. This change value can be calculated separately or jointly for the three axes of the accelerometer. For example, the difference between the maximum and minimum values ​​of all sampled values ​​for each axis within the preset time window can be calculated separately, and the maximum value among the three differences is taken as the final change value.

[0069] Next, the calculated fluctuation value is compared with a pre-set second threshold. This second threshold is a small value representing the upper limit of the natural fluctuation in the reading of the cleaning equipment when it is stationary, due to non-motion factors such as sensor noise and environmental micro-vibrations. Its size can be flexibly set according to needs. If the calculated fluctuation value is less than or equal to the second threshold, it indicates that the accelerometer reading of the cleaning equipment is very stable throughout the monitoring period, and no significant acceleration changes caused by movement or shaking of the cleaning equipment are detected. Therefore, its placement state can be determined as stationary. Conversely, if the fluctuation value is greater than the second threshold, it indicates that the accelerometer reading has undergone a significant change beyond the normal fluctuation range. This usually means that the cleaning equipment is being moved, intentionally shaken, or vibrating due to instability, and its placement state should be determined as non-stationary.

[0070] It is understood that the data processing flow from state detection to calibration value acquisition can be completed solely by relying on the accelerometer in this application embodiment. It is particularly suitable for cleaning equipment models that are cost-sensitive or have simplified hardware configurations. While ensuring the validity of calibration data, it achieves both economy and efficiency of the solution.

[0071] Of course, in other embodiments, sensing components such as gyroscopes can also be used to determine the placement status of the cleaning equipment, and this application does not limit this.

[0072] Specifically, in some embodiments, the first angle is pre-stored in the cleaning device through the following steps: In response to the first object's instruction to set the angle of the cleaning equipment, the identity information of the first object is obtained; Perform permission verification on the first object based on its identity information; Once the permission verification is successful, the value of the first angle input by the first object is received; The value of the first angle is written into the non-volatile memory of the cleaning device.

[0073] In this application embodiment, a specific implementation method is provided for flexibly setting and storing the first angle through authorized interaction. In this implementation method, the first angle is a configurable item that can be calibrated and personalized on-site during the equipment deployment or maintenance stage. By introducing a permission verification mechanism, the security and reliability of parameter settings are ensured, which can significantly improve the adaptability of the calibration method to different installation environments and long-term usage changes.

[0074] Specifically, in the embodiments of this application, in scenarios such as the initial installation, redeployment, or maintenance and calibration of cleaning equipment, operators with corresponding permissions (i.e., the first object), such as installation engineers, professional maintenance personnel, or users, can initiate setting instructions for the first angle through the human-machine interface of the cleaning equipment (such as buttons on the machine body or a display screen) or the application of the paired external smart terminal.

[0075] After the response angle setting command is executed, an authentication process is initiated first. This process aims to obtain and verify the operation permissions of the first object. It can be implemented in various ways. For example, it can verify whether the numeric password or graphic password entered by the first object through the interface matches the preset administrator password; verify whether the hardware identification code of the terminal device that initiated the command (such as a dedicated debugging tablet computer) exists in the pre-authorized device whitelist; or verify the first object's biometric information such as fingerprints and voiceprints on devices equipped with biometric modules.

[0076] After verifying the identity information obtained and confirming that the first object has legitimate setting permissions, the parameter receiving stage begins. At this time, the value of the first angle input or confirmed by the first object is received through the corresponding interactive interface. This value can come from measurements taken during installation (such as using an inclinometer to actually measure the attitude angle of the cleaning equipment on the charging pile), and this application does not impose any restrictions on this. After receiving, this authorized and confirmed value of the first angle is written into the non-volatile memory of the cleaning equipment, completing the persistent storage of the parameter.

[0077] It is understood that, in this embodiment of the application, the on-site configurability of the key calibration parameter, the first angle, is achieved by combining an interactive setting process with permission verification. This not only improves the problem of slight changes in the reference angle caused by production assembly tolerances, incomplete leveling of the charging pile installation ground, or subsequent adjustments to the charging pile position, enabling the calibration reference to accurately match the actual physical posture of each device, but also effectively prevents unauthorized personnel from misoperating through permission control, ensuring the accuracy and security of the calibration parameters, thereby guaranteeing the long-term effective operation of the entire adaptive calibration method.

[0078] Specifically, in some embodiments, the initial detection value includes three detection sub-values ​​along three spatial axes; determining the calibration value corresponding to the accelerometer based on the first angle and the initial detection value includes: Obtain the standard gravitational acceleration value corresponding to the cleaning equipment; Based on the first angle and the standard gravitational acceleration value, the theoretical acceleration values ​​of the accelerometer in the three spatial axes are calculated. Calculate the difference between the detected sub-value and the theoretical acceleration value along the same spatial axis, and determine the difference as the calibration value of the accelerometer along the spatial axis.

[0079] In this application embodiment, a specific implementation method is provided for accurately calculating the calibration values ​​of each axis of the accelerometer based on known geometric relationships and physical constants. This method achieves accurate quantification and compensation of sensor system errors by comparing the measured accelerometer readings with the theoretical values ​​that should be present under the fixed attitude axis by axis.

[0080] Specifically, in this embodiment, after triggering the calibration calculation process, the standard gravitational acceleration value corresponding to the cleaning equipment is first obtained. This step aims to determine the reference physical constant required to calculate the theoretical value. This standard gravitational acceleration value can be a preset universal constant, such as the commonly used 9.8 m / s² or 1 g (a standard unit of gravity), which is embedded in the cleaning equipment. In some more refined embodiments, the standard gravitational acceleration value can also be a more accurate local gravitational acceleration value obtained by querying the cloud or a built-in database based on the geographical location information of the cleaning equipment (obtained through GPS or the Internet), thereby theoretically adapting to the small changes in gravity caused by different latitudes and altitudes, and further improving the accuracy of the theoretical reference for calibration.

[0081] After obtaining the standard gravitational acceleration value, the theoretical acceleration value is calculated through spatial vector decomposition based on the stored first angle and standard gravitational acceleration value. It is easy to understand that since the cleaning equipment is stationary on the charging pile, the external force it experiences is mainly gravity, which is directed vertically downwards. Therefore, the projection components of the gravitational acceleration vector along the three axes of the accelerometer are the theoretical values ​​that each axis should output under the current posture. For example, given the angle between the cleaning equipment's axis and the vertical direction (i.e., the complementary angle of the first angle) and the installation relationship of each axis of the accelerometer relative to the cleaning equipment's axis, a unique set of theoretical value vectors can be determined, denoted as (Tx, Ty, Tz).

[0082] Next, the calibration value generation stage begins. For each spatial axis of the accelerometer, the components (Cx, Cy, Cz) of the initial detection value (representing the actual output of the sensor, obtained in step 210) are subtracted from the theoretical acceleration value for the corresponding axis calculated in the previous step: Kx = Tx - Cx, Ky = Ty - Cy, Kz = Tz - Cz. The calculated difference vector (Kx, Ky, Kz) is the calibration value for the accelerometer. This calibration value vector visually represents the deviation of the accelerometer's output on each axis relative to the actual gravity component in the current state.

[0083] It is understood that in this embodiment, the calibration problem is transformed into measuring and compensating for the deviation between the measured output and the theoretically expected output of the accelerometer under a known input (gravity field) by calculating theoretical values ​​and solving for the inter-axis difference. The entire implementation process is logically clear and computationally accurate, resulting in high repeatability and reliability of the calibration results. This provides a direct and effective basis for subsequent real-time correction of the accelerometer output by combining measured values ​​with calibration values, thereby improving the accuracy of the cleaning equipment's attitude perception.

[0084] It should be noted that the method provided in this application has the additional advantage of calibrating the accelerometer without relying on any additional external sensors. This avoids introducing new hardware costs and helps reduce the complexity and power consumption of the entire cleaning equipment.

[0085] Reference Figure 3 In this embodiment of the application, a calibration device for cleaning equipment is also provided, the calibration device for cleaning equipment comprising: The acquisition unit 310 is used to acquire the initial detection value currently detected by the accelerometer when the cleaning equipment is placed on the corresponding charging pile; wherein, the charging pile is used to charge the cleaning equipment, and when the cleaning equipment is placed on the charging pile and is in a stationary state, it forms a first angle with the horizontal plane, and the value of the first angle is pre-stored in the cleaning equipment. The query unit 320 is used to query the historical detection values ​​detected by the accelerometer when the cleaning equipment was last placed on the charging pile; Calculation unit 330 is used to calculate the difference between the initial detection value and the historical detection value; The processing unit 340 is used to determine the calibration value corresponding to the accelerometer based on the first angle and the initial detection value if the difference value is greater than or equal to a preset first threshold, and to calibrate the accelerometer based on the calibration value.

[0086] It is understandable that, such as Figure 2The content of the calibration method embodiments of the cleaning equipment shown is applicable to the calibration device embodiments of this cleaning equipment. The specific functions implemented by the calibration device embodiments of this cleaning equipment are the same as those shown in the examples. Figure 2 The calibration method for the cleaning equipment shown is the same as in the embodiment, and the beneficial effects achieved are the same as those described above. Figure 2 The beneficial effects achieved by the calibration method embodiment of the cleaning equipment shown are also the same.

[0087] Reference Figure 4 This application also discloses a cleaning device, including: At least one processor 410; At least one memory 420 is used to store at least one program; When at least one program is executed by at least one processor 410, such that at least one processor 410 performs as follows: Figure 2 An example of a calibration method for the cleaning equipment is shown.

[0088] The cleaning equipment in this application embodiment may be a terminal device, a computer device, or a server device.

[0089] Understandable Figure 2 The calibration method embodiments of the cleaning equipment shown are all applicable to this cleaning equipment embodiment. The specific functions implemented in this cleaning equipment embodiment are the same as those in the previous embodiment. Figure 2 The calibration method for the cleaning equipment shown is the same as in the embodiment, and the beneficial effects achieved are the same. Figure 2 The beneficial effects achieved by the calibration method embodiment of the cleaning equipment shown are also the same.

[0090] This application also discloses a computer-readable storage medium storing a processor-executable program, which, when executed by a processor, is used to implement, for example... Figure 2 An example of a calibration method for the cleaning equipment is shown.

[0091] Understandable Figure 2 The calibration method embodiments of the cleaning equipment shown are applicable to the embodiments of this computer-readable storage medium. The specific functions implemented by the embodiments of this computer-readable storage medium are the same as those in the embodiments of this computer-readable storage medium. Figure 2 The calibration method for the cleaning equipment shown is the same as in the embodiment, and the beneficial effects achieved are the same. Figure 2 The beneficial effects achieved by the calibration method embodiment of the cleaning equipment shown are also the same.

[0092] This application also discloses a computer program product or computer program, which includes computer instructions stored in the aforementioned computer-readable storage medium. Figure 4The processor of the cleaning device shown can read the computer instructions from the aforementioned computer-readable storage medium, and the processor executes the computer instructions, causing the computer device to perform... Figure 2 An example of a calibration method for the cleaning equipment is shown.

[0093] Understandable Figure 2 The calibration method embodiments of the cleaning equipment shown are all applicable to this computer program product or computer program embodiment, and the specific functions implemented by this computer program product or computer program embodiment are the same as those described above. Figure 2 The calibration method for the cleaning equipment shown is the same as in the embodiment, and the beneficial effects achieved are the same. Figure 2 The beneficial effects achieved by the calibration method embodiment of the cleaning equipment shown are also the same.

[0094] In some alternative embodiments, the functions / operations mentioned in the block diagrams may not occur in the order shown in the operation diagrams. For example, depending on the functions / operations involved, two consecutively shown blocks may actually be executed substantially simultaneously, or the blocks may sometimes be executed in reverse order. Furthermore, the embodiments presented and described in the flowcharts of this application are provided by way of example to provide a more comprehensive understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and sub-operations described as part of a larger operation are executed independently.

[0095] Furthermore, although this application is described in the context of functional modules, it should be understood that, unless otherwise stated to the contrary, one or more of the functions and / or features may be integrated into a single physical device and / or software module, or one or more functions and / or features may be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding this application. Rather, given the properties, functions, and internal relationships of the various functional modules in the apparatus disclosed herein, the actual implementation of the module will be understood within the scope of conventional technology for an engineer. Therefore, those skilled in the art can implement the application set forth in the claims using ordinary techniques without excessive experimentation. It is also understood that the specific concepts disclosed are merely illustrative and not intended to limit the scope of this application, which is determined by the full scope of the appended claims and their equivalents.

[0096] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0097] In the embodiments of this application, the terms "module" or "unit" refer to a computer program or part of a computer program that has a predetermined function and works with other related parts to achieve a predetermined goal, and can be implemented wholly or partially using software, hardware (such as processing circuitry or memory), or a combination thereof. Similarly, a processor (or multiple processors or memory) can be used to implement one or more modules or units. Furthermore, each module or unit can be part of an overall module or unit that includes the functionality of that module or unit.

[0098] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable storage medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable storage medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0099] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0100] In the foregoing description of this specification, the references to terms such as "one embodiment," "another embodiment," or "some embodiments," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0101] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

[0102] The above is a detailed description of the preferred embodiments of this application, but this application is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of this application, and these equivalent modifications or substitutions are all included within the scope defined by the claims of this application.

Claims

1. A calibration method for cleaning equipment, characterized in that, The cleaning equipment is equipped with an accelerometer; the method includes: When the cleaning device is placed on the corresponding charging pile, the initial detection value currently detected by the accelerometer is obtained; wherein, the charging pile is used to charge the cleaning device, and when the cleaning device is placed on the charging pile and is in a stationary state, it forms a first angle with the horizontal plane, and the value of the first angle is pre-stored in the cleaning device; Query the historical detection values ​​detected by the accelerometer when the cleaning equipment was last placed on the charging pile; Calculate the difference between the initial detection value and the historical detection value; If the difference value is greater than or equal to a preset first threshold, the calibration value corresponding to the accelerometer is determined based on the first angle and the initial detection value, and the accelerometer is calibrated based on the calibration value.

2. The calibration method for cleaning equipment according to claim 1, characterized in that, When the cleaning equipment is placed on the corresponding charging station, the initial detection value currently detected by the accelerometer is obtained, including: When the cleaning equipment is placed on the corresponding charging station, the placement status of the cleaning equipment is detected; wherein, the category of the placement status includes the stationary state and the non-stationary state; When the cleaning equipment is in the stationary state, the initial detection value currently detected by the accelerometer is obtained.

3. The calibration method for cleaning equipment according to claim 2, characterized in that, The detection of the placement status of the cleaning equipment includes: Collect acceleration data detected by the accelerometer; Detect the change value of the acceleration data within a preset time window corresponding to the current time point; If the change value is less than or equal to a preset second threshold, the placement state of the cleaning equipment is determined to be the static state. If the change value is greater than the second threshold, the placement state of the cleaning equipment is determined to be the non-static state.

4. The calibration method for cleaning equipment according to claim 1, characterized in that, The first angle is pre-stored in the cleaning device through the following steps: In response to an angle setting command from a first object for the cleaning equipment, the identity information of the first object is obtained; The first object is subject to permission verification based on the identity information; Once the permission verification is confirmed to be successful, the value of the first angle input by the first object is received; The value of the first angle is written into the non-volatile memory of the cleaning device.

5. The calibration method for cleaning equipment according to claim 1, characterized in that, The calculation of the difference between the initial detection value and the historical detection value includes: Calculate the absolute value of the difference between the initial detection value and the historical detection value, and use the absolute value as the difference value; Alternatively, calculate the absolute value of the difference between the initial detection value and the historical detection value, and calculate the ratio of the absolute value to the initial detection value or the historical detection value, and use the ratio as the difference value.

6. The calibration method for cleaning equipment according to claim 1, characterized in that, The initial detection value includes three sub-values ​​along three spatial axes; Determining the calibration value of the accelerometer based on the first angle and the initial detection value includes: Obtain the standard gravitational acceleration value corresponding to the cleaning equipment; Based on the first angle and the standard gravitational acceleration value, the theoretical acceleration values ​​of the accelerometer in the three spatial axes are calculated. Calculate the difference between the detected sub-value and the theoretical acceleration value along the same spatial axis, and determine the difference as the calibration value of the accelerometer along the spatial axis.

7. The calibration method for cleaning equipment according to claim 6, characterized in that, The step of obtaining the standard gravitational acceleration value corresponding to the cleaning equipment includes: Query the geographical location information of the cleaning equipment; Based on the geographical location information, the standard gravitational acceleration value corresponding to the cleaning equipment is determined.

8. A calibration device for cleaning equipment, characterized in that, The cleaning equipment is equipped with an accelerometer; the device includes: The acquisition unit is used to acquire the initial detection value currently detected by the accelerometer when the cleaning device is placed on the corresponding charging pile; wherein the charging pile is used to charge the cleaning device, and the cleaning device forms a first angle with the horizontal plane when it is placed on the charging pile and is in a stationary state, and the value of the first angle is pre-stored in the cleaning device; The query unit is used to query the historical detection values ​​detected by the accelerometer when the cleaning equipment was last placed on the charging pile; A calculation unit is used to calculate the difference between the initial detection value and the historical detection value; The processing unit is configured to determine the calibration value corresponding to the accelerometer based on the first angle and the initial detection value if the difference value is greater than or equal to a preset first threshold, and to calibrate the accelerometer based on the calibration value.

9. A cleaning device, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the calibration method for the cleaning equipment according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the calibration method for the cleaning equipment according to any one of claims 1 to 7.

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