Anti-slip method, device, apparatus and storage medium

Abstract

This invention provides an anti-slip method, apparatus, device, and storage medium. The method, applied to a smooth surface cleaning device, includes: determining slippage parameters of the smooth surface cleaning device; determining a target slippage condition corresponding to the slippage parameters; and activating an anti-slippage mechanism if the slippage parameters meet the target slippage condition, thereby causing the smooth surface cleaning device to escape the slippage state. Using the method provided by this invention, it is possible to effectively detect whether the smooth surface cleaning device has entered a "slipping" state. If the smooth surface cleaning device is detected to be in a "slipping" state, it can be controlled to automatically complete the escape operation. This approach ensures the continuity of the cleaning operation performed by the smooth surface cleaning device, preventing external environmental factors from affecting its cleaning efficiency.

Description

Technical Field

[0001] This invention relates to the field of automatic cleaning technology, and more particularly to an anti-slip method, apparatus, device, and storage medium. Background Technology

[0002] With the development of technology, some simple manual labor tasks no longer rely solely on manual labor but can be completed automatically by equipment. For example, family members no longer need to wipe windows manually but can choose to use smooth surface cleaning equipment, such as window cleaning machines, to automatically complete the window wiping work.

[0003] During window cleaning, the equipment sprays water while wiping the window along a pre-set route. Understandably, because the equipment sprays water in the direction it's about to move before wiping the wet surface, it inevitably has to travel over waterlogged areas. This can lead to slippage. Slippage severely impacts the efficiency of the window cleaning process and, more seriously, can cause the equipment to detach from the window, resulting in damage and a reduced lifespan. Summary of the Invention

[0004] This invention provides an anti-slip method, apparatus, device, and storage medium to ensure the continuity of cleaning operations performed by a smooth surface cleaning device.

[0005] In a first aspect, embodiments of the present invention provide an anti-slip method, which is applied to a smooth surface cleaning device, and the method includes: Determine the slip parameters of the smooth surface cleaning device; Determine the target slip condition corresponding to the slip parameters; If the slippage parameters meet the target slippage condition, the anti-slippage mechanism is activated to remove the smooth surface cleaning device from the slippage state.

[0006] Optionally, the smooth surface cleaning device includes a drive wheel, and the slippage parameter is determined based on the drive current corresponding to the drive wheel; or, The smooth surface cleaning device includes a position sensor, and the slippage parameter is determined based on the position data collected by the position sensor.

[0007] Optionally, the slippage parameter is determined based on the drive current corresponding to the drive wheel, and determining the slippage parameter of the smooth surface cleaning device includes: The drive current corresponding to the drive wheel is obtained according to a preset cycle; The current difference between at least one set of adjacent driving currents is determined as the slippage parameter; If the slippage parameter satisfies the target slippage condition, then the anti-slippage mechanism is activated, including: If the current difference is greater than a preset difference threshold, the anti-slip mechanism is activated.

[0008] Optionally, the step of activating the anti-slip mechanism if the current difference is greater than a preset difference threshold includes: If the current difference of consecutive preset groups is greater than the preset difference threshold, the anti-slip mechanism will be activated.

[0009] Optionally, the slippage parameter is determined based on the position data collected by the position sensor, and determining the slippage parameter of the smooth surface cleaning device includes: The position data collected by the position sensor is acquired according to a preset period; The displacement of the smooth surface cleaning device is determined based on multiple location data, and used as a slippage parameter; If the slippage parameter satisfies the target slippage condition, then the anti-slippage mechanism is activated, including: If the displacement is less than a preset displacement threshold, the anti-slip mechanism is activated.

[0010] Optionally, the position sensor includes an infrared sensor, and the position data is the current distance between the smooth surface cleaning device and the edge of the surface of the object being cleaned, collected by the infrared sensor.

[0011] Optionally, the position sensor includes a vision sensor, and the position data is the current coordinates of the smooth surface cleaning device on the surface of the object being cleaned.

[0012] Optionally, the position sensor includes a laser ranging module, and the position data is the distance between the smooth surface cleaning device and the edge of the surface of the object being cleaned, as detected by the laser ranging module.

[0013] Optionally, the activation of the anti-slip mechanism includes: Determine a target direction opposite to the current direction of travel of the smooth surface cleaning device; The smooth surface cleaning device is controlled to travel a preset distance in the target direction.

[0014] Optionally, the smooth surface cleaning device includes an exhaust fan, and the activation of the anti-slip mechanism includes: The exhaust fan is controlled to increase its speed, and the smooth surface cleaning device is controlled to move in the current direction of travel.

[0015] Optionally, the activation of the anti-slip mechanism includes: The smooth surface cleaning device is controlled to move forward in a rotating manner.

[0016] Optionally, the smooth surface cleaning equipment includes a dryer and a water spraying device, and the activation of the anti-slip mechanism includes: Control the smooth surface cleaning equipment to stop moving and control the water spraying device to stop spraying water; The dryer is started to blow air onto the liquid, which is located in the current direction of travel of the smooth surface cleaning equipment.

[0017] Optionally, the smooth surface cleaning device includes a telescopic rod and a liquid drying device connected to the telescopic rod, and the activation of the anti-slip mechanism includes: The telescopic rod is controlled to extend, retract, and move to drive the liquid drying device to dry the liquid, which is located in the current direction of travel of the smooth surface cleaning device.

[0018] Optionally, the liquid drying device includes a wiping cloth or a desiccant.

[0019] Optionally, after activating the anti-slip mechanism, the method further includes: Control the smooth surface cleaning equipment to continue the cleaning operation.

[0020] Optionally, controlling the smooth surface cleaning device to continue the cleaning operation includes: The visual sensor in the smooth surface cleaning device detects whether there is still liquid in the current direction of the smooth surface cleaning device's movement. If the liquid is not present, the smooth surface cleaning device is controlled to continue cleaning operations along the current direction of travel.

[0021] Optionally, controlling the smooth surface cleaning device to continue the cleaning operation includes: The humidity value of the surface of the object being cleaned is collected by the humidity sensor in the smooth surface cleaning device; If the humidity value is less than a preset humidity threshold, the smooth surface cleaning device will continue to perform the cleaning operation.

[0022] Optionally, the smooth surface cleaning equipment includes window cleaning equipment or table cleaning equipment.

[0023] In a second aspect, embodiments of the present invention provide an anti-slip device, which is disposed in a smooth surface cleaning device, and the device includes: The slippage parameter determination module is used to determine the slippage parameters of the smooth surface cleaning device; The slip condition determination module is used to determine the target slip condition corresponding to the slip parameters; A disengagement module is used to activate an anti-slip mechanism when the slippage parameter meets the target slippage condition, thereby causing the smooth surface cleaning device to disengage from the slippage state. Optionally, the smooth surface cleaning device includes a drive wheel, and the slippage parameter is determined based on the drive current corresponding to the drive wheel; or... The smooth surface cleaning device includes a position sensor, and the slippage parameter is determined based on the position data collected by the position sensor.

[0024] Optionally, the slippage parameter is determined based on the drive current corresponding to the drive wheel. The determining module is used to acquire the drive current corresponding to the drive wheel according to a preset period; and to determine the current difference between at least one set of adjacent acquisitions of the drive current as the slippage parameter. The disconnection module is used to activate the anti-slip mechanism if the current difference is greater than a preset difference threshold.

[0025] Optionally, the disconnect module is used to: If the current difference of consecutive preset groups is greater than the preset difference threshold, the anti-slip mechanism will be activated.

[0026] Optionally, the slippage parameter is determined based on the position data collected by the position sensor. The determining module is used to acquire the position data collected by the position sensor according to a preset period; and to determine the displacement of the smooth surface cleaning device based on multiple position data as the slippage parameter. The detachment module is used to activate the anti-slip mechanism if the displacement is less than a preset displacement threshold.

[0027] Optionally, the position sensor includes an infrared sensor, and the position data is the current distance between the smooth surface cleaning device and the edge of the surface of the object being cleaned, collected by the infrared sensor.

[0028] Optionally, the position sensor includes a vision sensor, and the position data is the current coordinates of the smooth surface cleaning device on the surface of the object being cleaned.

[0029] Optionally, the position sensor includes a laser ranging module, and the position data is the distance between the smooth surface cleaning device and the edge of the surface of the object being cleaned, as detected by the laser ranging module.

[0030] Optionally, the disconnect module is used to: Determine a target direction opposite to the current direction of travel of the smooth surface cleaning device; The smooth surface cleaning device is controlled to travel a preset distance in the target direction.

[0031] Optionally, the smooth surface cleaning device includes an exhaust fan, and the detachment module is used for: The exhaust fan is controlled to increase its speed, and the smooth surface cleaning device is controlled to move in the current direction of travel.

[0032] Optionally, the disconnect module is used to: The smooth surface cleaning device is controlled to move forward in a rotating manner.

[0033] Optionally, the smooth surface cleaning equipment includes a dryer and a water spraying device, and the detachment module is used for: Control the smooth surface cleaning equipment to stop moving and control the water spraying device to stop spraying water; The dryer is started to blow air onto the liquid, which is located in the current direction of travel of the smooth surface cleaning equipment.

[0034] Optionally, the smooth surface cleaning device includes a telescopic rod and a liquid drying device connected to the telescopic rod, wherein the detachment module is used for: The telescopic rod is controlled to extend, retract, and move to drive the liquid drying device to dry the liquid, which is located in the current direction of travel of the smooth surface cleaning device.

[0035] Optionally, the liquid drying device includes a wiping cloth or a desiccant.

[0036] Optionally, the device further includes a control module for: Control the smooth surface cleaning equipment to continue the cleaning operation.

[0037] Optionally, the control module is used for: The visual sensor in the smooth surface cleaning device detects whether there is still liquid in the current direction of the smooth surface cleaning device's movement. If the liquid is not present, the smooth surface cleaning device is controlled to continue cleaning operations along the current direction of travel.

[0038] Optionally, the control module is used for: The humidity value of the surface of the object being cleaned is collected by the humidity sensor in the smooth surface cleaning device; If the humidity value is less than a preset humidity threshold, the smooth surface cleaning device will continue to perform the cleaning operation.

[0039] Optionally, the smooth surface cleaning equipment includes window cleaning equipment or table cleaning equipment.

[0040] Thirdly, embodiments of the present invention provide a smooth surface cleaning device, including a processor and a memory, wherein the memory stores executable code, and when the executable code is executed by the processor, the processor can at least implement the anti-slip method in the first aspect.

[0041] Fourthly, embodiments of the present invention provide a non-transitory machine-readable storage medium storing executable code, which, when executed by a processor of a smooth surface cleaning device, enables the processor to at least implement the anti-slip method of the first aspect.

[0042] The method provided in this invention can effectively detect whether a smooth surface cleaning device has entered a "slipping" state. If slipping is detected, the device can be automatically controlled to extricate itself from the obstacle. This ensures the continuity of the cleaning operation and prevents external environmental factors from affecting its efficiency. Furthermore, because the device can automatically extricate itself from the obstacle, the risk of it detaching from the surface of the object being cleaned is reduced, preventing collisions and extending its lifespan. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 A schematic flowchart of an anti-slip method provided in an embodiment of the present invention; Figure 2 A schematic flowchart of another anti-slip method provided in an embodiment of the present invention; Figure 3 A schematic flowchart of another anti-slip method provided in an embodiment of the present invention; Figure 4 This invention provides an embodiment of an escape scenario. Figure 5 This is a schematic diagram of an anti-slip device provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of a smooth surface cleaning device provided in an embodiment of the present invention. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “the,” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0047] Depending on the context, the words “if” or “suppose” as used here can be interpreted as “when” or “in response to determination” or “in response to detection.” Similarly, depending on the context, the phrases “if determination” or “if detection (of the stated condition or event)” can be interpreted as “when determination” or “in response to determination” or “when detection (of the stated condition or event)” or “in response to detection (of the stated condition or event).”

[0048] Furthermore, the timing of the steps in the following method embodiments is merely an example and not a strict limitation.

[0049] This invention provides an anti-slip method that can be applied to smooth surface cleaning equipment. The smooth surface cleaning equipment may include, but is not limited to, window cleaning equipment, table cleaning equipment, and other devices used for automatically cleaning objects with smooth surfaces.

[0050] Figure 1 A flowchart of an anti-slip method provided in an embodiment of the present invention is shown below. Figure 1 As shown, the method includes the following steps: 101. Determine the slip parameters of the smooth surface cleaning equipment.

[0051] 102. Determine the target slip condition corresponding to the slip parameters.

[0052] 103. If the slippage parameters meet the target slippage conditions, the anti-slippage mechanism is activated to allow the smooth surface cleaning equipment to escape the slippage state.

[0053] Optionally, the smooth surface cleaning device includes a drive wheel, and the slippage parameter can be determined based on the drive current corresponding to the drive wheel. The drive wheel is the component that moves the smooth surface cleaning device. Alternatively, the smooth surface cleaning device includes a position sensor, and the slippage parameter can be determined based on position data collected by the position sensor.

[0054] The following sections will provide a detailed introduction to two cases where the slippage parameter is determined based on the drive current corresponding to the drive wheel or based on the position data collected by the position sensor.

[0055] like Figure 2 The diagram shows a flowchart of another anti-slip method provided by an embodiment of the present invention, which includes the following steps: 201. Obtain the drive current corresponding to the drive wheel according to the preset cycle.

[0056] 202. The current difference between at least one set of adjacent driving currents is determined as the slippage parameter.

[0057] 203. Determine the target slip condition corresponding to the current difference.

[0058] 204. If the current difference is greater than the preset difference threshold, the anti-slip mechanism will be activated.

[0059] During implementation, firstly, the drive current corresponding to the drive wheel can be acquired according to a preset cycle. Next, the current difference between two consecutive acquired drive currents can be calculated. For example, assuming the drive currents acquired sequentially according to the preset cycle are A, B, C, D, and E, the current difference between each set of drive currents—A and B, B and C, C and D, and D and E—can be calculated.

[0060] It should be noted that, in this embodiment of the invention, since different types of slippage parameters can be used to determine whether to activate the anti-slippage mechanism, and the judgment criteria corresponding to different types of slippage parameters are different, the target slippage condition corresponding to the slippage parameter can be determined. When the slippage parameter is a current difference, the corresponding target slippage condition is to determine whether the current difference is greater than a preset difference threshold.

[0061] If the current difference exceeds a preset threshold, the anti-slip mechanism can be activated. It's important to note that the current difference can be determined based on at least two consecutive sets of drive current readings. It can be determined whether this current difference exceeds the preset threshold. If it does, it indicates that, according to the automatic control mechanism, the drive current output to the drive wheel is increased to make the drive wheel rotate more forcefully; in other words, the drive wheel is currently in a "slipping" state. When the drive wheel is detected to be slipping, the anti-slip mechanism can be activated accordingly to help the smooth surface cleaning equipment get out of trouble.

[0062] In one possible implementation, the process of activating the anti-slip mechanism if the current difference is greater than the preset difference threshold can be implemented as follows: if the current difference of a consecutive preset group is greater than the preset difference threshold, then the anti-slip mechanism is activated.

[0063] It should be noted that, in order to prevent misjudgment of whether the drive wheel is in a "slipping" state, a series of preset current differences can be obtained. If the series of preset current differences are all greater than the preset difference threshold, the anti-slip mechanism can be activated.

[0064] Since the drive current is acquired according to a preset cycle, and the current difference is determined based on two consecutive acquired drive currents, determining whether the current difference of consecutive preset groups is greater than the preset difference threshold indicates whether the current difference of the drive current continues to increase within a set time period. If the current difference of the drive current continues to increase within a set time period, it indicates that the drive wheel is continuously in a "slipping" state, and an anti-slip mechanism can be activated to get out of trouble.

[0065] like Figure 3 The diagram shows a flowchart of another anti-slip method provided by an embodiment of the present invention, which includes the following steps: 301. Acquire position data collected by the position sensor according to the preset cycle.

[0066] 302. Determine the displacement of the smooth surface cleaning device based on multiple location data, as a slippage parameter.

[0067] 303. Determine the target slip condition corresponding to the displacement.

[0068] 304. If the displacement is less than the preset displacement threshold, the anti-slip mechanism will be activated.

[0069] Optionally, the position sensor may include, but is not limited to, infrared sensors, vision sensors, and laser ranging modules. It is understood that for smooth surface cleaning equipment, when cleaning the surface of an object, it is necessary to determine the position of the edge of the object's surface to define the working area or prevent falls. To achieve this, the smooth surface cleaning equipment can be equipped with components such as infrared sensors, vision sensors, and laser ranging modules, which can detect the position of the edge of the object's surface. In this embodiment of the invention, the real-time position of the smooth surface cleaning equipment can be detected using components such as infrared sensors, vision sensors, and laser ranging modules. If the real-time position of the smooth surface cleaning equipment determines that it continuously stays near the same coordinates, it indicates that the drive wheels are continuously "slipping," and an anti-slip mechanism can be activated to extricate it from the predicament.

[0070] Specifically, firstly, position data collected by the position sensor can be acquired according to a preset cycle. Optionally, when the position sensor includes an infrared sensor, the position data can be the distance between the smooth surface cleaning device and the edge of the object being cleaned, as acquired by the infrared sensor. When the position sensor includes a vision sensor, the position data can be the coordinates of the smooth surface cleaning device on the surface of the object being cleaned. When the position sensor includes a laser ranging module, the position data can be the distance between the smooth surface cleaning device and the edge of the object being cleaned, as detected by the laser ranging module.

[0071] After acquiring position data at different times, the displacement of the smooth surface cleaning device can be determined based on multiple position data. Next, the target slip condition corresponding to the displacement can be determined. Specifically, in this embodiment of the invention, the target slip condition can be whether the displacement is less than a preset displacement threshold. If the displacement is less than the preset displacement threshold, it indicates that the smooth surface cleaning device is continuously "slipping" near the same coordinate and cannot move. Therefore, an anti-slip mechanism can be activated accordingly to extricate itself from the predicament.

[0072] The above describes the specific implementation process of determining whether a smooth surface cleaning device is in a "slipping" state based on the slip parameter when the slip parameter is the current difference of the driving current or the displacement of the smooth surface cleaning device. The following describes the specific implementation process of activating the anti-slip mechanism in this embodiment of the invention. The methods for activating the anti-slip mechanism described herein are merely examples and do not limit the specific implementation process of activating the anti-slip mechanism. Optionally, at least five implementation methods for activating the anti-slip mechanism are provided in this embodiment of the invention, and these five implementation methods will be described in detail below. (one) Optionally, the process of activating the anti-slip mechanism can be achieved by: determining a target direction opposite to the current travel direction of the smooth surface cleaning device; and controlling the smooth surface cleaning device to travel a preset distance in the target direction.

[0074] It should be noted that smooth surface cleaning equipment can travel along a pre-set route to clean the surface of the object being cleaned. For example, it can travel in a zigzag or N-shaped pattern. Regardless of the route, when the smooth surface cleaning equipment enters a "slippery" state, it retains its current direction of travel and can determine a target direction opposite to its current direction. Then, it can be controlled to travel a preset distance towards the target direction. In short, as... Figure 4 As shown in the scenario, the device controls the smooth surface cleaning equipment to move back a preset distance, so as to exit from the current "slipping" position and resume the previously unfinished cleaning operation. (two) Optionally, the smooth surface cleaning device includes an exhaust fan; correspondingly, the process of activating the anti-slip mechanism can be achieved by controlling the exhaust fan to increase its rotation speed and controlling the smooth surface cleaning device to move in the current direction of travel.

[0076] It is understandable that an exhaust fan can be installed in a smooth surface cleaning device. The exhaust fan removes the air between the chassis of the device and the surface of the object being cleaned, creating a near-vacuum environment. This generates negative pressure, pressing the device firmly against the surface. In one possible application scenario, when the device is used for window cleaning, it needs to be pressed against the glass surface and its own weight must be overcome during the cleaning operation.

[0077] Understandably, when the suction power of the exhaust fan is insufficient, it will correspondingly reduce the negative pressure between the chassis of the smooth surface cleaning device and the surface of the object being cleaned, causing the device to "slip." To address this, the exhaust fan speed can be increased, thereby increasing the suction power and ultimately increasing the negative pressure between the chassis of the smooth surface cleaning device and the surface of the object being cleaned, resulting in a more secure fit between the device and the surface. (three) Alternatively, the process of activating the anti-slip mechanism can be achieved by controlling the smooth surface cleaning device to move forward in a rotating manner.

[0079] Specifically, the smooth surface cleaning device can be controlled to escape obstacles by "twisting." For example, the device can be controlled to travel a distance diagonally upwards at a 45° angle to its current direction of travel, then return to its current direction of travel. This process can be repeated, allowing the device to escape obstacles by "twisting." (Four) Optionally, the smooth surface cleaning equipment may be equipped with a dryer and a water spraying device. Accordingly, the process of activating the anti-slip mechanism can be implemented as follows: controlling the smooth surface cleaning equipment to stop moving and controlling the water spraying device to stop spraying water; activating the dryer to blow air onto the liquid, with the liquid located in the current direction of movement of the smooth surface cleaning equipment.

[0081] Understandably, when a smooth surface cleaning device becomes slippery, the water spraying device can be immediately stopped, and then the dryer within the device can be activated to blow air onto the liquid causing the slippage. This dries the slippery liquid, preventing the device from slipping again when it resumes its original direction of travel. (five) Optionally, a telescopic rod and a liquid drying device connected to the telescopic rod can be installed in the smooth surface cleaning equipment. Accordingly, the process of activating the anti-slip mechanism can be achieved by controlling the telescopic rod to extend, retract, and move, thereby driving the liquid drying device to dry the liquid, with the liquid located in the current direction of travel of the smooth surface cleaning equipment.

[0083] Understandably, a claw-like component, implemented using a telescopic rod, can be incorporated into a smooth surface cleaning device. This claw and liquid drying device can then be controlled to dry the liquid causing the device to "slip" through the liquid.

[0084] Optionally, the liquid drying device may include, but is not limited to, a wiping cloth, a desiccant, etc. The desiccant may be, for example, anhydrous calcium chloride, anhydrous magnesium sulfate, soda lime, quicklime, solid sodium hydroxide, silica gel desiccant, activated alumina, etc.

[0085] Understandably, even after the anti-slip mechanism is activated, the smooth surface cleaning equipment can still continue its cleaning operation. In practical applications, after the smooth surface cleaning equipment has completed its escape operation, the previously unfinished cleaning process can resume.

[0086] In one possible implementation, to ensure that the smooth surface cleaning device is indeed freed, a vision sensor in the smooth surface cleaning device can be used to detect whether there is still liquid in the current direction of travel before continuing the cleaning operation that was not completed. If there is no liquid, the smooth surface cleaning device is controlled to continue the cleaning operation in the current direction of travel.

[0087] In practical applications, visual sensors can be used to capture and analyze images to determine whether liquid in the direction the smooth surface cleaning device is about to travel has been cleared. For example, an image of a preset area in front of the smooth surface cleaning device can be captured, and then the image can be analyzed. If no liquid is detected in the image, it is determined that there is no liquid in the current direction of travel of the smooth surface cleaning device. At this point, it can be determined that the smooth surface cleaning device has completed the escape operation and will not fall into a "slippery" state again when continuing the previously unfinished cleaning operation. Thus, the smooth surface cleaning device can be controlled to continue the previously unfinished cleaning operation.

[0088] In another alternative embodiment, in addition to the above-mentioned methods to ensure that the smooth surface cleaning device is indeed freed, the humidity value of the surface of the object being cleaned can also be collected by the humidity sensor in the smooth surface cleaning device; if the humidity value is less than a preset humidity threshold, the smooth surface cleaning device is controlled to continue the cleaning operation.

[0089] In practical applications, the humidity value of the surface of the object being cleaned, collected by a humidity sensor, can determine whether the liquid in the direction the smooth surface cleaning device is about to travel has been completely removed. For example, when the humidity value of the surface of the object being cleaned, collected by the humidity sensor, is less than a preset humidity threshold, it indicates that there is no liquid in the current direction of travel of the smooth surface cleaning device, or even if there is a small amount of liquid, it will not affect the smooth surface cleaning device from performing the cleaning operation. At this time, it can be determined that the smooth surface cleaning device has completed the extrication operation and will not fall into a "slippery" state again when continuing the previously unfinished cleaning operation. Thus, the smooth surface cleaning device can be controlled to continue the previously unfinished cleaning operation.

[0090] The method provided in this invention can effectively detect whether a smooth surface cleaning device has entered a "slipping" state. If slipping is detected, the device can be automatically controlled to extricate itself from the obstacle. This ensures the continuity of the cleaning operation and prevents external environmental factors from affecting its efficiency. Furthermore, because the device can automatically extricate itself from the obstacle, the risk of it detaching from the surface of the object being cleaned is reduced, preventing collisions and extending its lifespan.

[0091] The following will describe in detail one or more embodiments of the anti-slip device of the present invention. Those skilled in the art will understand that these anti-slip devices can be configured using commercially available hardware components through the steps taught in this solution.

[0092] Figure 5 This is a schematic diagram of an anti-slip device provided in an embodiment of the present invention. The device is installed in a smooth surface cleaning device, such as... Figure 5 As shown, the device includes: The slippage parameter determination module 51 is used to determine the slippage parameters of the smooth surface cleaning device. The slip condition determination module 52 is used to determine the target slip condition corresponding to the slip parameter; The disengagement module 53 is used to activate an anti-slip mechanism when the slippage parameters meet the target slippage condition, so as to disengage the smooth surface cleaning device from the slippage state. Optionally, the smooth surface cleaning device includes a drive wheel, and the slippage parameters are determined based on the drive current corresponding to the drive wheel; or... The smooth surface cleaning equipment includes a position sensor, and the slippage parameter is determined based on the position data collected by the position sensor.

[0093] Optionally, the slippage parameter is determined based on the drive current corresponding to the drive wheel. The slippage parameter determination module 51 is used to obtain the drive current corresponding to the drive wheel according to a preset cycle; and to determine the current difference between at least one set of adjacent drive currents as the slippage parameter. The disconnect module 53 is used to activate the anti-slip mechanism if the current difference is greater than a preset difference threshold.

[0094] Optionally, module 53 can be removed for: If the current difference of consecutive preset groups is greater than the preset difference threshold, the anti-slip mechanism will be activated.

[0095] Optionally, the slippage parameter is determined based on the position data collected by the position sensor. The slippage parameter determination module 51 is used to acquire the position data collected by the position sensor according to a preset cycle; and to determine the displacement of the smooth surface cleaning device based on multiple position data as the slippage parameter. The detachment module 53 is used to activate the anti-slip mechanism if the displacement is less than a preset displacement threshold.

[0096] Optionally, the position sensor includes an infrared sensor, and the position data is the current distance between the smooth surface cleaning device and the edge of the surface of the object being cleaned, collected by the infrared sensor.

[0097] Optionally, the position sensor includes a vision sensor, and the position data is the current coordinates of the smooth surface cleaning device on the surface of the object being cleaned.

[0098] Optionally, the position sensor includes a laser ranging module, and the position data is the current distance between the smooth surface cleaning device and the edge of the surface of the object being cleaned, as detected by the laser ranging module.

[0099] Optionally, module 53 can be removed for: Determine the target direction opposite to the current direction of travel of the smooth surface cleaning equipment; Control the smooth surface cleaning equipment to travel a preset distance in the target direction.

[0100] Optionally, the smooth surface cleaning device includes an exhaust fan and a detachment module 53 for: Control the exhaust fan to increase its speed and control the smooth surface cleaning equipment to move in the current direction of travel.

[0101] Optionally, module 53 can be removed for: Control the smooth surface cleaning equipment to move forward in a rotating manner.

[0102] Optionally, the smooth surface cleaning equipment includes a dryer and a water spray device, and the detachment module 53 is used for: Control the smooth surface cleaning equipment to stop moving and control the water spraying device to stop spraying water; Start the dryer to blow air onto the liquid, which is located in the current direction of travel of the smooth surface cleaning equipment.

[0103] Optionally, the smooth surface cleaning device includes a telescopic rod and a liquid drying device connected to the telescopic rod, detachment module 53, for: The telescopic rod is controlled to extend, retract, and move, thereby driving the liquid drying device to dry the liquid, which is located in the current direction of travel of the smooth surface cleaning equipment.

[0104] Alternatively, the liquid drying device may include a wiping cloth or a desiccant.

[0105] Optionally, the device further includes a control module for: Control the smooth surface cleaning equipment to continue the cleaning operation.

[0106] Optionally, the control module is used for: The visual sensor in the smooth surface cleaning equipment detects whether there is still liquid in the current direction of the smooth surface cleaning equipment's movement; If no liquid is present, the smooth surface cleaning equipment continues the cleaning operation in the current direction of travel.

[0107] Optionally, the control module is used for: The humidity value of the surface of the object being cleaned is collected by a humidity sensor in the smooth surface cleaning equipment; If the humidity value is less than the preset humidity threshold, the smooth surface cleaning equipment will continue to perform the cleaning operation.

[0108] Alternatively, the smooth surface cleaning equipment includes window cleaning equipment or table cleaning equipment.

[0109] Figure 5 The device shown can perform the aforementioned Figures 1 to 4 The anti-slip method provided in the illustrated embodiment is described in detail in the foregoing embodiments for its execution process and technical effects, and will not be repeated here.

[0110] In one possible design, the above Figure 5 The structure of the anti-slip device shown can be implemented as a smooth surface cleaning device, such as... Figure 6 As shown, the smooth surface cleaning device may include a processor 61 and a memory 62. The memory 62 stores executable code, which, when executed by the processor 61, enables the processor 61 to at least perform the functions described above. Figures 1 to 4 The anti-slip method provided in the illustrated embodiment.

[0111] Optionally, the smooth surface cleaning device may also include a communication interface 63 for communicating with other devices.

[0112] Furthermore, embodiments of the present invention provide a non-transitory machine-readable storage medium storing executable code, which, when executed by a processor of a smooth surface cleaning device, enables the processor to at least perform the functions described above. Figures 1 to 4 The anti-slip method provided in the illustrated embodiment.

[0113] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separate. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0114] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of a necessary general-purpose hardware platform, or by a combination of hardware and software. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a computer product. The present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0115] The anti-slip method provided in this embodiment of the invention can be executed by a program / software, which can be provided by a network side. The smooth surface cleaning device mentioned in the foregoing embodiments can download the program / software to a local non-volatile storage medium, and when it needs to execute the aforementioned anti-slip method, the CPU reads the program / software into memory, and then the CPU executes the program / software to implement the anti-slip method provided in the foregoing embodiments. The execution process can be referred to the foregoing... Figures 1 to 4 The illustration is shown in the image.

[0116] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for preventing slippage, characterized in that, The method, applied to a smooth surface cleaning device, includes: Determine the slip parameters of the smooth surface cleaning device; Determine the target slip condition corresponding to the slip parameters; If the slippage parameters meet the target slippage condition, the anti-slippage mechanism is activated to remove the smooth surface cleaning device from the slippage state.

2. The method according to claim 1, characterized in that, The smooth surface cleaning device includes a drive wheel, and the slippage parameter is determined based on the drive current corresponding to the drive wheel; or, The smooth surface cleaning device includes a position sensor, and the slippage parameter is determined based on the position data collected by the position sensor.

3. The method according to claim 2, characterized in that, The slippage parameter is determined based on the drive current corresponding to the drive wheel. Determining the slippage parameter of the smooth surface cleaning device includes: The drive current corresponding to the drive wheel is obtained according to a preset cycle; The current difference between at least one set of adjacent driving currents is determined as the slippage parameter; If the slippage parameter satisfies the target slippage condition, then the anti-slippage mechanism is activated, including: If the current difference is greater than a preset difference threshold, the anti-slip mechanism is activated.

4. The method according to claim 3, characterized in that, If the current difference is greater than a preset difference threshold, the anti-slip mechanism is activated, including: If the current difference of consecutive preset groups is greater than the preset difference threshold, the anti-slip mechanism will be activated.

5. The method according to claim 2, characterized in that, The slippage parameter is determined based on the position data collected by the position sensor. Determining the slippage parameter of the smooth surface cleaning device includes: The position data collected by the position sensor is acquired according to a preset period; The displacement of the smooth surface cleaning device is determined based on multiple location data, and used as a slippage parameter; If the slippage parameter satisfies the target slippage condition, then the anti-slippage mechanism is activated, including: If the displacement is less than a preset displacement threshold, the anti-slip mechanism is activated.

6. The method according to claim 5, characterized in that, The position sensor includes an infrared sensor, and the position data is the distance between the smooth surface cleaning device and the edge of the surface of the object being cleaned, collected by the infrared sensor.

7. The method according to claim 5, characterized in that, The position sensor includes a vision sensor, and the position data is the current coordinates of the smooth surface cleaning device on the surface of the object being cleaned.

8. The method according to claim 5, characterized in that, The position sensor includes a laser ranging module, and the position data is the distance between the smooth surface cleaning device and the edge of the object being cleaned, as detected by the laser ranging module.

9. The method according to any one of claims 1-8, characterized in that, The activation of the anti-slip mechanism includes: Determine a target direction opposite to the current direction of travel of the smooth surface cleaning device; The smooth surface cleaning device is controlled to travel a preset distance in the target direction.

10. The method according to any one of claims 1-8, characterized in that, The smooth surface cleaning device includes an exhaust fan, and the anti-slip mechanism includes: The exhaust fan is controlled to increase its speed, and the smooth surface cleaning device is controlled to move in the current direction of travel.

11. The method according to any one of claims 1-8, characterized in that, The activation of the anti-slip mechanism includes: The smooth surface cleaning device is controlled to move forward in a rotating manner.

12. The method according to any one of claims 1-8, characterized in that, The smooth surface cleaning equipment includes a dryer and a water spraying device, and the anti-slip mechanism includes: Control the smooth surface cleaning equipment to stop moving and control the water spraying device to stop spraying water; The dryer is started to blow air onto the liquid, which is located in the current direction of travel of the smooth surface cleaning equipment.

13. The method according to any one of claims 1-8, characterized in that, The smooth surface cleaning device includes a telescopic rod and a liquid drying device connected to the telescopic rod. The activation of the anti-slip mechanism includes: The telescopic rod is controlled to extend, retract, and move to drive the liquid drying device to dry the liquid, which is located in the current direction of travel of the smooth surface cleaning device.

14. The method according to claim 13, characterized in that, The liquid drying device includes a wiping cloth or a desiccant.

15. The method according to claim 1, characterized in that, After activating the anti-slip mechanism, the method further includes: Control the smooth surface cleaning equipment to continue the cleaning operation.

16. The method according to claim 15, characterized in that, The control of the smooth surface cleaning device to continue the cleaning operation includes: The visual sensor in the smooth surface cleaning device detects whether there is still liquid in the current direction of the smooth surface cleaning device's movement. If the liquid is not present, the smooth surface cleaning device is controlled to continue cleaning operations along the current direction of travel.

17. The method according to claim 15, characterized in that, The control of the smooth surface cleaning device to continue the cleaning operation includes: The humidity value of the surface of the object being cleaned is collected by the humidity sensor in the smooth surface cleaning device; If the humidity value is less than a preset humidity threshold, the smooth surface cleaning device will continue to perform the cleaning operation.

18. The method according to any one of claims 1 to 8, characterized in that, The smooth surface cleaning equipment includes window cleaning equipment or table cleaning equipment.

19. An anti-slip device, characterized in that, include: The slippage parameter determination module is used to determine the slippage parameters of the smooth surface cleaning device; The slip condition determination module is used to determine the target slip condition corresponding to the slip parameters; The disengagement module is used to activate the anti-slip mechanism when the slippage parameters meet the target slippage conditions, so as to disengage the smooth surface cleaning device from the slippage state.

20. A smooth surface cleaning device, characterized in that, include: A memory and a processor; wherein the memory stores executable code, and when the executable code is executed by the processor, the processor performs the anti-slip method as described in any one of claims 1-18.

21. A non-transitory machine-readable storage medium, characterized in that, The non-transitory machine-readable storage medium stores executable code that, when executed by a processor of a smooth surface cleaning device, causes the processor to perform the anti-slip method as described in any one of claims 1-18.

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