Cleaning control method and device of cleaning equipment, cleaning equipment, medium and electronic equipment

Abstract

The application provides a cleaning control method and device of a cleaning device, the cleaning device, a medium and an electronic device. The method comprises the following steps: during the cleaning device performing a cleaning task, in response to a heating module starting instruction, an initial heating power gear corresponding to a starting temperature of the heating module is determined; the heating module is started at the initial heating power gear, and the heating module is controlled to continuously operate for a first preset time length; after continuously operating for the first preset time length, and when the heating module meets a preset safe heating condition, the gear of the heating power is adjusted in gear up, gear down or gear keeping at a preset adjustment time interval, so that the temperature of the heating module is maintained in a target temperature interval. The application can ensure that the heating module is safely started, quickly reach the target temperature, and stably maintain the target temperature.

Description

Technical Field

[0001] This application relates to the field of computer technology, and more specifically, to a cleaning control method, apparatus, cleaning equipment, medium, and electronic equipment for cleaning devices. Background Technology

[0002] With the continuous development of cleaning equipment technology, cleaning equipment such as window cleaning robots have been widely used in home and commercial cleaning scenarios, effectively reducing labor costs and bringing great convenience to daily life and business operations.

[0003] In related technologies, cleaning equipment generally has a cleaning fluid heating function, which typically uses a fixed power (such as full power) to heat the heating module to a preset target temperature. After entering the temperature maintenance stage, the heating module is switched on and off based on the deviation between the real-time temperature and the target temperature to maintain the target temperature. This control method is prone to temperature overshoot, and the temperature cannot be stably maintained at the target value. In addition, the heating module is frequently started and stopped during the temperature maintenance stage, resulting in energy waste and high device lifespan.

[0004] Therefore, it is necessary to propose a smooth heating and temperature control method for cleaning equipment to overcome the shortcomings of existing heating and temperature control methods for cleaning equipment. Summary of the Invention

[0005] The purpose of this application is to provide a cleaning control method, device, medium, and electronic equipment for cleaning equipment, solving the technical problem of how to rapidly raise the heating module to the target temperature and stably maintain it at the target temperature while ensuring the safe activation of the heating module. The specific solution is as follows: According to a specific embodiment of this application, in a first aspect, this application provides a cleaning control method for a cleaning device, the method comprising: During the cleaning process, the cleaning equipment responds to the start command of the heating module and determines the corresponding initial heating power level based on the start temperature of the heating module; wherein, the start temperature is the temperature of the heating module after receiving the start command; The heating module is started at the initial heating power setting, and the heating module is controlled to run continuously for a first preset time. After running continuously for the first preset duration, and when the heating module meets the preset safe heating conditions, the heating power level is adjusted to increase, decrease, or maintain the level at a preset adjustment time interval based on the comparison result between the current temperature of the heating module and the preset target temperature range, so that the temperature of the heating module is maintained within the target temperature range.

[0006] In some possible embodiments, when determining the corresponding initial heating power level based on the start-up temperature of the heating module, the method further includes: Monitor the vacuum level when the cleaning device is adsorbed onto the surface to be cleaned; wherein the vacuum level is used to indicate the adsorption force of the cleaning device on the surface to be cleaned; Starting the heating module at the initial heating power setting includes: When the vacuum level is greater than the first preset vacuum level, the heating module is started at the initial heating power level.

[0007] In some possible embodiments, when the heating module meets preset safe heating conditions, the method further includes: Based on the vacuum level, determine the highest allowable heating power level corresponding to the heating module.

[0008] In some possible embodiments, the maximum allowable heating power level corresponding to the heating module is determined based on the vacuum level, including: Based on a preset mapping table between vacuum level and maximum allowable heating power level, determine the maximum allowable heating power level corresponding to the vacuum level; or, Based on a preset continuous positive correlation function, the highest allowable heating power level corresponding to the heating module is determined according to the vacuum level.

[0009] In some possible embodiments, adjusting the heating power level by increasing, decreasing, or maintaining the level at a preset adjustment time interval includes: When the current temperature is lower than the target temperature range and the heating power level is lower than the highest heating power level, adjust the heating power level to increase by one level; When the current temperature is higher than the target temperature range and the heating power level is higher than the lowest heating power level, adjust the heating power level down by one level. The heating power setting remains unchanged when at least one of the following conditions is met: The current temperature is within the target temperature range; The current temperature is not within the target temperature range, and the current heating power level is the highest heating power level; The current temperature is not within the target temperature range, and the current heating power level is the lowest heating power level.

[0010] In some possible embodiments, the cleaning device has multiple cleaning modes, each corresponding to different cleaning parameters, including at least one of a first preset duration, an adjustment time interval, and a target temperature range.

[0011] In some possible embodiments, the plurality of cleaning modes include a plurality of cleaning intensity modes; wherein, the higher the cleaning intensity of the cleaning mode, the higher the corresponding target temperature range, the higher the maximum allowable heating power level, and the longer the first preset duration and / or the shorter the adjustment time interval.

[0012] In some possible embodiments, the method further includes: When switching from the current cleaning mode to the target cleaning mode, and the first target temperature range of the current cleaning mode is higher than the second target temperature range of the target cleaning mode, the heating module is controlled to stop heating until the temperature of the heating module drops below the second target temperature range. Then, the temperature of the heating module is maintained in the second target temperature range by using the adjustment time interval corresponding to the target cleaning mode.

[0013] In some possible embodiments, the method further includes: When switching from the current cleaning mode to the target cleaning mode, and the first target temperature range of the current cleaning mode is lower than the second target temperature range of the target cleaning mode, the current temperature of the heating module is used as the start temperature, and the temperature of the heating module is maintained in the second target temperature range by using the adjustment time interval corresponding to the target cleaning mode.

[0014] In some possible embodiments, the method further includes: Obtain the real-time position of the cleaning device on the surface to be cleaned; When any part of the cleaning equipment is less than a preset distance threshold from the edge of the surface to be cleaned, the operating parameters of the heating module are adjusted according to a preset edge limiting strategy. The operating parameters include at least one of the following: heating power level, adjustment time interval, and target temperature range; The edge limiting strategy includes at least one of the following: limiting the upper limit of the heating power level, limiting the lower limit of the adjustment time interval, and limiting the upper limit of the target temperature range.

[0015] In some possible embodiments, the method further includes: Obtain the surface temperature and material type of the surface to be cleaned; When the surface temperature is lower than a preset low temperature threshold, the heating module is controlled to execute a preset low temperature regulation strategy; The low-temperature regulation strategy includes: determining the maximum allowable temperature rise threshold based on the material type; and adjusting the target temperature range so that the difference between the target temperature range and the surface temperature does not exceed the maximum allowable temperature rise threshold.

[0016] In some possible embodiments, multiple preset heating power levels correspond to different duty cycles, and the duty cycle is used to characterize the ratio of the heating module’s energization time in one heating power output cycle to the total duration of the heating power output cycle.

[0017] In some possible embodiments, the method further includes: When the interval between the trigger time of this start command and the last time the heating module was shut down is less than a preset time difference threshold, and the heating module has not been started within the interval, the temperature of the heating module last collected before the last shutdown is used as the start temperature for this start.

[0018] In some possible embodiments, the method further includes: shutting down the heating module when any of the following conditions are met: Within a third preset time period, the current temperature of the heating module relative to the start-up temperature rises above a second preset temperature; wherein, the detected temperature at the trigger moment of the heating module is the start-up temperature; Within the fourth preset time period, the temperature rise of the heating module relative to the start-up temperature is less than the third preset temperature; The current temperature of the heating module has reached the upper or lower limit of the range of the temperature sensor of the heating module. The temperature of the heating module is greater than the preset safety protection threshold, and the duration is greater than the preset fifth preset duration. Within a sixth preset time period, the current of the heating module remains less than a preset current threshold. The vacuum level when the cleaning device is adsorbed onto the surface to be cleaned is lower than the second preset vacuum level.

[0019] In some possible embodiments, after the heating module shuts down due to a temperature exceeding the safety protection threshold, the following further steps are included: When the current temperature of the heating module drops below the preset restart temperature, the heating module is restarted; wherein the restart temperature is less than the safety protection threshold.

[0020] In some possible embodiments, after responding to the heating module start command and before starting the heating module, the method further includes: Monitor the real-time temperature of the heating module within a second preset time period; When the real-time temperature of the heating module remains higher than the fourth preset temperature for a second preset time period, the heating module is controlled to remain in the off state.

[0021] According to a specific embodiment of this application, in a second aspect, this application also provides a cleaning control device for cleaning equipment, the device comprising: The power level determination module is used to respond to the heating module start command during the cleaning operation of the cleaning equipment and determine the corresponding initial heating power level based on the start temperature of the heating module; wherein, the start temperature is the temperature of the heating module after receiving the start command; The preheating detection module is used to start the heating module at the initial heating power level and control the heating module to run continuously for a first preset time. The heating control module is used to adjust the heating power level by increasing, decreasing, or maintaining the level at a preset adjustment time interval, based on the comparison result between the current temperature of the heating module and the preset target temperature range, after continuous operation for the first preset time period and when the heating module meets the preset safe heating conditions, so that the temperature of the heating module is maintained within the target temperature range.

[0022] According to a specific embodiment of this application, in a third aspect, this application also provides a cleaning device, which is a window cleaning robot, used to implement the method described in any of the preceding claims. According to a specific embodiment of this application, in a fourth aspect, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any of the preceding claims.

[0023] According to a specific embodiment of this application, in a fifth aspect, this application also provides an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the one or more processors to perform the method as described in any of the preceding claims.

[0024] Compared with the prior art, the above-described solutions of this application have at least the following beneficial effects: Upon receiving the heating module start command, the system first matches the initial heating power level to the current temperature of the heating module. If the vacuum level when the cleaning device is adsorbed onto the surface to be cleaned is greater than a first preset vacuum level, the heating module is started at the initial heating power level and maintained for a first preset duration. After the first preset duration, it is determined whether the heating module meets the preset safe heating conditions. Only if the heating module meets the preset safe heating conditions, the heating module's power level is adjusted or maintained based on the comparison between the current temperature and the target temperature, ensuring the heating module temperature remains at the target temperature. Thus, the heating module's operation process is divided into a start-up phase, a temperature adjustment phase, and a constant temperature phase. During the start-up phase, the initial heating power level is matched based on the real-time temperature. This level is used for the heating module's safety self-check and preheating buffer, avoiding excessively rapid temperature rise or temperature overshoot caused by blindly using fixed power heating. It also effectively identifies potential heating module malfunctions. Both the temperature adjustment and constant temperature phases employ a step-by-step power fine-tuning strategy, ensuring the heating module's temperature converges smoothly and accurately to the target temperature. This application enables dynamic control of the entire heating process of the heating module, ensuring rapid attainment of the target temperature during the temperature adjustment stage and high-precision temperature control during the constant temperature stage. It significantly suppresses temperature overshoot and oscillation, improves energy utilization, and reduces fatigue wear caused by frequent start-stop of the heating module, effectively extending the service life of the equipment. Attached Figure Description

[0025] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings: Figure 1 The flowchart of the cleaning control method for the cleaning equipment shown in the embodiments of this application Figure 1 ; Figure 2 The flowchart of the cleaning control method for the cleaning equipment shown in the embodiments of this application Figure 2 ; Figure 3 The flowchart of the cleaning control method for the cleaning equipment shown in the embodiments of this application Figure 3 ; Figure 4 The flowchart of the cleaning control method for the cleaning equipment shown in the embodiments of this application Figure 4 ; Figure 5 This is a structural block diagram of the cleaning control device for a cleaning equipment shown in an embodiment of this application; Figure 6This is a schematic diagram of the electronic device structure shown in an embodiment of this application. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the application. The singular forms “a,” “said,” and “the” used in the embodiments of this application 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.

[0028] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0029] It should be understood that although the terms first, second, third, etc., may be used in the embodiments of this application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, first may also be referred to as second without departing from the scope of the embodiments of this application, and similarly, second may also be referred to as first.

[0030] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device that includes said element.

[0031] In existing technologies, cleaning equipment such as window cleaning robots and floor sweeping robots are generally equipped with a cleaning fluid heating function. The conventional solution is to install a heating module in the cleaning fluid delivery pipeline, which heats the cleaning fluid flowing through the pipeline. The heated cleaning fluid is more likely to dissolve and remove stains, effectively improving the cleaning effect of the cleaning equipment.

[0032] Currently, heating control methods for heating modules are mainly divided into two categories: The first category is hard-start / stop constant power temperature control. This method typically heats the heating module continuously at a fixed power until the target temperature is reached. During the temperature maintenance phase, the heating module is controlled to start and stop based on the deviation threshold between the target temperature and the current temperature to maintain the target temperature. When the current temperature exceeds the target temperature and the temperature difference reaches the deviation threshold, the heating module is shut down to stop heating until the current temperature falls below the target temperature, at which point the heating module is restarted to continue heating. In the temperature adjustment phase, if the difference between the current temperature and the target temperature is small, this method is prone to excessively rapid heating and temperature overshoot. In the temperature maintenance phase, it easily causes frequent start-stop cycles of the heating module, increasing power consumption and exacerbating device wear. The second category is PID algorithm control. This method uses a PID algorithm to dynamically adjust the heating power of the heating module in real time to achieve precise temperature control. However, in the preheating phase, improper matching of PID parameters (proportional coefficient, integral time, derivative time) can lead to temperature overheating and temperature fluctuations. In the temperature maintenance phase, it is susceptible to interference from ambient temperature and power supply voltage fluctuations, resulting in temperature drift. Meanwhile, PID control has high requirements for the accuracy of the main control chip and temperature sensor, resulting in high hardware and development / debugging costs. In addition, the algorithm operation consumes too much main control resources, squeezing the computing resources of other functional components of the cleaning equipment.

[0033] In addition, existing cleaning equipment directly activates the heating module upon power-on without implementing a heating safety detection process before starting heating. This can easily lead to the heating module being in an overheated state for an extended period, resulting in insulation breakdown or even burnout. For example, when abnormal operating conditions such as fluid shortage or flow interruption occur in the pipeline, the heating module cannot dissipate heat in time, easily causing heat accumulation.

[0034] To address the aforementioned issues, the cleaning control method for the cleaning equipment in this application, upon responding to a heating module start command, firstly determines the corresponding initial heating power level based on the heating module's temperature at the time the start command is triggered; then, the heating module is started at the initial heating power level and controlled to run continuously for a first preset duration; subsequently, after the first preset duration, when the heating module meets preset safe heating conditions, the heating power level is adjusted stepwise (up, down, or held) at preset adjustment time intervals based on a comparison between the heating module's current temperature and a preset target temperature range, thereby maintaining the heating module's temperature within the target temperature range. In this way, while ensuring the heating module's safe start-up, the method enables the heating module to quickly reach and stably maintain the target temperature range.

[0035] The optional embodiments of this application are described in detail below with reference to the accompanying drawings.

[0036] Figure 1 The flowchart of the cleaning control method for the cleaning equipment shown in the embodiments of this application Figure 1 ,like Figure 1 As shown, the cleaning control method of the cleaning equipment in this embodiment may include the following steps: S101. During the cleaning operation, the cleaning equipment responds to the start command of the heating module and determines the corresponding initial heating power level based on the start temperature of the heating module; wherein, the start temperature is the temperature of the heating module after receiving the start command.

[0037] For example, the cleaning equipment may be a window cleaning machine, a floor mop, a floor scrubber, etc., and the main body executing the cleaning control method of the cleaning equipment may be the main control system of the cleaning equipment.

[0038] It is understandable that the startup temperature of the heating module is the real-time temperature of the heating module detected for the first time after receiving the startup command. For example, this real-time temperature is collected by a temperature sensor (Negative Temperature Coefficient, NTC). The heating module has multiple heating power levels, each with a different heating intensity. The initial heating power level is the level assigned when the heating module starts. The corresponding initial heating power level can be matched based on the startup temperature of the heating module (i.e., the temperature of the heating module itself detected for the first time after receiving the startup command). For example, the main control system stores a mapping table between startup temperature and initial heating power level. Different temperature ranges correspond to different initial heating power levels, and the initial heating power level can be obtained by looking up the table.

[0039] S102. Start the heating module at the initial heating power setting and control the heating module to run continuously for a first preset time; The first preset duration is the preset duration for which the heating module maintains its initial heating power after starting at the initial heating power. The first preset duration can be a pre-calibrated fixed value or it can be determined based on the performance parameters of the heating module itself.

[0040] This step is set before the temperature adjustment and maintenance stages. While performing a heating safety test on the heating module, it uses continuous heating for a first preset duration to preheat the heating module. This avoids the initial heating power level misjudgment caused by fluctuations in the temperature detection value at startup, and provides a stable benchmark for temperature control in the subsequent temperature adjustment stage, so that the subsequent temperature can quickly, smoothly and accurately reach the target temperature range.

[0041] S103. After running continuously for a first preset time, and when the heating module meets the preset safe heating conditions, based on the comparison result between the current temperature of the heating module and the preset target temperature range, the heating power level is adjusted stepwise at preset adjustment time intervals to increase, decrease, or maintain the level, so that the temperature of the heating module is maintained within the target temperature range.

[0042] The target temperature range refers to the temperature during the constant-temperature phase of the heating module, which is detected by a temperature sensor. Due to inherent sensor errors, the temperature only needs to reach the preset target range. This target temperature range can be determined in multiple ways. For example, it can be set according to user control commands; the user can manually set the target temperature range to fixed values ​​such as 45℃±1℃, 60℃±1℃, and 70℃±1℃. It can also be set according to the current cleaning mode; for example, when the cleaning equipment is operating in strong cleaning mode, the target temperature range can be set to 70℃±1℃, and when the cleaning equipment is operating in mild cleaning mode, the target temperature range can be set to 30℃±1℃. The settings are dynamically configured based on the real-time operating conditions of the functional components of the cleaning equipment (such as heating modules, adsorption modules, and water spray modules). For example, the vacuum degree of the adsorption module is positively correlated with the target temperature range; the lower the vacuum degree, the lower the target temperature range, and the higher the vacuum degree, the higher the target temperature range. Similarly, the cleaning fluid flow rate of the water spray module is positively correlated with the target temperature range; the faster the cleaning fluid flow rate, the higher the target temperature range, and the slower the cleaning fluid flow rate, the lower the target temperature range.

[0043] The adjustment time interval is the minimum duration (e.g., 2 seconds) that the heating module maintains its heating power level, and also serves as the period for determining whether a power level switch is needed. Whenever the timer reaches an adjustment time interval, it determines whether a power level switch is required. If so, the heating module is controlled to either increase or decrease the power level; otherwise, the power level remains unchanged. Here, increasing the power level means switching from the current level to a higher level, and decreasing the power level means switching from the current level to a lower level.

[0044] Understandably, after the first preset time, the heating module completes preheating. Provided the heating module meets safe heating conditions, it then enters the subsequent temperature adjustment and stabilization control process. In this subsequent process, the preset adjustment time interval serves as the cycle period, executing temperature judgment and heating power level adjustment logic.

[0045] This step employs a step-by-step temperature adjustment and stabilization method. Compared to fixed-power control, this method ensures a smoother and more controllable temperature adjustment and stabilization process for the heating module. It effectively avoids temperature overshoot and reduces the frequency and abrupt switching between high and low power levels, thus helping to reduce energy consumption and extend the lifespan of the heating module. Compared to PID control, this method fundamentally simplifies the temperature control logic and computational load, saving computational resources and hardware costs while reducing the difficulty of subsequent algorithm iteration and maintenance.

[0046] In this embodiment, upon receiving the heating module start command, the system first matches the initial heating power level to the current temperature of the heating module. If the vacuum level when the cleaning device is adsorbed onto the surface to be cleaned is greater than a first preset vacuum level, the heating module is started at the initial heating power level and maintained for a first preset duration. After the first preset duration ends, it is determined whether the heating module meets the preset safe heating conditions. Only if the heating module meets the preset safe heating conditions is the power level adjusted or maintained based on the comparison between the current temperature of the heating module and the target temperature range, ensuring that the heating module temperature remains within the target temperature range. Thus, the operation process of the heating module is divided into a start-up phase, a temperature adjustment phase, and a constant temperature phase. During startup, the initial heating power level is matched based on the real-time temperature. This level is used for safety self-checks and preheating buffering of the heating module to avoid excessively rapid temperature rise or temperature overshoot caused by blindly using fixed power heating. It also effectively identifies potential heating module malfunctions. Both the temperature adjustment and constant temperature phases employ a step-by-step power fine-tuning strategy, ensuring that the heating module's temperature converges smoothly and accurately within the target temperature range. This embodiment achieves dynamic control of the entire heating process of the heating module, ensuring rapid attainment of the target temperature range during the temperature adjustment phase and high-precision temperature control during the constant temperature phase. It significantly suppresses temperature overshoot and oscillation, improves energy efficiency, and reduces fatigue wear caused by frequent start-stop cycles, effectively extending the equipment's lifespan.

[0047] Figure 2 The flowchart of the cleaning control method for the cleaning equipment shown in the embodiments of this application Figure 2 ,like Figure 2 As shown, the cleaning control method of the cleaning equipment in this embodiment may include the following steps: S201. During the cleaning operation, the cleaning equipment responds to the start command of the heating module and determines the corresponding initial heating power level based on the start temperature of the heating module; it monitors the vacuum level when the cleaning equipment is adsorbed onto the surface to be cleaned; wherein, the vacuum level is used to indicate the adsorption force of the cleaning equipment on the surface to be cleaned.

[0048] Understandably, cleaning equipment is equipped with a vacuum chamber. By evacuating the vacuum chamber, a negative pressure environment is created to generate adsorption force, enabling the cleaning equipment to adhere firmly to the surface to be cleaned. The vacuum level of the vacuum chamber reflects the adsorption effect of the equipment.

[0049] This step of determining the initial heating power level can be referred to step S101 above, and will not be repeated here. However, in addition to determining the initial heating power level, it is also necessary to monitor the vacuum level when the cleaning equipment is adsorbed onto the surface to be cleaned.

[0050] S202. When the vacuum level is greater than the first preset vacuum level, start the heating module at the initial heating power setting and control the heating module to run continuously for the first preset time. It is understandable that vacuum level is a physical quantity that characterizes the degree of adhesion between the cleaning equipment and the surface to be cleaned. When the vacuum level is greater than the first preset vacuum level, it indicates that the cleaning equipment has been effectively adhered to the surface to be cleaned and is firmly attached. At this time, activating the heating module can effectively prevent the cleaning equipment from falling off the surface to be cleaned due to weak adhesion during the heating process, thereby avoiding damage to the cleaning equipment, personal injury, and improving operational safety.

[0051] Furthermore, in another scenario, if the vacuum level is less than or equal to the first preset vacuum level, the heating module is prohibited from being started, and a prompt message is output.

[0052] S203. After running continuously for a first preset time, and when the heating module meets the preset safe heating conditions, determine the highest allowable heating power level corresponding to the heating module based on the vacuum level.

[0053] The maximum allowable heating power level is the upper limit of heating power obtained based on the current vacuum level of the cleaning equipment. This upper limit of heating power corresponds to the upper limit of the heating temperature of the heating module. The maximum allowable heating power level is not higher than the upper limit level (maximum heating power level) in the preset power level sequence.

[0054] It is understandable that the vacuum level of the cleaning equipment is positively correlated with the maximum allowable temperature of the heating module; the lower the current vacuum level, the lower the maximum allowable temperature, and vice versa. Therefore, the maximum allowable heating power level of the heating module is determined based on the vacuum level to prevent the cleaning equipment from falling off.

[0055] In some implementations, step S203 above, which determines the maximum allowable heating power level corresponding to the heating module based on the vacuum level, may include: Based on a preset mapping table between vacuum level and maximum allowable heating power level, determine the maximum allowable heating power level corresponding to the current vacuum level; or, Based on a preset continuous positive correlation function, the maximum allowable heating power level of the heating module is determined according to the current vacuum level.

[0056] For Method 1, a mapping table between vacuum level and maximum allowable heating power level can be pre-stored in the control system of the cleaning equipment. This table divides the vacuum level of the cleaning equipment into several intervals, each interval corresponding to a specific maximum allowable heating power level. This maximum allowable heating power level is any level in a sequence of multiple power levels for the cleaning equipment. For example, a vacuum level above 18 kPa corresponds to the highest level 10, 15-18 kPa corresponds to level 8, 12-15 kPa corresponds to level 6, 10-12 kPa corresponds to level 4, and below 10 kPa corresponds to level 2, and so on. Thus, the current vacuum level sensor value is read, and this value is used as an index key to look up the corresponding vacuum level interval in the mapping table, and the corresponding power level value for that interval is read as the maximum allowable heating power level.

[0057] For method two: A continuous positive correlation function calculation program can be run in the control system of the cleaning equipment to read the current vacuum degree value, substitute it into the function expression, and calculate the corresponding continuous power reference value in real time; if the calculation result is a decimal, it is converted into the corresponding power level (each power level also has multiple power ranges) according to the preset rounding rules (such as rounding down, rounding to the nearest integer or rounding up) as the highest allowable heating power level.

[0058] In this embodiment, based on the correlation between vacuum level and heating power level, the maximum allowable heating power level limited by the vacuum level of the cleaning equipment can be accurately matched. This can reduce the computing load of the main control system, achieve smooth adjustment, avoid the risk of overheating and falling, and improve the safety of the cleaning equipment operation.

[0059] After a first preset time period, and when the heating module meets the preset safe heating conditions, based on the comparison between the current temperature of the heating module and the preset target temperature range, one of the following steps is taken to maintain the temperature of the heating module within the target temperature range.

[0060] The safe heating condition includes ensuring that the temperature of the heating module remains below a preset safe temperature threshold for a first preset duration. This temperature value is lower than the overheating damage temperature of the heating module, thus ensuring that the heating module does not overheat when continuously powered on for the first preset duration.

[0061] The comparison results between the current temperature and the target temperature range are divided into three types, and the three comparison results correspond to the following three control steps.

[0062] S204-1. When the current temperature is lower than the target temperature range and the heating power level is lower than the highest heating power level, adjust the heating power level to increase by one level. The heating power level refers to the current heating power level of the heating module. This level is the cumulative result of several previous adjustment operations and is also the starting point for the current adjustment. The highest heating power level is... S204-2. When the current temperature is higher than the target temperature range and the heating power level is higher than the lowest heating power level, adjust the heating power level down by one level. S204-3. The heating power setting remains unchanged when any of the following conditions are met: The current temperature is within the target temperature range; The current temperature is not within the target temperature range, and the current heating power level is the highest heating power level; The current temperature is not within the target temperature range, and the current heating power level is the lowest heating power level.

[0063] When the heating power setting is already at the highest setting and cannot be increased further, or at the lowest setting and cannot be decreased further, no further setting adjustment will be made; temperature control can only be achieved by adjusting the heating time.

[0064] In this embodiment, a minimum adjustment strategy of increasing or decreasing the temperature by only one level at a time is adopted to ensure the stability of the temperature control process, effectively avoid temperature oscillations and overshoot caused by large power jumps, and make the temperature curve converge smoothly near the target temperature range, thus achieving precise and highly reliable control of the heating module temperature.

[0065] It is worth noting that in special scenarios, if the maximum allowable heating power level determined based on the vacuum level is lower than the highest heating function level, then the maximum allowable heating power level will be used as the upper limit for level selection. Furthermore, once the vacuum level returns to the value corresponding to the highest heating level, this upper limit will be automatically lifted, and the upper limit for level selection will return to the highest heating power level.

[0066] Of course, the above steps S201 to S204 are for the scenario where the heating module of the cleaning equipment starts normally. Of course, there are also scenarios where the heating module cannot start normally.

[0067] Figure 3 The flowchart of the cleaning control method for the cleaning equipment shown in the embodiments of this application Figure 3 ,like Figure 3 As shown, After step S202, the process also includes step S301: after running for a first preset time and the heating module does not meet the preset safe heating conditions, the heating module is turned off.

[0068] Understandably, since the temperature of the heating module has exceeded the safe temperature threshold during the short-term preheating process, it indicates that the heating module is in an abnormal state of high temperature overheating. It is necessary to control and shut down the heating module to prevent damage to the heating module.

[0069] In some embodiments, the cleaning control method of the cleaning device further includes: the cleaning device has multiple cleaning modes, different cleaning modes correspond to different cleaning parameters, and the cleaning parameters include at least one of a first preset duration, an adjustment time interval, and a target temperature range.

[0070] Among them, the cleaning mode is a pre-set operating mode of the equipment to adapt to different cleaning scenarios. Different operating modes correspond to different cleaning parameters in order to adapt to the corresponding cleaning scenarios and achieve better cleaning results. For example, cleaning modes can be divided into deep cleaning, daily cleaning, and mild cleaning modes according to cleaning intensity; or they can be divided into cleaning modes for fine particles, dried dirt, and water stains according to cleaning type.

[0071] In this embodiment, the first preset duration, adjustment time interval, and target temperature range are jointly optimized and configured according to different cleaning scenarios. This ensures that the various cleaning parameters are mutually adapted, achieving a smooth and gradual change in temperature and output power. This avoids equipment damage and uneven cleaning effects caused by sudden parameter changes, while also reducing ineffective heating and over-cleaning, shortening operation time, improving energy efficiency, and balancing cleaning effectiveness with operating costs and safety. For example, in cleaning scenarios with high levels of stains and highly resistant materials, a higher target temperature range can be configured, simultaneously matching a longer first preset duration and a smaller adjustment time interval. The longer first preset duration allows for sufficient temperature detection and preheating, while the smaller step interval allows for a slow and gradual increase in temperature and power, resulting in a smoother heating process, stable high-temperature output, and powerful stain removal. In cleaning scenarios with low levels of stains and sensitive materials that are not resistant to high temperatures, a lower target temperature range can be configured, correspondingly setting a shorter first preset duration and a larger adjustment time interval. This allows for rapid temperature detection and preheating while slowing down the rate of temperature and power change, avoiding overheating. In addition, the multi-cleaning mode design simplifies user operation, eliminating the need for manual adjustment of cleaning parameters and reducing the risk of user misoperation.

[0072] For example, the multiple cleaning modes include multiple cleaning intensity modes; wherein, the higher the cleaning intensity of the cleaning mode, the higher the corresponding target temperature range, the higher the maximum allowable heating power level, and the longer the first preset duration and / or the shorter the adjustment time interval.

[0073] Among them, cleaning intensity modes are multiple levels categorized by cleaning power in cleaning equipment. Higher cleaning power means stronger ability to remove stubborn stains, and generally, the temperature of the cleaning solution is also higher. For example, in a progressive sequence of cleaning power from low to high, there are gentle mode, standard mode, strong mode, and deep cleaning mode, which are suitable for cleaning scenarios with different levels of dirt and material tolerance.

[0074] In this embodiment, the target temperature range, the first preset duration, and the adjustment time interval are adjusted in a coordinated manner based on the cleaning intensity, rather than adjusting individual cleaning parameters independently. Higher cleaning intensity corresponds to a higher target temperature range to meet the needs of deep decontamination, while the first preset duration is extended to ensure stable temperature rise over large ranges, and the adjustment time interval is shortened to improve temperature stability in high-temperature areas. This design allows the high-cleaning-intensity mode to effectively suppress temperature overshoot and large fluctuations while maintaining stable and accurate temperature control, achieving powerful decontamination. The low-cleaning-intensity mode, on the other hand, is matched with a shorter preheating time and a longer adjustment interval to achieve low-energy-consumption operation. This enables refined and intelligent control of cleaning parameters.

[0075] The cleaning equipment has multiple cleaning modes, and switching between modes may occur during use. The following text describes the possible scenarios for switching cleaning modes.

[0076] In one scenario, when switching from the current cleaning mode to the target cleaning mode, and the first target temperature range of the current cleaning mode is higher than the second target temperature range of the target cleaning mode, the heating module is controlled to stop heating until the current temperature of the heating module drops below the second target temperature range. Then, the temperature of the heating module is maintained in the second target temperature range by using the adjustment time interval corresponding to the target cleaning mode.

[0077] The current cleaning mode is the cleaning mode that the cleaning equipment is executing before the switching operation occurs. The target cleaning mode is the new cleaning mode to which the equipment will switch.

[0078] In this scenario, switching from high-temperature mode to low-temperature mode involves: firstly, immediately stopping the heating module to allow it to enter a natural cooling phase, where its temperature gradually decreases through heat exchange with the surrounding environment and cleaning fluid. The temperature of the heating module is monitored in real-time and compared to the second target temperature range (low temperature). When the temperature of the heating module has dropped below the second target temperature range, it indicates that the heating module has met the activation conditions for the target cleaning mode. At this point, using the second target temperature range as the new control benchmark, periodic temperature comparisons and step-up / down or level-hold operations are initiated to stabilize the heating module temperature within the second target temperature range.

[0079] In this scenario, a passive cooling method that shuts down the heating and relies on natural heat dissipation is adopted, which can quickly reduce the temperature of the heating module and thus complete the rapid switching of the cleaning mode.

[0080] In one scenario, when switching from the current cleaning mode to the target cleaning mode, and the first target temperature range of the current cleaning mode is lower than the second target temperature range of the target cleaning mode, the current temperature of the heating module is used as the start temperature, and the temperature of the heating module is maintained in the second target temperature range by using the adjustment time interval corresponding to the target cleaning mode.

[0081] In this scenario, when switching from low temperature mode to high temperature mode, there is no need to shut down the heating module. The current actual temperature of the heating module is used as the starting temperature, and the preset initial heating power level is matched. Then, the subsequent step adjustment control logic is entered to keep the temperature of the heating module in the second target temperature range.

[0082] In this scenario, only the temperature difference needs to be compensated for at the current temperature. The temperature is directly increased based on the current temperature, avoiding the redundant process of reheating from a cold state. This shortens the time it takes for the temperature to reach the target temperature range after switching cleaning modes, improving the smoothness of the cleaning equipment's operation and the continuous stability of the cleaning task.

[0083] In some embodiments, the cleaning control method of the cleaning equipment further includes the following steps: Acquire the real-time position of the cleaning equipment on the surface to be cleaned; When any part of the cleaning equipment is less than a preset distance threshold from the edge of the surface to be cleaned, the operating parameters of the heating module are adjusted according to the preset edge limitation strategy. Among them, the operating parameters include at least one of the following: heating power level, adjustment time interval, and target temperature range; Edge limiting strategies include at least one of the following: limiting the upper limit of heating power levels, limiting the lower limit of adjustment time intervals, and limiting the upper limit of target temperature ranges.

[0084] The cleaning equipment can determine its real-time position (spatial coordinates) on the surface to be cleaned based on its onboard positioning and sensing modules. This can be achieved through a fusion of various sensing methods, such as inertial measurement unit trajectory calculation, window frame boundary infrared detection, and adsorption pressure sensor status feedback. A preset distance threshold refers to a pre-defined spatial distance parameter. When the distance between the cleaning equipment and the edge of the surface to be cleaned is less than this value, it is considered to have entered the danger zone of the edge area. For example, for a framed window, this threshold is 10cm from the frame; for a frameless, suspended surface to be cleaned, it is 15cm from the edge. The setting of this preset distance threshold must comprehensively consider factors such as the cleaning equipment's dimensions, movement speed, braking distance, and sensor accuracy to ensure sufficient lead time for a safe response.

[0085] Among these, the upper limit of the heating power level, the lower limit of the adjustment time interval, and the upper limit of the target temperature range have the highest priority. For example, when the preset target temperature range in the cleaning mode is higher than the upper limit of the target temperature range here, the highest temperature that the heating module is allowed to reach is the upper limit of the target temperature range here. The same applies to the upper limit of the heating power level and the lower limit of the adjustment time interval.

[0086] In this embodiment, when the cleaning equipment approaches the edge of the surface to be cleaned, the heating power or target temperature range is automatically limited, and the heating parameters are dynamically adjusted according to the real-time position. This makes the temperature change in the edge area more gradual, while maintaining efficient heating in the non-edge areas. This ensures the cleaning effect of the main areas, reduces damage to the frame surface of other materials at the edge, and avoids burns to personnel caused by the cleaning equipment rushing out of the surface to be cleaned (such as a suspended surface without a window frame). Thus, both cleaning effect and safety are taken into account.

[0087] In some embodiments, the cleaning control method of the cleaning equipment further includes the following steps: Obtain the surface temperature and material type of the surface to be cleaned; When the surface temperature is lower than the preset low temperature threshold, the heating module is controlled to execute the preset low temperature regulation strategy; The low-temperature control strategy includes: determining the maximum allowable temperature rise threshold based on the material type; and adjusting the target temperature range so that the difference between the target temperature range and the surface temperature does not exceed the maximum allowable temperature rise threshold.

[0088] The temperature of the surface to be cleaned refers to the actual surface temperature of the object being cleaned, such as the surface temperature of a tiled wall or a glass window. This temperature can be acquired using a non-contact temperature sensor (such as an infrared thermopile sensor or infrared thermal imaging module) or a contact temperature probe mounted on the equipment. Alternatively, the surface temperature can be indirectly assessed using the temperature sensor built into the heating module (such as an NTC thermistor) in the absence of an additional temperature sensor. The principle is that the lower the surface temperature, the more heat the heating module loses through the cleaning medium, and the slower it heats up; conversely, the higher the surface temperature, the faster it heats up. Thus, by comparing the actual heating time of the heating module with the calibrated time, the surface temperature can be indirectly determined. The maximum allowable temperature rise threshold refers to the highest temperature rise that the surface to be cleaned can safely withstand based on its current temperature; that is, the upper limit of the difference between the target temperature range and the surface temperature. This maximum allowable temperature rise threshold is not a fixed value but is preset according to the material type of the surface to be cleaned. For example, 50℃ for tiles and stone, and 30℃ for glass. The maximum allowable temperature rise threshold for each type can be pre-stored in the storage unit of the cleaning equipment, and can be called up according to the identified or set material type during cleaning.

[0089] Understandably, in the low temperatures of winter, glass materials are more prone to cracking under the influence of thermal expansion and contraction and thermal stress if suddenly heated. Therefore, to avoid this, it is necessary to control the temperature of the surface to be cleaned and the temperature difference between the surface and the temperature it experiences.

[0090] Of course, one or both of the upper limit of the heating power level and the lower limit of the adjustment time interval can be further limited to adjust the temperature rise rate and temperature stabilization time of the heating module.

[0091] This embodiment fundamentally solves the problem of material thermal damage that may occur during high-temperature cleaning operations in winter or low-temperature environments. It ensures that the output temperature of the heating medium always matches the actual thermal state of the surface to be cleaned.

[0092] In some embodiments, multiple preset heating power levels correspond to different duty cycles. The duty cycle is used to characterize the ratio of the heating module’s energization time in one heating power output cycle to the total duration of the heating power output cycle.

[0093] In this system, one heating power output cycle remains constant (e.g., 2 seconds, 5 seconds, or 10 seconds), and all heating power levels have the same heating power output cycle. The duty cycle determines the average heating power of the heating module, which in turn determines the rate of temperature rise and fall and the maximum temperature reached. A higher duty cycle results in a higher maximum temperature. The duty cycle ranges from 0% to 100%, with different duty cycles corresponding to different heating power levels. For example, in a 10-second working cycle, if the heating module is powered on for 6 seconds and then off for 4 seconds, the duty cycle is 60%.

[0094] In this embodiment, by adjusting the duty cycle, the average heating power of the heating module can be linearly adjusted without changing the power supply voltage, so as to ensure smooth heating output and not cause significant fluctuations in the power grid.

[0095] In some embodiments, the cleaning control method of the cleaning equipment further includes: If the interval between the trigger time of this start command and the last time the heating module was shut down is less than the preset time difference threshold, and the heating module has not been started within the interval, the temperature of the heating module last collected before the last shutdown will be used as the start temperature for this start.

[0096] It is understandable that during the cleaning process, the heating module may be briefly shut down and then restarted. For example, the heating module may be temporarily shut down due to task pause, area switching, protection triggering, or user operation, and then restarted after a short period. In this scenario, the heating module still retains a high level of residual heat, but its surface temperature has cooled down. The temperature sensor collects the surface temperature of the heating module, resulting in a discrepancy between the detected temperature and the internal temperature of the heating module, which in turn affects the accuracy of the initial power setting.

[0097] In this embodiment, the temperature collected at the last time the heating module was shut down accurately reflects the true internal temperature of the heating module. Therefore, this temperature is directly used as the startup temperature, improving the accuracy and rationality of the initial power setting. This helps avoid temperature overshoot and energy waste caused by underestimating residual heat and starting at too high a power setting, and also prevents heat output delay caused by overestimating residual heat and starting at too low a power setting. This achieves rapid, stable, and safe continuous temperature control in restart scenarios, significantly optimizing the user experience during frequent start-stop operations in actual use.

[0098] In some embodiments, the detected temperature at the moment the heating module is triggered is the start-up temperature; the heating module is turned off when any of the following conditions are met: Condition 1, dry burning protection logic of heating module: within the third preset time period, the current temperature of heating module relative to the start temperature rises above the second preset temperature; for example, the temperature rise of heating module is ≥50℃ within 15s.

[0099] Condition 2, temperature controller circuit breaker protection logic: within the fourth preset time period, the temperature rise of the heating module relative to the start-up temperature is less than the third preset temperature; for example, the temperature rise of the heating module is ≤2℃ within 15s.

[0100] Condition 3, NTC (temperature sensor) short circuit protection logic: The current temperature of the heating module reaches the upper or lower limit of the range of the temperature sensor of the heating module; for example, if the detected temperature reaches the maximum or minimum value in the resistance temperature correspondence table.

[0101] Condition 4, Over-temperature protection logic: The temperature of the heating module is greater than the preset safety protection threshold and the duration is greater than the preset fifth preset duration; for example, the temperature is greater than 80 degrees and the duration is greater than 2000ms.

[0102] Condition 5: Within the sixth preset time period, the current of the heating module remains less than the preset current threshold; for example, the current value remains ≤150mA for 150ms.

[0103] Condition 6, Fall protection logic: The current vacuum level of the cleaning equipment is lower than the second preset vacuum level.

[0104] This embodiment comprehensively improves the safety of cleaning equipment operation by monitoring multiple dimensions, including temperature rise rate, temperature rise response, sensor effectiveness, continuous over-temperature, current status, and vacuum degree, to determine anomalies.

[0105] In some implementations, after the heating module shuts down due to the temperature exceeding the safety protection threshold, the following also applies: When the current temperature of the heating module drops below the preset restart temperature, the heating module will restart; wherein the restart temperature is less than the safety protection threshold.

[0106] In this embodiment, if the temperature of the heating module exceeds the safety protection threshold (e.g., 85°C) and the duration meets the fifth preset duration, it indicates that the heating module has entered a dangerous high-temperature range. At this time, the heating module is turned off and enters the natural heat dissipation cooling stage until its temperature drops below the restart temperature (e.g., 50°C). This indicates that the heating module has left the dangerous high-temperature range and the heating module is restarted. Thus, while ensuring the bottom line of safety, the continuity of the cleaning equipment is taken into account to the greatest extent.

[0107] Figure 4 This is a flowchart illustrating the pre-start temperature detection process of the cleaning control method for the cleaning equipment shown in the embodiments of this application, as follows: Figure 4As shown, after responding to the heating module start command and before starting the heating module, the method further includes: S401. Monitor the real-time temperature of the heating module within a second preset time period; S402. When the real-time temperature of the heating module continues to be higher than the fourth preset temperature within the second preset time period, the heating module is controlled to remain in the off state.

[0108] It is understandable that the fourth preset temperature is the highest permissible temperature at which the heating module can be safely started. By setting a second preset duration as a judgment window and continuously monitoring the real-time temperature within the second duration, misjudgments caused by instantaneous high or low temperature fluctuations collected by the temperature sensor of the heating module can be effectively avoided, thereby improving the accuracy and reliability of temperature detection and judgment before startup.

[0109] Of course, if the temperature of the heating module remains below the fourth preset temperature for the second preset duration, the subsequent steps will be executed (the corresponding initial heating power level will be determined based on the starting temperature of the heating module).

[0110] This application also provides apparatus embodiments that follow the above embodiments, for implementing the method steps of the above embodiments. The interpretation of the same names is the same as that of the above embodiments, and they have the same technical effects as those of the above embodiments, so they will not be repeated here.

[0111] like Figure 5 As shown, this application provides a cleaning control device for a cleaning equipment, comprising: The power level determination module 501 is used to respond to the heating module start command during the cleaning operation of the cleaning equipment and determine the corresponding initial heating power level based on the start temperature of the heating module; wherein, the start temperature is the temperature of the heating module after receiving the start command. The preheating detection module 502 is used to start the heating module at the initial heating power level and control the heating module to run continuously for a first preset time. The heating control module 503 is used to adjust the heating power level up, down, or maintain the level at a preset adjustment time interval based on the comparison result between the current temperature of the heating module and the preset target temperature range after continuous operation for a first preset time and when the heating module meets the preset safe heating conditions, so as to maintain the temperature of the heating module within the target temperature range.

[0112] In some embodiments, the preheating detection module 501 is further configured to: Monitor the vacuum level when the cleaning equipment adheres to the surface to be cleaned; whereby the vacuum level is used to indicate the adhesion force of the cleaning equipment to the surface to be cleaned. The preheating detection module 502 is also used for: When the vacuum level is greater than the first preset vacuum level, the heating mode is started at the initial heating power setting.

[0113] In some embodiments, the heating control module 503 is further configured to: Determine the maximum allowable heating power level for the heating module based on the vacuum level.

[0114] In some embodiments, the heating control module 503 is further configured to determine the maximum allowable heating power level using any of the following methods: Based on the preset mapping table between vacuum level and maximum allowable heating power level, determine the maximum allowable heating power level corresponding to the current vacuum level; Based on a preset continuous positive correlation function, the maximum allowable heating power level of the heating module is determined according to the current vacuum level.

[0115] In some embodiments, the heating control module 503 is further configured to: When the current temperature is lower than the target temperature range and the heating power level is lower than the highest heating power level, adjust the heating power level to increase by one level; When the current temperature is higher than the target temperature range and the heating power level is higher than the lowest heating power level, adjust the heating power level down by one level. The heating power setting remains unchanged when at least one of the following conditions is met: The current temperature is within the target temperature range; The current temperature is not within the target temperature range, and the current heating power level is the highest heating power level; The current temperature is not within the target temperature range, and the current heating power level is the lowest heating power level.

[0116] In some embodiments, the heating control module 502 is further configured to store multiple cleaning modes of the cleaning device, with different cleaning modes corresponding to different cleaning parameters, including at least one of a first preset duration, an adjustment time interval, and a target temperature range.

[0117] In some embodiments, the multiple cleaning modes include multiple cleaning intensity modes; wherein, the higher the cleaning intensity of the cleaning mode, the higher the corresponding target temperature range, the higher the maximum allowable heating power level, and the longer the first preset duration and / or the shorter the adjustment time interval.

[0118] In some embodiments, the heating control module 502 is further configured to: When switching from the current cleaning mode to the target cleaning mode, and the first target temperature range of the current cleaning mode is higher than the second target temperature range of the target cleaning mode, the heating module is controlled to stop heating until the current temperature of the heating module drops below the second target temperature range. Then, the step adjustment mode corresponding to the target cleaning mode is adopted to maintain the temperature of the heating module in the second target temperature range.

[0119] In some embodiments, the heating control module 502 is further configured to: When switching from the current cleaning mode to the target cleaning mode, and the first target temperature range of the current cleaning mode is lower than the second target temperature range of the target cleaning mode, the current temperature of the heating module is used as the start temperature, and the step adjustment mode corresponding to the target cleaning mode is used to keep the temperature of the heating module in the second target temperature range.

[0120] In some embodiments, the heating control module 502 is further configured to: Acquire the real-time position of the cleaning equipment on the surface to be cleaned; When any part of the cleaning equipment is less than a preset distance threshold from the edge of the surface to be cleaned, the operating parameters of the heating module are adjusted according to the preset edge limitation strategy. Among them, the operating parameters include at least one of the following: heating power level, adjustment time interval, and target temperature range; Edge limiting strategies include at least one of the following: limiting the upper limit of heating power levels, limiting the lower limit of adjustment time intervals, and limiting the upper limit of target temperature ranges.

[0121] In some embodiments, the heating control module 502 is further configured to: Obtain the surface temperature and material type of the surface to be cleaned; When the surface temperature is lower than the preset low temperature threshold, the heating module is controlled to execute the preset low temperature regulation strategy; The low-temperature control strategy includes: determining the maximum allowable temperature rise threshold based on the material type; and adjusting the target temperature range so that the difference between the target temperature range and the surface temperature does not exceed the maximum allowable temperature rise threshold.

[0122] In some embodiments, multiple preset heating power levels correspond to different duty cycles. The duty cycle is used to characterize the ratio of the heating module’s energization time in one heating power output cycle to the total duration of the heating power output cycle.

[0123] In some embodiments, the heating control module 502 is further configured to use the temperature of the heating module last collected before the last shutdown as the start temperature when the interval between the trigger time of the current start command and the last shutdown time of the heating module is less than a preset time difference threshold, and the heating module is not started within the interval.

[0124] In some embodiments, the heating control module 502 is further configured to shut down the heating module when any of the following conditions are met: Within a third preset time period, the current temperature of the heating module relative to the start-up temperature rises above the second preset temperature; wherein, the detected temperature at the moment the heating module is triggered is the start-up temperature; Within the fourth preset time period, the temperature rise of the heating module relative to the start-up temperature is less than the third preset temperature; The current temperature of the heating module has reached the upper or lower limit of the range of the temperature sensor of the heating module; The temperature of the heating module exceeds the preset safety protection threshold, and the duration exceeds the preset fifth preset duration; Within the sixth preset time period, the current of the heating module remains less than the preset current threshold. The vacuum level when the cleaning equipment adheres to the surface to be cleaned is lower than the second preset vacuum level.

[0125] In some embodiments, the heating control module 502 is further configured to restart the heating module after the current temperature of the heating module drops below a preset restart temperature, following the shutdown of the heating module due to the temperature exceeding a safety protection threshold; wherein the restart temperature is less than the safety protection threshold.

[0126] In some embodiments, the preheating detection module 501 is further configured to: Monitor the real-time temperature of the heating module within a second preset time period; When the real-time temperature of the heating module remains higher than the fourth preset temperature for a second preset duration, the heating module is controlled to remain in the off state.

[0127] like Figure 6 As shown, this embodiment provides an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by a processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method steps of the above embodiment.

[0128] This application provides a non-volatile computer storage medium storing computer-executable instructions that can execute the method steps of the above embodiments.

[0129] The following is for reference. Figure 6The diagram illustrates a structural schematic of an electronic device suitable for implementing embodiments of this application. The terminal devices in the embodiments of this application may include, but are not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 6 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0130] like Figure 6 As shown, the electronic device may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage device 608 into a random access memory (RAM) 603. The RAM 603 also stores various programs and data required for the operation of the electronic device. The processing unit 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0131] Typically, the following devices can be connected to I / O interface 605: input devices 606 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 607 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 608 including, for example, magnetic tapes, hard disks, etc.; and communication devices 609. Communication device 609 allows electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 6 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown. More or fewer devices may be implemented or have alternatively.

[0132] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 609, or installed from a storage device 608, or installed from a ROM 602. When the computer program is executed by the processing device 601, it performs the functions defined in the methods of the embodiments of this application.

[0133] It should be noted that the computer-readable medium described above in this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0134] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device.

[0135] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0136] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0137] The units described in the embodiments of this application can be implemented in software or hardware. The names of the units are not, in some cases, limiting the scope of the unit itself.

Claims

1. A cleaning control method for cleaning equipment, characterized in that, The method includes: During the cleaning process, the cleaning equipment responds to the start command of the heating module and determines the corresponding initial heating power level based on the start temperature of the heating module; wherein, the start temperature is the temperature of the heating module after receiving the start command; The heating module is started at the initial heating power setting, and the heating module is controlled to run continuously for a first preset time. After running continuously for the first preset duration, and when the heating module meets the preset safe heating conditions, the heating power level is adjusted to increase, decrease, or maintain the level at a preset adjustment time interval based on the comparison result between the current temperature of the heating module and the preset target temperature range, so that the temperature of the heating module is maintained within the target temperature range.

2. The method according to claim 1, characterized in that, When determining the corresponding initial heating power level based on the start-up temperature of the heating module, the method further includes: Monitor the vacuum level when the cleaning device is adsorbed onto the surface to be cleaned; wherein the vacuum level is used to indicate the adsorption force of the cleaning device on the surface to be cleaned; Starting the heating module at the initial heating power setting includes: When the vacuum level is greater than the first preset vacuum level, the heating module is started at the initial heating power level.

3. The method according to claim 2, characterized in that, When the heating module meets the preset safe heating conditions, the method further includes: Based on the vacuum level, determine the highest allowable heating power level corresponding to the heating module.

4. The method according to claim 3, characterized in that, Based on the vacuum level, the maximum allowable heating power level corresponding to the heating module is determined, including: Based on a preset mapping table between vacuum level and maximum allowable heating power level, determine the maximum allowable heating power level corresponding to the vacuum level; or, Based on a preset continuous positive correlation function, the highest allowable heating power level corresponding to the heating module is determined according to the vacuum level.

5. The method according to claim 1, characterized in that, The step of adjusting the heating power level by increasing, decreasing, or maintaining the level at a preset adjustment time interval includes: When the current temperature is lower than the target temperature range and the heating power level is lower than the highest heating power level, adjust the heating power level to increase by one level; When the current temperature is higher than the target temperature range and the heating power level is higher than the lowest heating power level, adjust the heating power level down by one level. The heating power setting remains unchanged when at least one of the following conditions is met: The current temperature is within the target temperature range; The current temperature is not within the target temperature range, and the current heating power level is the highest heating power level; The current temperature is not within the target temperature range, and the current heating power level is the lowest heating power level.

6. The method according to claim 1, characterized in that, The cleaning device has multiple cleaning modes, and different cleaning modes correspond to different cleaning parameters. The cleaning parameters include at least one of a first preset duration, an adjustment time interval, and a target temperature range.

7. The method according to claim 6, characterized in that, The multiple cleaning modes include multiple cleaning intensity modes; wherein, the higher the cleaning intensity of the cleaning mode, the higher the corresponding target temperature range, the higher the maximum allowable heating power level, and the longer the first preset duration and / or the shorter the adjustment time interval.

8. The method according to claim 6, characterized in that, The method further includes: When switching from the current cleaning mode to the target cleaning mode, and the first target temperature range of the current cleaning mode is higher than the second target temperature range of the target cleaning mode, the heating module is controlled to stop heating until the temperature of the heating module drops below the second target temperature range. Then, the temperature of the heating module is maintained in the second target temperature range by using the adjustment time interval corresponding to the target cleaning mode.

9. The method according to claim 6, characterized in that, The method further includes: When switching from the current cleaning mode to the target cleaning mode, and the first target temperature range of the current cleaning mode is lower than the second target temperature range of the target cleaning mode, the current temperature of the heating module is used as the start temperature, and the temperature of the heating module is maintained in the second target temperature range by using the adjustment time interval corresponding to the target cleaning mode.

10. The method according to claim 1, characterized in that, The method further includes: Obtain the real-time position of the cleaning device on the surface to be cleaned; When any part of the cleaning equipment is less than a preset distance threshold from the edge of the surface to be cleaned, the operating parameters of the heating module are adjusted according to a preset edge limiting strategy. The operating parameters include at least one of the following: heating power level, adjustment time interval, and target temperature range; The edge limiting strategy includes at least one of the following: limiting the upper limit of the heating power level, limiting the lower limit of the adjustment time interval, and limiting the upper limit of the target temperature range.

11. The method according to claim 1, characterized in that, The method further includes: Obtain the surface temperature and material type of the surface to be cleaned; When the surface temperature is lower than a preset low temperature threshold, the heating module is controlled to execute a preset low temperature regulation strategy; The low-temperature regulation strategy includes: determining the maximum allowable temperature rise threshold based on the material type; and adjusting the target temperature range so that the difference between the target temperature range and the surface temperature does not exceed the maximum allowable temperature rise threshold.

12. The method according to any one of claims 1 to 11, characterized in that, Multiple preset heating power levels correspond to different duty cycles. The duty cycle is used to characterize the ratio of the heating module's energization time within a heating power output cycle to the total duration of the heating power output cycle.

13. The method according to any one of claims 1 to 11, characterized in that, The method further includes: When the interval between the trigger time of this start command and the last time the heating module was shut down is less than a preset time difference threshold, and the heating module has not been started within the interval, the temperature of the heating module last collected before the last shutdown is used as the start temperature for this start.

14. The method according to any one of claims 1 to 11, characterized in that, The method further includes: shutting down the heating module when any of the following conditions are met: Within a third preset time period, the current temperature of the heating module relative to the start-up temperature rises above a second preset temperature; wherein, the detected temperature at the trigger moment of the heating module is the start-up temperature; Within the fourth preset time period, the temperature rise of the heating module relative to the start-up temperature is less than the third preset temperature; The current temperature of the heating module has reached the upper or lower limit of the range of the temperature sensor of the heating module. The temperature of the heating module is greater than the preset safety protection threshold, and the duration is greater than the preset fifth preset duration. Within a sixth preset time period, the current of the heating module remains less than a preset current threshold. The vacuum level when the cleaning device is adsorbed onto the surface to be cleaned is lower than the second preset vacuum level.

15. The method according to claim 14, characterized in that, After the heating module shuts down due to the temperature exceeding the safety protection threshold, the following steps are also included: When the current temperature of the heating module drops below the preset restart temperature, the heating module is restarted; wherein the restart temperature is less than the safety protection threshold.

16. The method according to claim 1, characterized in that, After responding to the heating module start command and before starting the heating module, the method further includes: Monitor the real-time temperature of the heating module within a second preset time period; When the real-time temperature of the heating module remains higher than the fourth preset temperature for a second preset time period, the heating module is controlled to remain in the off state.

17. A cleaning control device for a cleaning equipment, characterized in that, The device includes: The power level determination module is used to respond to the heating module start command during the cleaning operation of the cleaning equipment and determine the corresponding initial heating power level based on the start temperature of the heating module; wherein, the start temperature is the temperature of the heating module after receiving the start command; The preheating detection module is used to start the heating module at the initial heating power level and control the heating module to run continuously for a first preset time. The heating control module is used to adjust the heating power level by increasing, decreasing, or maintaining the level at a preset adjustment time interval, based on the comparison result between the current temperature of the heating module and the preset target temperature range, after continuous operation for the first preset time period and when the heating module meets the preset safe heating conditions, so that the temperature of the heating module is maintained within the target temperature range.

18. A cleaning device, characterized in that, The cleaning equipment is a window cleaning robot, which is used to implement the method as described in any one of claims 1 to 16.

19. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1 to 16.

20. An electronic device, characterized in that, include: One or more processors; A storage device for storing one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the method as described in any one of claims 1 to 16.

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