Control method and apparatus of a cleaning device, and cleaning device

Abstract

The application relates to a control method and device of a cleaning device and the cleaning device. The method comprises the following steps: obtaining the motion state and attitude information of the cleaning device, determining the target power of a negative pressure motor of a body assembly according to the motion state and the attitude information, and controlling the negative pressure motor to adopt the target power to suck dirt of a brush assembly. The attitude information is used to represent the spatial position relationship between the brush assembly and the body assembly. In the method, the motion state and the attitude information of the cleaning device are obtained to comprehensively determine the target power of the negative pressure motor and implement the dirt sucking control, the matching degree of the power of the negative pressure motor and the actual working condition of the cleaning device is improved, the power of the negative pressure motor can be flexibly adjusted according to the actual control of the cleaning device, the adaptive regulation and control of the suction force of the device are realized, the invalid energy consumption is reduced, and the cleaning effect is improved.

Description

Technical Field

[0001] This application relates to the field of equipment control technology, and in particular to control methods, apparatus and cleaning equipment for cleaning equipment. Background Technology

[0002] With the development of technology, cleaning equipment with various functions is being used more and more in people's daily lives.

[0003] Taking handheld cleaning devices (such as floor scrubbers, vacuum cleaners, and mite removers) as an example, users can operate them by hand and change their posture to adapt to different usage scenarios. Related technologies typically control the operating parameters of the cleaning device by monitoring its posture angle to achieve cleaning.

[0004] However, the control of cleaning equipment in related technologies reduces the cleaning effect of the cleaning equipment. Summary of the Invention

[0005] Therefore, it is necessary to provide a control method, apparatus, and cleaning equipment for the aforementioned technical problems.

[0006] In a first aspect, this application provides a control method for a cleaning device. The cleaning device includes a body assembly and a floor brush assembly rotatably connected. The body assembly is equipped with a negative pressure motor and a wastewater tank. The negative pressure motor, wastewater tank, and floor brush assembly are connected in sequence. Under the action of the negative pressure motor, wastewater at the floor brush assembly is sucked and stored in the wastewater tank. The method includes:

[0007] Acquire the motion state and attitude information of the cleaning equipment; the attitude information is used to characterize the spatial positional relationship between the floor brush assembly and the body assembly;

[0008] The target power of the negative pressure motor is determined based on motion and attitude information.

[0009] The negative pressure motor is controlled to use the target power to suck up dirt from the floor brush assembly.

[0010] In one embodiment, acquiring the motion state and attitude information of the cleaning device includes:

[0011] Acquire motion data collected by motion sensors on the fuselage components;

[0012] The motion state and posture information are determined based on the motion data collected by the motion sensor.

[0013] In one embodiment, the motion sensor includes a triaxial accelerometer, and the motion data collected by the motion sensor includes accelerations in three axes collected by the triaxial accelerometer; determining the motion state and attitude information based on the motion data collected by the motion sensor includes:

[0014] The acceleration in the three axes is converted into the pitch angle of the fuselage components as attitude information;

[0015] The acceleration vector length is obtained by vector synthesis of the accelerations in the three axes.

[0016] The motion state is determined by the length of the acceleration vector.

[0017] In one embodiment, the motion state includes a first motion state or a second motion state, wherein the motion intensity of the second motion state is higher than that of the first motion state; determining the motion state based on the acceleration vector length includes:

[0018] If the acceleration vector length is within a preset length range, the motion state is determined as the first motion state;

[0019] If the acceleration vector length exceeds the preset length range, the motion state is determined to be the second motion state.

[0020] In one embodiment, the attitude information includes the pitch angle of the fuselage assembly; determining the target power of the negative pressure motor based on the motion state and attitude information includes:

[0021] The pitch angle is corrected according to the motion state to obtain the corrected pitch angle;

[0022] Determine the operating posture of the cleaning equipment based on the corrected pitch angle;

[0023] Obtain the negative pressure motor power corresponding to the usage posture of the cleaning equipment, and use it as the target power.

[0024] In one embodiment, the pitch angle is corrected according to the motion state to obtain the corrected pitch angle, including:

[0025] Obtain the filter coefficients corresponding to the motion state;

[0026] The reference pitch angle and the pitch angle are weighted and summed using filter coefficients to obtain the corrected pitch angle. If the pitch angle is the first pitch angle obtained, the reference pitch angle is the preset pitch angle. If the pitch angle is not the first pitch angle, the reference pitch angle is the previously corrected pitch angle.

[0027] In one embodiment, the motion state includes a first motion state or a second motion state, wherein the motion intensity of the second motion state is higher than that of the first motion state, and the filter coefficient corresponding to the first motion state is greater than that corresponding to the second motion state.

[0028] In one embodiment, obtaining the filter coefficients corresponding to the motion state includes:

[0029] When the motion state includes a second motion state, the filter coefficients corresponding to the second motion state are determined based on the sampling period of the pitch angle and the filter cutoff frequency.

[0030] In one embodiment, determining the usage posture of the cleaning equipment based on the corrected pitch angle includes:

[0031] If the first preset number of corrected pitch angles are less than the preset threshold for entering a lying position, the cleaning equipment is determined to be in a lying position.

[0032] If the corrected pitch angle is greater than the preset exit-lying threshold for a second consecutive number of preset times, the cleaning device is determined to be in a non-lying posture; the preset exit-lying threshold is greater than the preset entry-lying threshold.

[0033] In one embodiment, the cleaning device is used in either a lying-down or non-lying-down position; the target power for the lying-down position is less than the target power for the non-lying-down position.

[0034] Secondly, this application also provides a control device for a cleaning device. The cleaning device includes a body assembly and a floor brush assembly rotatably connected. The body assembly is equipped with a negative pressure motor and a wastewater tank. The negative pressure motor, wastewater tank, and floor brush assembly are connected in sequence. Under the action of the negative pressure motor, wastewater at the floor brush assembly is sucked and stored in the wastewater tank. The control device for this cleaning device includes:

[0035] The data acquisition module is used to acquire the motion status and attitude information of the cleaning equipment; the attitude information is used to characterize the spatial positional relationship between the floor brush assembly and the body assembly.

[0036] The power determination module is used to determine the target power of the negative pressure motor of the fuselage component based on the motion state and attitude information;

[0037] The suction control module is used to control the negative pressure motor to use the target power to suction the floor brush assembly.

[0038] Thirdly, this application also provides a cleaning device, which includes a body assembly and a floor brush assembly rotatably connected. The body assembly is equipped with a negative pressure motor and a wastewater tank. The negative pressure motor, the wastewater tank, and the floor brush assembly are connected in sequence. Under the action of the negative pressure motor, the wastewater at the floor brush assembly is sucked and stored in the wastewater tank. The cleaning device also includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, it implements the steps in the control method of any of the above-mentioned cleaning devices.

[0039] Fourthly, this application also provides a control method for a cleaning device. The cleaning device includes a body assembly and a floor brush assembly rotatably connected. The body assembly is equipped with a negative pressure motor and a wastewater tank. The negative pressure motor, wastewater tank, and floor brush assembly are connected in sequence. Under the action of the negative pressure motor, wastewater at the floor brush assembly is sucked and stored in the wastewater tank. The method includes:

[0040] When the cleaning equipment is detected to be in a lying position, the power of the negative pressure motor is adjusted according to the detected acceleration or speed of the cleaning equipment.

[0041] The power of the negative pressure motor in a lying position and with acceleration or speed within a first preset range is greater than the power in a lying position and with acceleration or speed within a second preset range; the upper limit of the first preset range is less than the lower limit of the second preset range.

[0042] Fifthly, this application also provides a cleaning device, which includes a controller, a sensor, a rotating body assembly and a floor brush assembly. The body assembly is equipped with a negative pressure motor and a wastewater tank. The negative pressure motor, the wastewater tank and the floor brush assembly are connected in sequence. Under the action of the negative pressure motor, the wastewater at the floor brush assembly is sucked and stored in the wastewater tank.

[0043] The controller is electrically connected to the sensor and the negative pressure motor. The sensor is used to collect the angle and attitude information and acceleration / velocity information of the cleaning equipment. The controller is configured to control the power of the negative pressure motor based on the information collected by the sensor. The angle and attitude information of the cleaning equipment refers to the angle between the machine body components and the surface to be cleaned.

[0044] The power of the negative pressure motor when the included angle is less than the first preset angle and the acceleration or speed is within the first preset range is greater than the power when the included angle is less than the first preset angle and the acceleration or speed is within the second preset range; the upper limit of the first preset range is less than the lower limit of the second preset range, and the first preset angle range is 0-30°.

[0045] In the aforementioned control method, device, and cleaning equipment, the cleaning equipment includes a rotatably connected body assembly and a floor brush assembly. The body assembly is equipped with a negative pressure motor and a wastewater tank. The negative pressure motor, wastewater tank, and floor brush assembly are connected in sequence. Under the action of the negative pressure motor, wastewater at the floor brush assembly is sucked and stored in the wastewater tank. By acquiring the motion state and attitude information of the cleaning equipment, the target power of the negative pressure motor of the body assembly is determined based on the motion state and attitude information, and the negative pressure motor is controlled to use the target power to suck up the wastewater from the floor brush assembly. The attitude information is used to characterize the spatial positional relationship between the floor brush assembly and the body assembly. In the above method, the motion state and attitude information of the cleaning equipment are acquired to comprehensively determine the target power of the negative pressure motor and implement wastewater suction control, which improves the matching degree between the power of the negative pressure motor and the actual working conditions of the cleaning equipment. This helps to flexibly adjust the power of the negative pressure motor according to the actual control of the cleaning equipment, realize the adaptive regulation of the equipment's suction power, and improve the cleaning effect while reducing ineffective energy consumption. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a schematic diagram of the cleaning equipment in one embodiment;

[0048] Figure 2 This is a flowchart illustrating a control method for a cleaning device in one embodiment;

[0049] Figure 3 This is a schematic diagram of the process for obtaining motion state and attitude information in one embodiment;

[0050] Figure 4 This is a flowchart illustrating the process of determining motion state and posture information based on motion data in one embodiment.

[0051] Figure 5 This is a flowchart illustrating the process of determining the motion state based on the acceleration vector length in one embodiment.

[0052] Figure 6 This is a flowchart illustrating the process of determining the target power of a negative pressure motor in one embodiment;

[0053] Figure 7 This is a flowchart illustrating the process of correcting the pitch angle based on the motion state in one embodiment;

[0054] Figure 8This is a schematic diagram illustrating the process of determining the usage posture of the cleaning equipment in one embodiment;

[0055] Figure 9 This is a flowchart illustrating the control method for the cleaning equipment in another embodiment;

[0056] Figure 10 This is a structural block diagram of the control device for a cleaning equipment in one embodiment. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0058] It should be noted that the terms "first," "second," etc., used in this application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0059] The control method for cleaning equipment provided in this application embodiment can be applied to, for example... Figure 1 The cleaning equipment shown is a body assembly 110 and a floor brush assembly 120, which are rotatably connected. The body assembly 110 is equipped with a negative pressure motor 111 and a wastewater tank 112, which are connected in sequence. Under the action of the negative pressure motor 111, wastewater at the floor brush assembly 120 is sucked into the wastewater tank 112.

[0060] The main body assembly 110 is the main component of the cleaning device 100, which controls and drives the floor brush assembly 120 to work. The floor brush assembly 120 contacts the surface to be cleaned (such as the ground), and the user can drive the floor brush assembly 120 to clean the surface by operating the main body assembly 110.

[0061] It should be noted that the body assembly 110 and the floor brush assembly 120 are rotatably connected, and the user can change the spatial relationship between the body assembly 110 and the floor brush assembly 120 to enable the cleaning device 100 to achieve different usage postures. The spatial relationship between the body assembly 110 and the floor brush assembly 120 also reflects the spatial arrangement of the negative pressure motor 111, the wastewater tank 112, and the floor brush assembly 120.

[0062] For example, the floor brush assembly 120 contacts the surface to be cleaned (such as the ground), and the user can adjust the angle between the body assembly 110 and the surface to be cleaned to change the spatial positional relationship between the body assembly 110 and the floor brush assembly 120, so that the cleaning device 100 can reach a lying position, a tilted position or an upright position.

[0063] In the lying position, the negative pressure motor 111, the wastewater tank 112 and the floor brush assembly 120 are arranged horizontally along the surface to be cleaned, and the line connecting the three is parallel to the surface to be cleaned, or the included angle is less than a preset angle (such as 25°); in the non-lying position (such as the tilted position or the upright position), the negative pressure motor 111, the wastewater tank 112 and the floor brush assembly 120 are arranged from top to bottom.

[0064] Those skilled in the art will understand that Figure 1 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the cleaning equipment to which the present application is applied. Specific cleaning equipment may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0065] In one exemplary embodiment, such as Figure 2 As shown, a control method for a cleaning device is provided, which is applied to... Figure 1 Taking a cleaning device as an example, the specific application to the processor in a cleaning device includes the following steps:

[0066] S210, Acquire the motion state and attitude information of the cleaning equipment; the attitude information is used to characterize the spatial positional relationship between the floor brush assembly and the body assembly.

[0067] The motion state of the cleaning equipment is used to characterize whether the cleaning equipment is in motion. For example, the motion state includes movement or stillness. The floor brush assembly contacts the surface to be cleaned, and the spatial positional relationship between the floor brush assembly and the body assembly correspondingly represents the spatial positional relationship between the body assembly and the surface to be cleaned, such as angle or distance. For example, the attitude information includes angular attitude information, such as the angle between the body assembly and the surface to be cleaned.

[0068] For example, the cleaning equipment mentioned above is a handheld cleaning device, such as a floor scrubber, carpet cleaner, or other wet cleaning equipment.

[0069] It should be noted that the cleaning equipment has a handle on its body assembly, which allows users to adjust the angle or distance between the body assembly and the floor brush assembly. The wastewater tank and negative pressure motor move synchronously with the body assembly.

[0070] Optionally, the cleaning device can collect the acceleration / speed of the moving body component based on the speed sensor built into the body component, determine the motion state of the cleaning device based on the collected acceleration / speed, collect the angle between the body component and the surface to be cleaned through the angle sensor built into the body component, and collect the distance between the body component and the surface to be cleaned through the distance sensor built into the body component, and use the angle and distance between the body component and the surface to be cleaned as the attitude information of the cleaning device.

[0071] S220. Determine the target power of the negative pressure motor based on motion state and attitude information.

[0072] The power output of the negative pressure motor varies depending on the cleaning equipment's movement and posture. The power of the negative pressure motor is positively correlated with the suction force it generates; that is, the greater the power of the negative pressure motor, the greater the suction force it produces.

[0073] Optionally, the cleaning equipment can obtain a table showing the relationship between attitude information and power for the corresponding motion state, and determine the corresponding power based on the attitude information of the cleaning equipment, which is then used as the target power of the negative pressure motor.

[0074] For example, taking the motion state as either moving or stationary, a pre-defined table relating posture information to power is provided, such as Table 1 for determining the posture state and Table 2 for the power corresponding to the posture and motion states. The posture state of the corresponding cleaning equipment, such as lying flat or not lying flat, is obtained by querying Table 1, and the power corresponding to the posture and motion states is obtained by querying Table 2, which serves as the target power for the negative pressure motor.

[0075] It should be noted that, for the same posture information, the target power of the negative pressure motor of the cleaning equipment is greater when it is stationary than when it is in motion.

[0076] S230: Control the negative pressure motor to use the target power to suck up dirt from the floor brush assembly.

[0077] Optionally, after obtaining the target power of the negative pressure motor, the cleaning equipment outputs a drive control signal to the negative pressure motor according to the target power, so as to drive the negative pressure voltage adjustment power to reach the target power, so as to vacuum the floor brush assembly.

[0078] In this embodiment, the cleaning equipment includes a rotatably connected body assembly and a floor brush assembly. The body assembly is equipped with a negative pressure motor and a wastewater tank. The negative pressure motor, wastewater tank, and floor brush assembly are connected in sequence. Under the action of the negative pressure motor, wastewater at the floor brush assembly is sucked and stored in the wastewater tank. By acquiring the motion state and attitude information of the cleaning equipment, the target power of the negative pressure motor of the body assembly is determined based on the motion state and attitude information, and the negative pressure motor is controlled to use the target power to suck up the wastewater from the floor brush assembly. The attitude information is used to characterize the spatial positional relationship between the floor brush assembly and the body assembly. In the above method, the motion state and attitude information of the cleaning equipment are acquired to comprehensively determine the target power of the negative pressure motor and implement wastewater suction control, which improves the matching degree between the power of the negative pressure motor and the actual working conditions of the cleaning equipment. This helps to flexibly adjust the power of the negative pressure motor according to the actual control of the cleaning equipment, realize the adaptive control of the equipment's suction power, and improve the cleaning effect while reducing ineffective energy consumption.

[0079] To obtain the motion state and attitude information of the cleaning equipment, in one embodiment, such as Figure 3 As shown, obtaining the motion state and attitude information of the cleaning equipment in S210 includes:

[0080] S310: Acquire motion data collected by motion sensors on the fuselage components.

[0081] For example, a motion sensor may include a gyroscope, a three-axis accelerometer, or an inertial measurement unit (IMU).

[0082] S320: Determine the motion state and posture information based on the motion data collected by the motion sensor.

[0083] Optionally, the cleaning equipment can acquire motion data collected by motion sensors on the body components, and analyze and process the collected motion data to obtain the motion state and attitude information of the cleaning equipment.

[0084] For example, taking a motion sensor including a gyroscope as an example, the collected motion data includes angular velocity. The cleaning device can determine the motion state of the cleaning device based on the collected angular velocity. For example, if the angular velocity is greater than a preset angular velocity threshold, the motion state is determined to be motion, otherwise it is stationary. Then, based on the collected angular velocity, time integration is performed to obtain the change in attitude angle, which is used as the attitude information of the cleaning device.

[0085] In this embodiment, motion data collected by motion sensors on the fuselage assembly is acquired to determine motion state and attitude information based on the motion data collected by the motion sensors. In the above method, the motion data of motion sensors on the fuselage assembly is acquired and the motion state and attitude information are calculated. There is no need to add a dedicated attitude sensor, which can effectively reduce hardware costs. Furthermore, the same data source outputs two types of parameters, which reduces the synchronization deviation of multiple sensors, improves parameter consistency, and correspondingly improves the data reliability of the obtained motion state and attitude information.

[0086] Motion sensors can also use triaxial accelerometers alone, which are relatively less expensive than gyroscopes. The motion data acquired by the motion sensor includes accelerations along three axes collected by the triaxial accelerometer. Based on this, in one embodiment, such as Figure 4 As shown, the above-mentioned S320, determining the motion state and attitude information based on the motion data collected by the motion sensor, includes:

[0087] S410 converts the acceleration in the three axes into the pitch angle of the fuselage components as attitude information.

[0088] The accelerations collected by the triaxial accelerometer along the three axes include... These correspond to the output values ​​of the triaxial accelerometer in the X, Y, and Z axes, respectively. For example, X represents the forward and backward movement of the cleaning device on the surface to be cleaned, Y represents the direction perpendicular to the X direction on the surface to be cleaned, and Z represents the up and down direction of the cleaning device on the surface to be cleaned. The floor brush assembly contacts the surface to be cleaned, which is usually the ground. The attitude information of the cleaning device includes the angle between the body assembly and the ground (horizontal plane), that is, the pitch angle of the body assembly.

[0089] Optionally, the cleaning device can acquire accelerations in three axes collected by a triaxial accelerometer, and convert the accelerations in the three axes into the pitch angle of the fuselage component based on the relationship between the triaxial accelerations and the pitch angle, as attitude information.

[0090] For example, triaxial acceleration With pitch angle The relationship between them is as follows:

[0091]

[0092] S420. Perform vector synthesis of accelerations in the three axes to obtain the acceleration vector length.

[0093] The acceleration vector length represents the magnitude of the acceleration vector, i.e., the magnitude of the acceleration vector, which can be calculated based on the acceleration in the three axes collected by the triaxial accelerometer.

[0094] Optionally, the triaxial acceleration collected by the triaxial accelerometer is obtained. Then, the cleaning equipment can perform vector synthesis based on the accelerations in these three axes to obtain the acceleration vector length.

[0095] For example, the acceleration vector length The calculation formula is:

[0096]

[0097] S430. Determine the motion state based on the acceleration vector length.

[0098] It should be noted that the acceleration vector ( ) represents gravitational acceleration ( ) and the additional acceleration generated by the movement of the equipment ( The vector superposition of ) can be expressed as follows:

[0099]

[0100] When the cleaning equipment experiences low-intensity motion, such as when it is stationary or nearly stationary, the additional acceleration is small and can be approximated as... The acceleration vector measured at this time Approximate gravitational acceleration ,Right now Correspondingly, the magnitude of the acceleration vector is also known as the length of the acceleration vector. Approximate to the magnitude of gravitational acceleration However, cleaning equipment experiences high intensity of motion; for example, during operation, the additional acceleration is significant and not zero, resulting in a large acceleration vector length. Usually deviates Therefore, the acceleration vector length can be compared with... The size relationship determines the movement state of the cleaning equipment.

[0101] Optionally, the cleaning device can compare the obtained acceleration vector lengths. With the magnitude of gravitational acceleration The comparison results are used to determine whether the cleaning equipment is in motion or stationary.

[0102] For example, in In the case of n, the motion state of the cleaning equipment is determined to be motion; otherwise, in n In this case, the motion state of the cleaning equipment is determined to be stationary.

[0103] The movement state of the cleaning equipment includes a first movement state or a second movement state, where the movement intensity of the second movement state is higher than that of the first movement state. Based on this, in one embodiment, such as... Figure 5 As shown, S430 above, determining the motion state based on the acceleration vector length, includes:

[0104] S510. If the acceleration vector length is within the preset length range, determine the motion state as the first motion state.

[0105] The preset length range is based on the magnitude of the gravitational angular velocity. Confirmed. The preset length range includes... , Indicates the lower limit of judgment. Indicates the upper limit of the judgment. , For example, , .

[0106] If the acceleration vector length is within the preset length range, it indicates that the additional acceleration is small (close to 0), and the acceleration vector length is close to the magnitude of gravitational acceleration. This indicates that the cleaning equipment is in a first motion state with low motion intensity. For example, the first motion state is stationary or moving at a low speed, such as a speed of less than 10 cm / s and an acceleration of less than 0.1 g.

[0107] S520. When the acceleration vector length exceeds the preset length range, the motion state is determined to be the second motion state.

[0108] If the acceleration vector length exceeds the preset range, it indicates that the additional acceleration is large. The acceleration vector length is related to the magnitude of the gravitational angular velocity. A larger deviation indicates that the cleaning equipment is in a second motion state with higher motion intensity. For example, the second motion state is motion.

[0109] Optionally, after obtaining the acceleration vector length, the cleaning device can compare the acceleration vector length with a preset length range. If the acceleration vector length is within the preset length range, the cleaning device's motion state is determined to be a first motion state with weaker motion intensity. If the acceleration vector length exceeds the preset length range, the cleaning device's motion state is determined to be a second motion state with stronger motion intensity.

[0110] For example, the following conditions can be used to determine whether the cleaning equipment is stationary:

[0111]

[0112] exist If the above conditions are met, the motion state of the cleaning equipment is determined to be stationary; otherwise, in If the above conditions are not met, the motion state of the cleaning equipment is determined to be motion.

[0113] The attitude information of the cleaning equipment includes the pitch angle of the body components. The usage attitude of the cleaning equipment can be determined based on the pitch angle of the body components, and then the target power of the negative pressure motor can be determined based on the usage attitude of the cleaning equipment. In one embodiment, such as Figure 6 As shown, S220 above, determining the target power of the negative pressure motor based on motion state and attitude information, includes:

[0114] S610. Correct the pitch angle according to the motion state to obtain the corrected pitch angle.

[0115] S620. Determine the operating posture of the cleaning equipment based on the corrected pitch angle.

[0116] It should be noted that cleaning equipment may undergo movements such as shifting, swinging, acceleration, and deceleration during actual use. In addition to the gravitational component, the accelerometer output will also include a dynamic acceleration component. If the raw pitch angle obtained from the accelerometer is used directly to determine the usage posture of the cleaning equipment, it is easy to cause misjudgment of the usage posture due to angle jitter. Therefore, it is necessary to correct the pitch angle obtained from the accelerometer to use the corrected pitch angle to determine the usage posture of the cleaning equipment.

[0117] The correction process differs depending on the motion state. For example, the pitch angle can be corrected for different motion states based on prior knowledge that the pitch angle is larger in motion and more accurate in stationary conditions. For instance, correction coefficients can be preset for different motion states.

[0118] Optionally, the cleaning equipment can determine a corresponding correction coefficient based on its motion state, and use this correction coefficient to correct the obtained pitch angle, such as by calculating the product of the correction coefficient and the pitch angle as the corrected pitch angle. After obtaining the corrected pitch angle, the cleaning equipment can match the corrected pitch angle with the pitch angle range of various preset usage postures to determine the preset usage posture corresponding to the pitch angle range to which the corrected pitch angle belongs, which is then used as the usage posture of the cleaning equipment.

[0119] For example, taking multiple preset usage postures, including lying down, tilting, and standing, if the corrected pitch angle is within the pitch angle range of the lying down posture, then the usage posture of the cleaning device is determined to be the lying down posture; if the corrected pitch angle is within the pitch angle range of the tilting posture, then the usage posture of the cleaning device is determined to be the tilting posture; and if the corrected pitch angle is within the pitch angle range of the standing posture, then the usage posture of the cleaning device is determined to be the standing posture.

[0120] S630: Obtain the negative pressure motor power corresponding to the usage posture of the cleaning equipment, and use it as the target power.

[0121] Optionally, after obtaining the usage posture of the cleaning equipment, the cleaning equipment can read a preset correspondence table between the usage posture and the power of the negative pressure motor, and look up the table to obtain the power of the negative pressure motor corresponding to the usage posture of the cleaning equipment, which is used as the target power of the negative pressure motor.

[0122] In this embodiment, the attitude information includes the pitch angle of the fuselage component. The pitch angle is corrected according to the motion state to obtain the corrected pitch angle. The usage attitude of the cleaning equipment is determined based on the corrected pitch angle to obtain the negative pressure motor power corresponding to the usage attitude of the cleaning equipment, which is used as the target power. In this method, the pitch angle is corrected according to the motion state of the cleaning equipment, and the usage attitude of the cleaning equipment is determined using the corrected pitch angle, thereby obtaining the target power of the negative pressure motor. This reduces the angle detection disturbance caused by motion, improves the accuracy of the usage attitude determination, and makes the target power of the negative pressure motor match the actual usage attitude of the cleaning equipment, thereby improving the cleaning effect.

[0123] In practical applications, the pitch angle can be corrected by low-pass filtering. In one embodiment, such as... Figure 7 As shown, in step S610 above, the pitch angle is corrected according to the motion state to obtain the corrected pitch angle, including:

[0124] S710, Obtain the filter coefficients corresponding to the motion state.

[0125] The filter coefficient characterizes the suppression strength of dynamic angular disturbances. The filter coefficient is negatively correlated with the suppression strength; a larger filter coefficient indicates weaker suppression. Different motion states correspond to different filter coefficients. For example, when the cleaning equipment is stationary, dynamic disturbances are relatively small, allowing for a larger filter coefficient to improve angular response speed. In this case, the filtered pitch angle can quickly reflect the equipment's true attitude change. When the cleaning equipment is in motion, dynamic disturbances are stronger, requiring a smaller filter coefficient to suppress disturbances, which helps reduce angular jitter caused by motion.

[0126] Optionally, the filter coefficient corresponding to the motion state of the cleaning equipment is determined from the pre-stored correspondence between the motion state and the filter coefficient of the cleaning equipment.

[0127] S720. The reference pitch angle and the pitch angle are weighted and summed using the filter coefficients to obtain the corrected pitch angle. If the pitch angle is the first pitch angle obtained, the reference pitch angle is the preset pitch angle. If the pitch angle is not the first pitch angle, the reference pitch angle is the previously corrected pitch angle.

[0128] Optionally, if the pitch angle to be corrected is the first pitch angle obtained, the cleaning device can use a preset pitch angle as a reference pitch angle, and perform a weighted summation of the reference pitch angle and the pitch angle using the determined filtering coefficients to obtain the corrected pitch angle. If the pitch angle to be corrected is not the first pitch angle, the cleaning device obtains the previously corrected pitch angle as a reference pitch angle, and performs a weighted summation of the reference pitch angle and the pitch angle using the determined filtering coefficients to obtain the corrected pitch angle.

[0129] For example, a first-order low-pass filter can be used to correct the pitch angle, and its expression is:

[0130]

[0131] in, The pitch angle to be corrected This indicates the pitch angle after the previous correction. This indicates the corrected pitch angle. Represents the filter coefficients. .

[0132] In one embodiment, the motion state includes a first motion state or a second motion state, wherein the motion intensity of the second motion state is higher than that of the first motion state, and the filter coefficient corresponding to the first motion state is greater than that corresponding to the second motion state.

[0133] For example, the first motion state is stationary, corresponding to the filter coefficients. The second motion state is motion, corresponding to the filter coefficients. .

[0134] In this embodiment, by obtaining the filtering coefficients corresponding to the motion state, the reference pitch angle and the pitch angle are weighted and summed using the filtering coefficients to obtain the corrected pitch angle. When the pitch angle is the first obtained pitch angle, the reference pitch angle is the preset pitch angle; when the pitch angle is not the first pitch angle, the reference pitch angle is the previously corrected pitch angle. In the above method, by obtaining the filtering coefficients corresponding to the motion state, the reference pitch angle and the pitch angle are weighted and summed to achieve low-pass filtering to obtain the corrected pitch angle. The first frame uses the preset pitch angle, and the subsequent frames reuse the previous correction result to suppress angle jitter interference, improve the stability of pitch angle detection, and thereby reduce the misjudgment of usage attitude caused by angle jitter.

[0135] In one embodiment, the above-mentioned S710, obtaining the filter coefficients corresponding to the motion state, includes:

[0136] When the motion state includes a second motion state, the filter coefficients corresponding to the second motion state are determined based on the sampling period of the pitch angle and the filter cutoff frequency.

[0137] Optionally, if the motion state of the cleaning equipment is determined to include a second motion state with higher motion intensity, the cleaning equipment can read the sampling period of the preset pitch angle and the filter cutoff frequency to calculate the filter coefficient corresponding to the second motion state.

[0138] For example, the filter coefficients corresponding to the second motion state The calculation formula is as follows:

[0139]

[0140] Where T represents the sampling period, This indicates the cutoff frequency of the low-pass filter. For example, T = 10 ms. .

[0141] The cleaning equipment can be used in a lying or non-lying position. Based on this, in one embodiment, such as... Figure 8 As shown, S620 above, determining the usage posture of the cleaning equipment based on the corrected pitch angle, includes:

[0142] S810. If the corrected pitch angle is less than the preset threshold for entering a lying position for a first number of consecutive preset times, the cleaning equipment is determined to be in a lying position.

[0143] Among them, the cleaning equipment is used in a lying position with a small angle between the body components and the surface to be cleaned, that is, the cleaning equipment has a small pitch angle.

[0144] Optionally, the cleaning device can acquire multiple pitch angles, thereby obtaining multiple corrected pitch angles, and compare each corrected pitch angle with a preset lying-flat threshold. If a first number of consecutive corrected pitch angles are all less than the preset lying-flat threshold, the cleaning device is determined to be in a lying-flat posture.

[0145] S820. If the corrected pitch angle is greater than the preset exit-lying threshold for a second consecutive number of preset times, the cleaning equipment is determined to be in a non-lying posture; the preset exit-lying threshold is greater than the preset entry-lying threshold.

[0146] The cleaning equipment is used in a non-lying position with a large angle between the machine body and the surface to be cleaned, meaning the cleaning equipment has a large pitch angle. The preset second quantity and the preset first quantity, also known as the anti-shake count, can be the same or different.

[0147] Optionally, the cleaning device can acquire multiple pitch angles, thereby obtaining multiple corrected pitch angles, and compare each corrected pitch angle with a preset exit from lying flat threshold. If a second consecutive preset number of corrected pitch angles are all greater than the preset exit from lying flat threshold, the cleaning device is determined to be in a non-lying-flat posture.

[0148] For example, if the cleaning device detects that a first preset number of corrected pitch angles are less than a preset threshold for entering a lying-down position, it determines that the cleaning device has entered a lying-down position and thus determines its usage posture as a lying-down position. Subsequently, if a second preset number of corrected pitch angles are detected that are greater than a preset threshold for exiting a lying-down position, the cleaning device determines that it has exited the lying-down position and thus determines its usage posture as a non-lying-down position. The preset exit threshold for lying-down is greater than the preset entry threshold for lying-down, achieving a broad entry and strict exit mechanism for lying-down positions, thus improving the reliability of the cleaning device's determination of the critical state between lying-down and non-lying-down positions.

[0149] It should be noted that during the process of acquiring multiple pitch angles, the cleaning equipment can be stationary or in motion. The preset entry / exit threshold / anti-shake count corresponding to different motion states can be the same or different.

[0150] For example, taking the motion state as including stillness or motion, the corresponding judgment conditions for lying flat are shown in Table 1 below:

[0151] Table 1 Parameter Configuration Table

[0152]

[0153] In this embodiment, when a first preset number of corrected pitch angles are less than a preset threshold for entering a lying-down position, the cleaning device is determined to be in a lying-down position; when a second preset number of corrected pitch angles are greater than a preset threshold for exiting a lying-down position, the cleaning device is determined to be in a non-lying-down position; the preset threshold for exiting a lying-down position is greater than the preset threshold for entering a lying-down position. In the above method, by using the first and second preset numbers of corrected pitch angles as the determination conditions, and simultaneously setting the preset threshold for exiting a lying-down position to be greater than the preset threshold for entering a lying-down position, a state hysteresis is formed, which can filter out misjudgments caused by instantaneous angle disturbances, avoid frequent switching between lying-down and non-lying-down positions, and effectively improve the stability and reliability of the cleaning device's attitude state determination.

[0154] In one embodiment, the cleaning device is used in either a lying-down or non-lying-down position; the target power for the lying-down position is less than the target power for the non-lying-down position.

[0155] It should be noted that in the lying-flat position, the angle between the machine body and the surface to be cleaned (i.e., the ground) is small. When the negative pressure motor picks up the wastewater from the floor brush assembly, it only needs to overcome a small component of the wastewater's gravity. Therefore, the negative pressure motor can use a smaller target power in the lying-flat position. However, in the non-lying-flat position, the angle between the machine body and the surface to be cleaned is larger. When the negative pressure motor picks up the wastewater from the floor brush assembly, it needs to overcome a larger component of the wastewater's gravity. Therefore, the negative pressure motor needs to use a larger target power in the non-lying-flat position.

[0156] In one embodiment, this application also provides a control method for a cleaning device, which is applied to... Figure 1 Taking a cleaning device as an example, the specific application to the processor in a cleaning device includes the following steps:

[0157] When the cleaning equipment is detected to be in a lying position, the power of the negative pressure motor is adjusted according to the detected acceleration or speed of the cleaning equipment.

[0158] The power of the negative pressure motor in a lying position and with acceleration or speed within a first preset range is greater than the power in a lying position and with acceleration or speed within a second preset range; the upper limit of the first preset range is less than the lower limit of the second preset range.

[0159] The term "lying flat" refers to the posture in which the cleaning equipment is used. This posture can include either a lying flat posture or a non-lying flat posture. The magnitude of the acceleration or velocity of the cleaning equipment is positively correlated with the intensity of its motion; that is, the greater the acceleration or velocity, the greater the corresponding motion intensity.

[0160] Optionally, the cleaning device can acquire its own posture data and determine its operating posture based on this data. For example, if the cleaning device is detected to be in a lying position, the power of the negative pressure motor can be adjusted based on the detected acceleration or velocity of the cleaning device. The process of determining the operating posture based on posture data described above can be found in the aforementioned related embodiments and will not be repeated here.

[0161] The upper limit of the first preset range is less than the lower limit of the second preset range, indicating that the first preset range corresponds to a range of motion data (acceleration / velocity) with lower motion intensity, and the second preset range corresponds to a range of motion data with higher motion intensity. For example, the first preset range is 0°-30°, preferably 0°-25°.

[0162] When the acceleration or velocity of the cleaning equipment is within a first preset range, it indicates that the cleaning equipment is in a motion state with low motion intensity, such as the first motion state; when the acceleration or velocity of the cleaning equipment is within a second preset range, it indicates that the cleaning equipment is in a motion state with high motion intensity, such as the second motion state.

[0163] It should be noted that, under the same usage posture, the greater the movement intensity of the cleaning equipment, the less power the negative pressure motor can use to suck up the sewage on the floor brush assembly by taking advantage of the inertia of the movement.

[0164] Based on this, the power of the negative pressure motor when it is in a lying position and the acceleration or speed is within a first preset range (corresponding to a lower exercise intensity) can be set to be greater than the power when it is in a lying position and the acceleration or speed is within a second preset range (corresponding to a higher exercise intensity).

[0165] Similarly, the power of the negative pressure motor in a non-lying position and when the acceleration or speed is within a first preset range can be set to be greater than the power in a non-lying position and when the acceleration or speed is within a second preset range.

[0166] Under the same intensity of motion, when the negative pressure motor is not in a flat position, it needs to overcome a large component of the gravity of the sewage when it is sucking up the sewage on the floor brush assembly, so it needs to use a larger power.

[0167] Based on this, the power of the negative pressure motor when the acceleration or speed is within a first preset range and in a non-lying position can be set to be greater than the power when the acceleration or speed is within the first preset range and in a lying position.

[0168] Similarly, the power of the negative pressure motor when the acceleration or speed is within a second preset range and in a non-lying position can be set to be greater than the power when the acceleration or speed is within the second preset range and in a lying position.

[0169] In practical applications, overcoming the impact of the gravity component of sewage on the power of the negative pressure motor is more important. Therefore, the power of the negative pressure motor when it is not in a flat position and its acceleration or velocity is within the first preset range / second preset range can be set to be greater than the power of the negative pressure motor when it is in a flat position and its acceleration or velocity is within the first preset range / second preset range.

[0170] For example, the power P of the negative pressure motor of the cleaning equipment under different usage postures (non-lying posture / lying posture) and different motion states (first motion state / second motion state) is shown in Table 2 below:

[0171] Table 2 Power Relationship of Negative Pressure Motors

[0172]

[0173] In this embodiment, when the cleaning device is detected to be in a lying position, the power of the negative pressure motor is adjusted according to the detected acceleration or speed of the cleaning device. The power of the negative pressure motor in the lying position when the acceleration or speed is within a first preset range is greater than the power in the lying position when the acceleration or speed is within a second preset range. The upper limit of the first preset range is less than the lower limit of the second preset range. In the above method, when the cleaning device is in a lying position, the power of the negative pressure motor is set differently according to different working conditions of acceleration or speed. The first preset range corresponding to low speed matches a larger power, and the second preset range corresponding to high speed matches a smaller power. It is not that a uniform low power is used for the lying position, which improves the adaptability between the suction power of the negative pressure motor and the actual working conditions of the device, thereby improving the cleaning effect of the cleaning device in the lying position. It should be noted that when obtaining the corresponding motor power according to Table 2, when the judgment of the lying position is combined with Table 1, the uncorrected pitch angle (i.e., the angle detected and processed by the motion sensor) can be used as the judgment basis, and the corrected pitch angle is preferred as the judgment basis.

[0174] Based on the control method of the above-mentioned cleaning equipment, this application also provides a cleaning equipment. The cleaning equipment includes a controller, a sensor, a rotatably connected body assembly and a floor brush assembly. The body assembly is equipped with a negative pressure motor and a wastewater tank. The negative pressure motor, the wastewater tank and the floor brush assembly are connected in sequence. Under the action of the negative pressure motor, the wastewater at the floor brush assembly is sucked and stored in the wastewater tank.

[0175] The controller is electrically connected to the sensor and the negative pressure motor. The sensor is used to collect the angle and attitude information and acceleration / velocity information of the cleaning equipment. The controller is configured to control the power of the negative pressure motor based on the information collected by the sensor. The angle and attitude information of the cleaning equipment refers to the angle between the machine body components and the surface to be cleaned.

[0176] The power of the negative pressure motor when the included angle is less than the first preset angle and the acceleration or speed is within the first preset range is greater than the power when the included angle is less than the first preset angle and the acceleration or speed is within the second preset range; the upper limit of the first preset range is less than the lower limit of the second preset range, the first preset angle range is 0-30°, and the first preset angle is preferably 25°.

[0177] This cleaning device is used to implement the steps in any of the above-mentioned control methods for cleaning devices. For details, please refer to the aforementioned related embodiments, which will not be repeated here.

[0178] To facilitate understanding by those skilled in the art, the control method of the cleaning equipment provided in this application is described in detail below, such as... Figure 9 As shown, the method may include:

[0179] S901. Acquire the acceleration in three axes collected by the triaxial accelerometer on the body assembly of the cleaning equipment;

[0180] S902: Convert the acceleration in the three axes into the pitch angle of the fuselage components, as the attitude information of the cleaning equipment;

[0181] S903. Perform vector synthesis of the accelerations in the three axes to obtain the acceleration vector length;

[0182] S904. When the acceleration vector length is within a preset length range, the motion state of the cleaning equipment is determined as the first motion state.

[0183] S905. When the acceleration vector length exceeds the preset length range, the motion state of the cleaning equipment is determined to be the second motion state, and the motion intensity of the second motion state is higher than that of the first motion state.

[0184] S906. Obtain the filter coefficients corresponding to the motion states; the filter coefficients corresponding to the first motion state are greater than the filter coefficients corresponding to the second motion state.

[0185] S907. The reference pitch angle and the pitch angle are weighted and summed using the filter coefficients to obtain the corrected pitch angle; if the pitch angle is the first pitch angle obtained, the reference pitch angle is the preset pitch angle; if the pitch angle is not the first pitch angle, the reference pitch angle is the previously corrected pitch angle.

[0186] S908. When the corrected pitch angle is less than the preset threshold for entering the lying position for a first number of consecutive preset pitch angles, the cleaning equipment is determined to be in the lying position.

[0187] S909. If the corrected pitch angle is greater than the preset exit-lying threshold for a second consecutive number of preset times, the cleaning equipment is determined to be in a non-lying posture; the preset exit-lying threshold is greater than the preset entry-lying threshold.

[0188] S910. Obtain the negative pressure motor power corresponding to the usage posture of the cleaning equipment, and use it as the target power of the negative pressure motor in the cleaning equipment; the target power corresponding to the lying posture is less than the target power corresponding to the non-lying posture; the body assembly is equipped with a negative pressure motor and a wastewater tank, and the negative pressure motor, wastewater tank and floor brush assembly are connected in sequence. Under the action of the negative pressure motor, the wastewater at the floor brush assembly is sucked and stored in the wastewater tank.

[0189] S911, control the negative pressure motor to use the target power to suck up dirt from the floor brush assembly.

[0190] It should be noted that the descriptions in S901-S911 above can be found in the relevant descriptions in the above embodiments, and their effects are similar, so they will not be repeated here.

[0191] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0192] Based on the same inventive concept, this application also provides a control device for cleaning equipment to implement the control method for cleaning equipment described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the control device for cleaning equipment provided below can be found in the limitations of the control method for cleaning equipment described above, and will not be repeated here.

[0193] In one exemplary embodiment, a control device for a cleaning device is provided, applied to... Figure 1 The cleaning equipment shown, such as Figure 10 As shown, the control device of the above-mentioned cleaning equipment includes: a data acquisition module 1001, a power determination module 1002, and a vacuum control module 1003, wherein:

[0194] The data acquisition module 1001 is used to acquire the motion state and attitude information of the cleaning equipment; the attitude information is used to characterize the spatial positional relationship between the floor brush assembly and the body assembly.

[0195] The power determination module 1002 is used to determine the target power of the negative pressure motor based on the motion state and attitude information;

[0196] The suction control module 1003 is used to control the negative pressure motor to use the target power to suction the floor brush assembly.

[0197] Each module in the control device of the aforementioned cleaning equipment can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0198] In one exemplary embodiment, a cleaning device is provided, such as Figure 1 As shown, the cleaning equipment 100 includes a body assembly 110 and a floor brush assembly 120 rotatably connected. The body assembly 110 is equipped with a negative pressure motor 111 and a wastewater tank 112, which are sequentially connected. Under the action of the negative pressure motor 111, wastewater at the floor brush assembly 120 is pumped and stored in the wastewater tank 112. The cleaning equipment also includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps in the control method of the cleaning equipment described above.

[0199] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the control method for the cleaning equipment described above.

[0200] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the control method for the cleaning equipment described above.

[0201] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0202] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0203] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A control method for a cleaning device, the cleaning device comprising a body assembly and a floor brush assembly rotatably connected, the body assembly being equipped with a negative pressure motor and a wastewater tank, the negative pressure motor, the wastewater tank, and the floor brush assembly being sequentially connected, wherein, under the action of the negative pressure motor, wastewater at the floor brush assembly is drawn and stored in the wastewater tank, characterized in that, The method includes: Acquire the motion state and attitude information of the cleaning equipment; the attitude information is used to characterize the spatial positional relationship between the floor brush assembly and the body assembly; The target power of the negative pressure motor is determined based on the motion state and the posture information; The negative pressure motor is controlled to use the target power to suck up dirt from the floor brush assembly.

2. The method according to claim 1, characterized in that, The acquisition of the motion state and attitude information of the cleaning equipment includes: Acquire motion data collected by motion sensors on the fuselage assembly; The motion state and posture information are determined based on the motion data collected by the motion sensor.

3. The method according to claim 2, characterized in that, The motion sensor includes a triaxial accelerometer, and the motion data collected by the motion sensor includes accelerations along three axes collected by the triaxial accelerometer; determining the motion state and attitude information based on the motion data collected by the motion sensor includes: The accelerations in the three axes are converted into the pitch angles of the fuselage assembly, which serve as the attitude information. The accelerations along the three axes are vectored together to obtain the acceleration vector length. The motion state is determined based on the acceleration vector length.

4. The method according to claim 3, characterized in that, The motion state includes a first motion state or a second motion state, wherein the motion intensity of the second motion state is higher than that of the first motion state; determining the motion state based on the acceleration vector length includes: If the acceleration vector length is within a preset length range, the motion state is determined to be the first motion state; If the acceleration vector length exceeds the preset length range, the motion state is determined to be the second motion state.

5. The method according to any one of claims 1-4, characterized in that, The attitude information includes the pitch angle of the fuselage assembly; determining the target output power of the negative pressure motor based on the motion state and the attitude information includes: The pitch angle is corrected according to the motion state to obtain the corrected pitch angle; The usage posture of the cleaning equipment is determined based on the corrected pitch angle; The negative pressure motor power corresponding to the usage posture of the cleaning equipment is obtained as the target power.

6. The method according to claim 5, characterized in that, The step of correcting the pitch angle based on the motion state to obtain the corrected pitch angle includes: Obtain the filter coefficients corresponding to the motion state; The reference pitch angle and the pitch angle are weighted and summed using the filtering coefficients to obtain the corrected pitch angle; if the pitch angle is the first obtained pitch angle, the reference pitch angle is a preset pitch angle; if the pitch angle is not the first pitch angle, the reference pitch angle is the previously corrected pitch angle.

7. The method according to claim 6, characterized in that, The motion state includes a first motion state or a second motion state, wherein the motion intensity of the second motion state is higher than that of the first motion state, and the filtering coefficient corresponding to the first motion state is greater than that corresponding to the second motion state.

8. The method according to claim 7, characterized in that, The step of obtaining the filter coefficients corresponding to the motion state includes: When the motion state includes the second motion state, the filter coefficient corresponding to the second motion state is determined based on the sampling period of the pitch angle and the preset filter cutoff frequency.

9. The method according to claim 5, characterized in that, Determining the usage posture of the cleaning equipment based on the corrected pitch angle includes: If the corrected pitch angle is less than a preset threshold for entering a lying position for a first number of consecutive preset number of times, the cleaning device is determined to be in a lying position. If the corrected pitch angle is greater than the preset exit-lying-flat threshold for a second consecutive number of preset times, the usage posture of the cleaning device is determined to be a non-lying-flat posture; the preset exit-lying-flat threshold is greater than the preset enter-lying-flat threshold.

10. The method according to claim 5, characterized in that, The cleaning equipment can be used in either a lying-down or non-lying-down position; the target power for the lying-down position is less than the target power for the non-lying-down position.

11. A control device for a cleaning equipment, characterized in that, The cleaning equipment includes a rotatably connected body assembly and a floor brush assembly. The body assembly is equipped with a negative pressure motor and a wastewater tank. The negative pressure motor, the wastewater tank, and the floor brush assembly are connected in sequence. Under the action of the negative pressure motor, wastewater from the floor brush assembly is sucked into the wastewater tank. The device includes: The data acquisition module is used to acquire the motion state and posture information of the cleaning equipment; the posture information is used to characterize the spatial positional relationship between the floor brush assembly and the body assembly. A power determination module is used to determine the target power of the negative pressure motor based on the motion state and the attitude information; The suction control module is used to control the negative pressure motor to use the target power to suction the floor brush assembly.

12. A cleaning device, comprising a body assembly and a floor brush assembly rotatably connected, the body assembly having a negative pressure motor and a wastewater tank, the negative pressure motor, the wastewater tank, and the floor brush assembly being sequentially connected, wherein wastewater at the floor brush assembly is drawn and stored in the wastewater tank under the action of the negative pressure motor, the cleaning device further comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 10.

13. A control method for a cleaning device, the cleaning device comprising a body assembly and a floor brush assembly rotatably connected, the body assembly being provided with a negative pressure motor and a wastewater tank, the negative pressure motor, the wastewater tank, and the floor brush assembly being sequentially connected, wherein, under the action of the negative pressure motor, wastewater at the floor brush assembly is drawn and stored in the wastewater tank, characterized in that... The method includes: When the cleaning device is detected to be in a lying position, the power of the negative pressure motor is adjusted according to the detected acceleration or speed of the cleaning device; The power of the negative pressure motor in the lying-flat posture and when the acceleration or speed is within a first preset range is greater than the power in the lying-flat posture and when the acceleration or speed is within a second preset range; the upper limit of the first preset range is less than the lower limit of the second preset range.

14. A cleaning device, comprising a controller, a sensor, a rotatably connected body assembly and a floor brush assembly, the body assembly being equipped with a negative pressure motor and a wastewater tank, the negative pressure motor, the wastewater tank, and the floor brush assembly being sequentially connected, wherein, under the action of the negative pressure motor, wastewater at the floor brush assembly is drawn and stored in the wastewater tank; characterized in that, The controller is electrically connected to the sensor and the negative pressure motor. The sensor is used to collect the angle and attitude information and acceleration / velocity information of the cleaning equipment. The controller is configured to control the power of the negative pressure motor according to the information collected by the sensor. The angle and attitude information of the cleaning equipment refers to the angle between the body assembly and the surface to be cleaned. The power of the negative pressure motor when the included angle is less than the first preset angle and the acceleration or speed is within the first preset range is greater than the power when the included angle is less than the first preset angle and the acceleration or speed is within the second preset range; the upper limit of the first preset range is less than the lower limit of the second preset range, and the range of the first preset angle is 0-30°.

Images