Cleaning device control method and apparatus, storage medium and cleaning device

Abstract

A cleaning device control method and apparatus, a storage medium and a cleaning device. The cleaning apparatus control method comprises: when there is a need to control a lifting / lowering module of a cleaning device to execute a first action to move to a second in-service position, if it is obtained that the current first position of the lifting / lowering module is an in-service position opposite to the second in-service position, controlling the lifting / lowering module to execute the first action and, in the process of the lifting / lowering module executing the first action, determining, by means of an acquired first driving current, whether the lifting / lowering module moves to the second in-service position. The present technical solution can improve the robustness of lifting / lowering modules of cleaning devices.

Description

Cleaning equipment control method, device, storage medium and cleaning equipment

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to Chinese patent application number 202311198530.7, filed on September 15, 2023, entitled “A cleaning equipment control method, device, storage medium and cleaning equipment”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to the technical field of cleaning equipment control, and in particular to a cleaning equipment control method, device, storage medium, and cleaning equipment. Background Art

[0004] By configuring a lifting module in a cleaning device, such as a lifting main brush module, the lifting main brush module can be controlled to rise in the presence of water on the ground. This prevents water from entering the dust box and causing damage to the device itself, breeding bacteria, and odor after dust collection. However, in related technologies, the lifting module controlling the cleaning device is prone to abnormalities when performing the lifting function, resulting in a high frequency of errors and reduced robustness of the lifting module. Therefore, improving the robustness of the lifting module of a cleaning device is a technical problem that needs to be solved urgently.

[0005] Summary of the Invention

[0006] The embodiments of the present disclosure provide a cleaning equipment control method, device, storage medium, and cleaning equipment. The technical solution provided by the present disclosure can improve the robustness of the lifting module of the cleaning equipment.

[0007] Other features and advantages of the present disclosure will become apparent from the following detailed description, or may be learned in part by practice of the present disclosure.

[0008] According to a first aspect of an embodiment of the present disclosure, a method for controlling a cleaning device is provided, wherein the cleaning device includes a lifting module, and the lifting module is used to perform a lifting action. The method includes: in response to a first control instruction, obtaining whether the current first position of the lifting module is a first in-place position, the first in-place position including a descending in-place position or a rising in-place position; in response to the first position being the first in-place position, controlling the lifting module to perform a first action to move toward a second in-place position, the second in-place position being an in-place position opposite to the first in-place position; obtaining a first driving current for driving the lifting module to perform the first action; and judging whether the lifting module has moved to the second in-place position based on the first driving current.

[0009] In some embodiments of the present disclosure, based on the aforementioned solution, the cleaning device further includes an in-place switch, and wherein obtaining whether the current first position of the lifting module is the first in-place position includes using the in-place switch to detect whether the first position is the first in-place position.

[0010] In some embodiments of the present disclosure, based on the aforementioned scheme, the method further includes: in response to the first position not being the first in-place position, controlling the lifting module to perform a second action, the second action being opposite to the action direction of the first action; obtaining a second driving current for driving the lifting module to perform the second action; if the second driving current is not obtained to exceed the first current threshold within the first preset time, and the lifting module is obtained to move to the first in-place position within the second preset time, controlling the lifting module to perform the first action, the first preset time being less than the second preset time.

[0011] In some embodiments of the present disclosure, based on the aforementioned scheme, the method further includes: if the second driving current is not obtained to exceed the first current threshold within the first preset time, and the lifting module is not obtained to move to the first in-place position within the second preset time, it is determined that the in-place switch is faulty, and a first protection action for the lifting module is executed.

[0012] In some embodiments of the present disclosure, based on the aforementioned solution, the first protection action includes controlling the lifting module to stop moving, and / or controlling the cleaning device to report an error.

[0013] In some embodiments of the present disclosure, based on the aforementioned scheme, the method also includes: if the second driving current obtained within the first preset time exceeds the first current threshold, controlling the lifting module to perform the first action; if the lifting module moves to the first position, controlling the lifting module to perform the second action again and obtaining the second driving current to drive the lifting module to perform the second action, until the second driving current is not obtained to exceed the first current threshold within the first preset time, or until the number of executions of the second action by the lifting module exceeds a preset number threshold.

[0014] In some embodiments of the present disclosure, based on the aforementioned solution, the method further includes: if the execution times exceed a preset threshold, determining that the lifting module has a fault, and executing a second protection action for the lifting module.

[0015] In some embodiments of the present disclosure, based on the aforementioned scheme, the determination of whether the lifting module moves to the second in-place position is made based on the first driving current, including: if the first driving current obtained exceeds the second current threshold within a third preset time, it is determined that the lifting module has a fault, and a second protection action is performed for the lifting module.

[0016] In some embodiments of the present disclosure, based on the aforementioned solution, the second protection action includes controlling the lifting module to stop moving, and / or controlling the cleaning device to send a prompt message to the user.

[0017] In some embodiments of the present disclosure, based on the aforementioned scheme, the determination of whether the lifting module moves to the second in-place position is made based on the first driving current, including: if the first driving current obtained exceeds the second current threshold within a third preset time, it is determined that the lifting module has a fault, and a second protection action is performed for the lifting module.

[0018] In some embodiments of the present disclosure, based on the aforementioned scheme, the method further includes: if the first driving current is not obtained to exceed the second current threshold within the third preset time, and the first driving current is obtained to exceed the second current threshold within the fourth preset time, then it is determined that the lifting module moves to the second in-place position, and the fourth preset time is greater than the third preset time.

[0019] In some embodiments of the present disclosure, based on the aforementioned scheme, the method also includes: if the first driving current is not obtained to exceed the second current threshold within the fourth preset time, and the first driving time for driving the lifting module to perform the first action reaches the fourth preset time, then it is determined that the lifting module moves to the second in-place position, and the fourth preset time is greater than the third preset time.

[0020] In some embodiments of the present disclosure, based on the aforementioned scheme, the method further includes: triggering a self-calibration operation in response to a second control instruction; determining the second current threshold and the fourth preset time based on the self-calibration operation; wherein the second current threshold and the fourth preset time are configured to determine whether the lifting module moves to the second in-place position.

[0021] In some embodiments of the present disclosure, based on the aforementioned scheme, determining the second current threshold and the fourth preset time includes: obtaining whether the current second position of the lifting module is the first in-place position; if the second position is the first in-place position, controlling the lifting module to perform the first action; obtaining whether the first driving current that drives the lifting module to perform the first action has an overcurrent, and recording the second driving time that drives the lifting module to perform the first action; if the first driving current has an overcurrent, the first driving current corresponding to the overcurrent is used as a reference current, and the second driving time corresponding to the overcurrent is used as a reference time; based on the reference current and the reference time, determining the second current threshold and the fourth preset time.

[0022] In some embodiments of the present disclosure, based on the aforementioned scheme, the second current threshold and the fourth preset time are determined according to the reference current and the reference time, including: if the reference current is less than the first set current, the reference current is determined as the second current threshold; if the reference time is greater than the first set time and less than the second set time, the reference time is adjusted according to a preset adjustment ratio to obtain the fourth preset time, and the preset adjustment ratio is less than 1.

[0023] In some embodiments of the present disclosure, based on the aforementioned scheme, the method also includes: if the reference current is greater than or equal to the first set current, the second set current is determined as the second current threshold, and the second set current is less than the first set current; if the reference time is less than or equal to the first set time, or the reference time is greater than or equal to the second set time, the third set time is determined as the fourth preset time, and the third set time is greater than the first set time and less than the second set time.

[0024] In some embodiments of the present disclosure, based on the aforementioned scheme, the method also includes: if the second position is not the first in-place position, controlling the lifting module to perform the second action, and obtaining whether the lifting module moves to the first in-place position; if it is obtained that the lifting module moves to the first in-place position, controlling the lifting module to perform the first action; if it is not obtained that the lifting module moves to the first in-place position, determining the second set current as the second current threshold, and determining the third set time as the fourth preset time.

[0025] According to a second aspect of an embodiment of the present disclosure, a cleaning equipment control device is provided, wherein the cleaning equipment includes a lifting module, and the lifting module is used to perform a lifting action. The device includes: an acquisition unit, configured to obtain, in response to a first control instruction, whether the current first position of the lifting module is a first in-place position, wherein the first in-place position includes a descending in-place position or a rising in-place position; a control unit, configured to control the lifting module to perform a first action to move toward a second in-place position in response to the first position being the first in-place position, wherein the second in-place position is an in-place position opposite to the first in-place position; an acquisition unit, configured to obtain a first driving current that drives the lifting module to perform the first action; and a judgment unit, configured to judge whether the lifting module moves to the second in-place position based on the first driving current.

[0026] According to a third aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, in which at least one program code is stored. The at least one program code is loaded and executed by a processor to implement the operations performed by the method described in any one of the first aspects above.

[0027] According to a fourth aspect of an embodiment of the present disclosure, a cleaning device is provided, comprising one or more processors and one or more memories, wherein at least one program code is stored in the one or more memories, and the at least one program code is loaded and executed by the one or more processors to implement the operations performed by the method described in any one of the first aspects above.

[0028] The technical solution disclosed herein is to configure a lifting module for performing lifting actions in a cleaning device, and to determine whether the lifting module has moved to the second in-place position in the following manner: first, in response to a first control instruction, obtain whether the current first position of the lifting module is the first in-place position, where the first in-place position is a descending in-place position or an ascending in-place position; secondly, if the first position is the first in-place position, control the lifting module to perform a first action to move toward the second in-place position, where the second in-place position is the in-place position opposite to the first in-place position; thirdly, obtain a first driving current for driving the lifting module to perform the first action; finally, determine whether the lifting module has moved to the second in-place position based on the first driving current. Thus, it can be seen that in the process of determining whether the lifting module has moved to the second in-place position, the cleaning device disclosed herein can determine whether the lifting module has moved to the second in-place position by performing a logical judgment only through the first driving current. Therefore, it can be understood that the method disclosed in the present invention for judging whether the lifting module has moved to the second in-place position can reduce the configuration cost of configuring the in-place switch in the cleaning equipment, reduce the number of error reports for failures of the in-place switch, and thus improve the robustness of the lifting module of the cleaning equipment.

[0029] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification, are used to explain the principles of the present disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure, and those skilled in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0031] FIG1 is a schematic diagram showing the principle of a lifting module performing a lifting action in the related art;

[0032] FIG2 is a schematic flow chart showing a method for controlling a cleaning device according to an embodiment of the present disclosure;

[0033] FIG3 shows a detailed flowchart of a cleaning equipment control method according to an embodiment of the present disclosure;

[0034] FIG4 shows a schematic diagram of a flow chart of determining the second current threshold and the fourth preset time according to an embodiment of the present disclosure;

[0035] FIG5 shows a detailed flowchart of determining the second current threshold and the fourth preset time according to an embodiment of the present disclosure;

[0036] FIG6 shows a schematic diagram of obtaining whether the first driving current is overcurrent according to an embodiment of the present disclosure;

[0037] FIG7 shows a detailed flowchart of determining the second current threshold and the fourth preset time according to the reference current and the reference time according to an embodiment of the present disclosure;

[0038] FIG8 shows a schematic diagram of the overall process of a cleaning equipment control method according to an embodiment of the present disclosure;

[0039] FIG9 is a schematic diagram showing an overall process of determining the second current threshold and the fourth preset time according to an embodiment of the present disclosure;

[0040] FIG10 shows a block diagram of a cleaning equipment control device according to an embodiment of the present disclosure;

[0041] FIG11 shows a schematic structural diagram of a cleaning device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0042] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art.

[0043] In addition, the described features, structures or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, well-known methods, devices, implementations or operations are not shown or described in detail to avoid blurring various aspects of the present disclosure.

[0044] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically separate entities. That is, these functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0045] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, while others may be combined or partially combined. Therefore, the actual execution order may vary depending on the actual situation.

[0046] It should be noted that the term "plurality" used in this document refers to two or more. "And / or" describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B together, or B alone. The character " / " generally indicates an "or" relationship between the associated objects.

[0047] It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, such that the embodiments of the present disclosure described herein can be practiced in an order other than that illustrated or described.

[0048] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0049] In order to enable those skilled in the art to better understand the technical solution of the present disclosure, the background technology of the application technical solution will be described in detail below with reference to FIG1 .

[0050] It should be noted that the cleaning device referred to in the present disclosure may be an intelligent device with a cleaning function, including but not limited to a sweeper, a mop, etc. The following description uses a sweeper as an example of a cleaning device.

[0051] It should also be noted that the lifting module referred to in the present disclosure may be a module with a lifting function, including but not limited to a lifting main brush module, a lifting mop module, and the like.

[0052] 1 , there is shown a schematic diagram showing the principle of a lifting module performing a lifting action in the related art.

[0053] In this field, if the main brush module of the sweeping machine does not have a lifting function, then when the sweeping machine is cleaning the ground where there is liquid (such as water), the liquid will enter the dust box of the sweeping machine. When the liquid enters the dust box, bacteria will grow, damaging the sweeping machine. After collecting dust, the fan will be damaged and it will stink. However, if the sweeping machine is equipped with a lifting main brush module with a lifting function, this problem can be solved.

[0054] In related technologies, the principle of controlling the lifting module of a sweeper to perform lifting actions is as follows:

[0055] Two in-position switches are provided in the sweeping machine, one for detecting whether the lifting module moves to the raised in-position, and the other for detecting whether the lifting module moves to the lowered in-position.

[0056] If the lifting module of the sweeper performs an ascending action to move up to the ascending position, during the ascending action, the drive motor is controlled to rotate forward, so that the drive motor will drive the primary transmission gear to rotate, thereby driving the tensile structure to shorten the pull rope, so that the lifting module rises. If the lifting module rises and reaches the ascending position, it will trigger the corresponding in-position switch to feedback the ascending position signal to the sweeper, so that the sweeper can obtain the movement of the lifting module to the ascending position.

[0057] If the lifting module of the sweeper performs a descending action to move downward to the lowered position, during the execution of the descending action, the drive motor is controlled to reverse, so that the drive motor will drive the primary transmission gear to rotate, thereby driving the tensile structure to extend the pull rope, so that the lifting module descends. If the lifting module descends to the lowered position, it will trigger the corresponding in-position switch to feedback the lowering in-position signal to the sweeper, so that the sweeper can obtain the movement of the lifting module to the lowered position.

[0058] If the in-position switch fails, the sweeper will report an error. It is understandable that, because sweepers in related art use two in-position switches to determine whether the lifting module has reached its final position, the configuration of two in-position switches increases the frequency of error reports, thereby reducing the robustness of the lifting module. Based on this, the present disclosure proposes a control method for cleaning equipment to overcome this shortcoming and improve the robustness of the lifting module of the sweeper.

[0059] The control method of the cleaning device provided by the present disclosure will be described in detail below with reference to the accompanying drawings.

[0060] 2 , which shows a flow chart of a cleaning device control method according to an embodiment of the present disclosure, specifically comprising the following steps S110 to S140:

[0061] S110 , in response to a first control instruction, obtaining whether the current first position of the lifting module is a first in-place position, where the first in-place position is a descending in-place position or an ascending in-place position.

[0062] It should be noted that the first control instruction is used to instruct the lifting module to move to the second in-position, which is the in-position opposite to the first in-position. For example, if the first control instruction instructs the lifting module to move to the raised in-position (i.e., the second in-position), then the first in-position is the lowered in-position.

[0063] It should also be noted that the first control instruction can be a control instruction issued by the user to the sweeping robot through the client, or a control instruction generated by the user by touching a corresponding button on the sweeping robot, or a control instruction generated by other means.

[0064] It should also be noted that the sweeping robot can determine whether the current first position of the lifting module is the first in-position by obtaining an in-position signal fed back by an in-position switch. The in-position switch is used to detect whether the first position is the first in-position. If the in-position switch detects that the lifting module has moved to the first in-position, it will feed back an in-position signal to the sweeping robot. The in-position switch can be a micro switch, a light interruption sensor, etc.

[0065] In step S110, after the sweeping robot obtains whether the current first position of the lifting module is the first in-place position, two results may occur: the first result is: the first position is the first in-place position; the second result is: the first position is not the first in-place position. The specific implementation methods corresponding to these two results will be described in detail below.

[0066] For the first result, the following step S120 may be performed:

[0067] 2 , S120 , if the first position is the first in-place position, the lifting module is controlled to perform a first action to move toward a second in-place position, where the second in-place position is an in-place position opposite to the first in-place position.

[0068] It should be noted that the first action performed by the lifting module of the sweeping machine matches the second position. For example, if the second position is the rising position, the first action is the rising action; if the second position is the descending position, the first action is the descending action.

[0069] In step S120, if the first control instruction instructs the lifting module of the sweeping machine to rise to the raised position, and if the sweeping machine obtains that the current first position of the lifting module is the lowered position, then the sweeping machine will directly control the lifting module to perform the rising action to move to the raised position.

[0070] For the second result, you can follow the steps shown in Figure 3.

[0071] 3 , which shows a detailed flowchart of a cleaning device control method according to an embodiment of the present disclosure, specifically including steps S120A to S122A:

[0072] S120A, if the first position is not the first in-place position, control the lifting module to perform a second action, and the second action is opposite to the action direction of the first action.

[0073] It can be understood that in step S120, the purpose of the sweeping machine controlling the lifting module to perform the second action is to enable the lifting module to move to the first position, and then perform the first action to move to the second position to complete the instructions of the first control instruction.

[0074] It should be noted that the second action performed by the lifting module of the sweeping robot matches the first position. If the first position is the rising position, the first action is the rising action; if the first position is the falling position, the first action is the falling action.

[0075] Continuing to refer to FIG. 3 , S121A, a second driving current is obtained to drive the lifting module to perform the second action.

[0076] In step S121A, the sweeping machine may use a driving motor to drive the lifting module to perform the second action. In this case, the second driving current is the operating current of the driving motor of the lifting module of the sweeping machine during the execution of the second action.

[0077] In the embodiment of the present disclosure, three situations may occur when the sweeping robot executes step S121A. The specific implementation methods of each situation will be described below.

[0078] In step S121A, the first possible situation is that "the sweeping machine does not obtain the second driving current exceeding the first current threshold within the first preset time, and obtains the movement of the lifting module to the first in-place position within the second preset time". In this case, the following step S122A can be executed:

[0079] S122A, if the second driving current is not obtained to exceed the first current threshold within the first preset time, and the lifting module is obtained to move to the first in-place position within the second preset time, the lifting module is controlled to perform the first action, and the first preset time is less than the second preset time.

[0080] The following is a detailed description of the setting of the logic judgment parameters involved in step S122A.

[0081] For the settings of the second preset time and the first preset time:

[0082] In some embodiments, the second preset time can be determined based on a historical record of the lifting module of the sweeping robot performing the second action. Specifically, the first time historically taken by the lifting module of the sweeping robot to move from the second in-position to the first in-position is obtained, and the maximum value of each of the first times is used as the second preset time.

[0083] In some embodiments, the second preset time can be set based on pre-test results. Specifically, the lifting function test can be performed on multiple vacuum cleaners of the same type. For example, the vacuum cleaners are controlled to move from the second position to the first position, and the second time taken for the vacuum cleaner to move from the second position to the first position is recorded. Thus, multiple second times can be obtained, and the maximum value of these multiple second times can be selected as the second preset time.

[0084] It should be noted that the present disclosure does not limit the specific method for determining the second preset time. For example, the second preset time can be set to 500ms.

[0085] In some embodiments, the product of the second preset time and the first preset ratio can be used as the first preset time, and the first preset ratio is less than 1. The first preset ratio can be determined based on historical experience or pre-test results, but the principle of determination is that if the second driving current obtained by the sweeping machine exceeds the first current threshold within the first preset time, it can be reflected that the lifting module of the sweeping machine has a fault.

[0086] For example, assuming that the first set ratio is 0.6 and the second preset time is 500 ms, it can be concluded that the first preset time is 300 ms (0.6*500 ms).

[0087] For the setting of the first current threshold:

[0088] It should be noted that the setting of the first current threshold should satisfy the following requirement: when the second driving current exceeds the first current threshold, it can be reflected that an overcurrent has occurred in the second driving current.

[0089] In some embodiments, the first current threshold can be determined based on historical records of the sweeper's lifting module performing the second action. Specifically, execution records of the sweeper's lifting module experiencing overcurrent during the second action can be searched, and then the first currents corresponding to the overcurrents recorded in these execution records can be extracted, thereby obtaining multiple first currents. The average of these multiple first currents can be used as the first current threshold.

[0090] In some embodiments, the first current threshold can be determined based on pre-test results. Specifically, the lifting function test can be performed on multiple sweepers of the same type. For example, a foreign object can be stuck in the lifting module of the sweeper (because if a foreign object is stuck in the lifting module, it will cause overcurrent in the lifting module during the execution of the lifting function), and then the lifting module of the sweeper is controlled to perform the second action from the second position to move to the first position, and the change of the second driving current is monitored during the execution of the second action by the lifting module of the sweeper. If the second driving current of the sweeper is detected to be overcurrent, the second driving current corresponding to the overcurrent is recorded as the second current, so that multiple second currents can be obtained, and the average value of the multiple second currents can be used as the first current threshold.

[0091] It should be noted that the present disclosure does not limit the specific method for determining the first current threshold. For example, the first current threshold can be set to 500 mA.

[0092] In step S121A, the second situation that may occur is that "the sweeping machine does not obtain the second driving current exceeding the first current threshold within the first preset time, and the sweeping machine does not obtain the movement of the lifting module to the first in-place position within the second preset time". In this case, the following step S122B can be performed:

[0093] S122B: If the second driving current is not obtained to exceed the first current threshold within the first preset time, and the lifting module is not obtained to move to the first in-place position within the second preset time, it is determined that the in-place switch is faulty, and the first protection action for the lifting module is executed.

[0094] In step S122B, it can be understood that if the in-position switch of the sweeping machine is normal, when the first driving time is greater than the first preset time and less than the second preset time, the in-position switch can detect that the lifting module has moved to the first in-position. Therefore, if the in-position switch does not detect that the lifting module has moved to the first in-position under this condition, it means that there is a fault in the in-position switch.

[0095] In some embodiments, if the in-position switch fails, the first protective action executed for the lifting module includes, but is not limited to, stopping the lifting module and / or controlling the cleaning device to report an error. It is understood that if the in-position switch of a sweeper fails, stopping the lifting module can protect the lifting module. The cleaning device reports an error indicating a failure in the in-position switch, and a prompt is sent to the user to inform the user that the in-position switch has failed.

[0096] In step S121A, the third possible situation is that "the sweeping robot obtains the second driving current exceeding the first current threshold within the first preset time." In this case, the following steps S122C to S123C may be performed:

[0097] S122C: If the second driving current obtained within the first preset time exceeds the first current threshold, control the lifting module to perform the first action.

[0098] It should be noted that, in step S122C, the purpose of controlling the lifting module to perform the first action is to return the lifting module to the first position, rather than moving it to the second in-position position.

[0099] S123C, if the lifting module moves to the first position, returns to the step of controlling the lifting module to perform the second action until the second driving current is not obtained to exceed the first current threshold within the first preset time, or until the number of times the lifting module performs the second action exceeds the preset number threshold.

[0100] It should be noted that, in step S123C, if the sweeping machine detects that the lifting module has moved to the first position, the sweeping machine will control the lifting module to re-execute the above step S120A.

[0101] In some embodiments, each time the sweeping robot executes step S120A, it can be recorded as executing the second action once.

[0102] In some implementations, the preset number threshold may be set to 2 times, 3 times, etc., and the present disclosure does not limit this in detail.

[0103] During the process of executing steps S122C to S123C, the following step S124D may also be executed:

[0104] S124D: If the execution times exceed the preset times threshold, it is determined that the lifting module has a fault, and a second protection action for the lifting module is executed.

[0105] In some embodiments, when it is determined that the lifting module has a fault, the second protection action performed on the lifting module includes but is not limited to controlling the lifting module to stop moving, and / or controlling the cleaning device to send a prompt message to the user, etc.

[0106] It is understandable that a malfunction in the vacuum cleaner's lift module may be due to a foreign object being stuck in the module. Therefore, stopping the lift module of the vacuum cleaner can protect the module. Furthermore, the vacuum cleaner can send a user a reminder message to check the lift module to remove the stuck foreign object. The reminder message can be sent to the user terminal, or the vacuum cleaner can provide a voice announcement, etc.

[0107] Regarding the specific implementation of the third situation that occurs in step S121A, if the sweeping machine obtains the second drive current exceeding the first current threshold for the first time within the first preset time, it can be preliminarily determined that the sweeping machine's lifting module has a fault; if the sweeping machine repeatedly performs step S120A multiple times and obtains the second drive current exceeding the first current threshold within the first preset time, then it can be clearly determined that the sweeping machine's lifting module has a fault. Therefore, by repeatedly performing step S120A multiple times, the sweeping machine can improve the accuracy of determining whether the lifting module has a fault.

[0108] To sum up, through the above introduction to the three possible situations in step S120A, it can be understood that if an abnormality occurs in the lifting module of the sweeping machine in the present disclosure during the execution of the second action, the specific cause of the abnormality can be determined only through different judgment logics, and corresponding protection actions can be performed according to different abnormal causes. Therefore, compared with the related technology in which the sweeping machine performs error reporting for any abnormality, the lifting module of the sweeping machine in the present disclosure has better robustness.

[0109] Continuing to refer to FIG. 2 , in S130 , a first driving current for driving the lifting module to perform the first action is obtained.

[0110] In some embodiments, a driving motor may be used to drive the lifting module of the sweeping machine to perform the first action. In this case, the first driving current is the operating current of the driving motor of the lifting module of the sweeping machine during the execution of the first action.

[0111] Continuing to refer to FIG. 2 , in S140 , it is determined whether the lifting module has moved to the second in-position according to the first driving current.

[0112] During the execution of step S140 , three situations may occur, and the specific implementation methods for each situation will be described below.

[0113] In step S140, the first possible situation is that "the sweeping machine does not obtain the first drive current exceeding the second current threshold within the third preset time, and obtains the first drive current exceeding the second current threshold within the fourth preset time." In this case, the following step S141 can be executed:

[0114] S141, if the first driving current is not obtained to exceed the second current threshold within the third preset time, and the first driving current is obtained to exceed the second current threshold within the fourth preset time, it is determined that the lifting module moves to the second in-place position, and the fourth preset time is greater than the third preset time.

[0115] The setting of the logic judgment parameters involved in step S141 will be described below.

[0116] For the settings of the fourth preset time and the third preset time:

[0117] In some embodiments, the fourth preset time can be determined based on a history of the lifting module of the sweeping robot performing the first action. Specifically, the third time taken by the lifting module of the sweeping robot to move from the first in-position to the second in-position in history can be obtained, and the maximum value of each of the third times can be used as the fourth preset time.

[0118] In some embodiments, the fourth preset time can be determined based on a self-calibration operation. The specific implementation will be described in detail in the subsequent embodiment of determining the second current threshold and the fourth preset time based on a self-calibration operation. For details, please refer to the following steps S410 to S420, so they will not be repeated here.

[0119] In some embodiments, the fourth preset time can be set according to a pre-test result. Specifically, in the test, an in-position switch is used to detect whether the lifting module of the sweeping machine has moved to the second in-position. In the test, the lifting function of multiple sweeping machines of the same type is tested. For example, the lifting module of the sweeping machine is controlled to start from the first in-position, perform a first movement to move to the second in-position, and record the fourth time taken for the sweeping machine to move from the first in-position to the second in-position, so as to obtain multiple fourth times, and the average value of the multiple fourth times can be used as the fourth preset time.

[0120] In some implementations, the fourth preset time may be set to a preset time equal to the second preset time.

[0121] It should be noted that the present disclosure does not limit the specific method for determining the fourth preset time. For example, the fourth preset time can be set to 400ms.

[0122] In some embodiments, the third preset time may be determined by multiplying the second preset ratio by the fourth preset time, where the second preset ratio is less than 1. The second preset ratio may be determined based on historical experience or pre-test results, but the principle of determination is that when the first drive current exceeds the second current threshold within the third preset time, it indicates that a lift module fault has occurred.

[0123] For example, assuming that the second setting ratio is 0.5 and the fourth preset time is 400ms, it can be concluded that the third preset time is 200ms (0.5ms*400ms). Under this setting, when the lifting module of the sweeping machine is executing the above step S140, if the first driving current exceeds the second current threshold within the time range of [200ms, 400ms], it is determined that the lifting module of the sweeping machine moves to the second position.

[0124] For the setting of the second current threshold:

[0125] It should be noted that the second current threshold value should be set to satisfy the following requirement: when the first driving current exceeds the second current threshold value, it can be reflected that an overcurrent has occurred in the first driving current.

[0126] In some embodiments, the second current threshold can be determined based on a pre-test result. Specifically, the lifting function test can be performed on multiple sweepers of the same type. For example, a foreign object can be stuck in the lifting module of the sweeper, and then the lifting module of the sweeper is controlled to perform a first action from a first position to move to a second position. The change of the first driving current is monitored during the execution of the first action by the lifting module of the sweeper. If an overcurrent is detected in the first driving current of the sweeper, the corresponding first driving current at the time of the overcurrent is recorded as the third current, thereby obtaining multiple third currents, and the average value of the multiple third currents can be used as the second current threshold.

[0127] In some implementations, the second current threshold may be set to be equal to the first current threshold.

[0128] In some embodiments, the second current threshold can be determined by performing a self-calibration operation. The specific implementation will be described in detail in the subsequent embodiment of determining the second current threshold and the fourth preset time based on the self-calibration operation. For details, please refer to the following steps S410 to S420, so they will not be repeated here.

[0129] It should be noted that the present disclosure does not limit the specific method for determining the second current threshold. For example, the second current threshold can be set to 500mA.

[0130] In step S141, when the lifting module of the sweeping machine is performing the first action, if the sweeping machine obtains a first driving current exceeding the second current threshold within the time range consisting of the third preset time and the fourth preset time, it means that a short circuit has occurred in the drive motor at this time. Therefore, in this case, it can be considered that the lifting module of the sweeping machine has moved to the second in-place position. Based on this, through the implementation of step S141, it is possible to determine whether the lifting module of the sweeping machine has moved to the second in-place position even if the sweeping machine is not configured with an in-place switch for detecting whether the lifting module has moved to the second in-place position, thereby saving the configuration cost of the sweeping machine and improving the robustness of the lifting module of the sweeping machine.

[0131] In step S140, the second possible situation is that "the first driving current exceeds the second current threshold value within the third preset time". In this case, the following step S141A or step S1411A can be performed:

[0132] S141A: If the first driving current is found to exceed a second current threshold within a third preset time, it is determined that a fault exists in the lifting module, and a second protection action is performed on the lifting module.

[0133] In step S141A, the vacuum cleaner's lifting module may have failed due to a foreign object being stuck in the lifting module. Therefore, upon determining that the lifting module has failed, the vacuum cleaner performs a second protective action on the lifting module, including but not limited to controlling the lifting module to stop moving and / or controlling the cleaning device to issue a prompt to the user.

[0134] S1411A, if the first driving current obtained within the third preset time exceeds the second current threshold, the lifting module is controlled to perform the second action; if the lifting module moves to the first in-place position, the step of controlling the lifting module to perform the first action is returned to (i.e., returning to step S120); and the number of times the lifting module performs the first action is recorded; if the number of operations exceeds the preset operation number threshold, it is determined that the lifting module has a fault, and the second protection action for the lifting module is executed.

[0135] It can be understood that for the second situation occurring in step S140, step S141A can be executed, or step S1411A can be executed. Compared with the two implementation methods, step S1411A can improve the accuracy of the sweeping machine in determining whether there is a fault in the lifting module.

[0136] In step S140, a third possible situation is that "the first driving current is not obtained to exceed the second current threshold within the fourth preset time". In this case, the following step S141B can be performed:

[0137] S141B, if the first driving current is not obtained to exceed the second current threshold within the fourth preset time, and the first driving time for driving the lifting module to perform the first action reaches the fourth preset time, it is determined that the lifting module moves to the second in-place position, and the fourth preset time is greater than the third preset time.

[0138] In order to enable those skilled in the art to better understand the three situations of step S140, examples are given below.

[0139] Assume that the fourth preset time is 400ms, the third preset time is 200ms, and the second current threshold is 500mA. The lifting module starts to perform the first action from the first in-place position. If the sweeper obtains a first drive current exceeding 500mA within 200ms of the first drive time, it is considered that the lifting module has a fault; if the sweeper obtains a first drive current exceeding 500mA within [200ms, 400ms] of the first drive time, it is considered that the lifting module has moved to the second in-place position; if the sweeper does not obtain a first drive current exceeding 500mA within 400ms of the first drive time, then when the first drive time reaches 400ms, the sweeper considers that the lifting module has moved to the second in-place position.

[0140] In summary, through the above detailed introduction to the three possible situations of step S140, it can be understood that the lifting module of the sweeping machine starts to perform the first action from the first in-place position, and in the process of moving to the second in-place position, by performing logical judgment on the first drive current and the first drive time, it can be determined whether the lifting module has moved to the second in-place position. Therefore, there is no need to rely on the detection of the in-place switch, which can reduce the configuration cost of the lifting module of the sweeping machine to a certain extent, and can also reduce the number of error reports for the in-place switch, thereby improving the robustness of the lifting module of the sweeping machine. In addition, the sweeping machine does not need to rely on mechanical limits to determine whether the lifting module has moved to the second in-place position, which can reduce the damage to the drive motor to a certain extent.

[0141] The specific implementation methods for determining the second current threshold and the fourth preset time in some embodiments of the present disclosure are described in detail below.

[0142] 4 , which shows a flow chart of determining the second current threshold and the fourth preset time according to an embodiment of the present disclosure, specifically includes the following steps S410 to S420:

[0143] S410 , triggering a self-calibration operation in response to a second control instruction.

[0144] It should be noted that the second control instruction is used to instruct the cleaning device to perform a self-calibration operation. The second control instruction can be a control instruction automatically generated each time the sweeping machine restarts, or a control instruction sent by the user to the sweeping machine through the client, or a control instruction automatically generated by the sweeping machine at a preset interval, or a control instruction generated by the user by touching a corresponding button on the sweeping machine, or a control instruction generated by other means.

[0145] It should also be noted that the self-calibration operation includes a series of statements and instructions for directing the cleaning device to operate to obtain the second current threshold and the fourth preset time.

[0146] Continuing to refer to FIG. 4 , in S420 , based on the self-calibration operation, the second current threshold and the fourth preset time are determined.

[0147] In order to enable those skilled in the art to better understand the purpose of performing steps S410 to S420 of the present disclosure, the reasons are explained below:

[0148] The sweeper is equipped with a drive motor to drive the lifting module to perform the lifting action. However, the lower the ambient temperature of the drive motor, the lower the operating efficiency of the drive motor. It is understandable that if the ambient temperature of the drive motor is lower, then the drive motor will need longer to drive the lifting module to the second position when driving the lifting module of the sweeper to perform the first action. Similarly, if the ambient temperature of the drive motor is lower, the corresponding second drive current will be smaller when the drive motor drives the lifting module of the sweeper to perform the first action when an overcurrent occurs.

[0149] It can be seen from this that if a fourth preset time and a second current threshold that match the ambient temperature are set for the sweeping machine, the accuracy of the sweeping machine in determining whether the lifting module has moved to the second in-place position can be improved.

[0150] When the sweeping machine is in the user's home, the ambient temperature cannot be the same each time the lifting module performs the lifting action. Therefore, if the sweeping machine uses a fixed fourth preset time and second current threshold to perform logical judgment on whether the lifting module has moved to the second position each time the lifting module performs the lifting action, it will inevitably reduce the accuracy of the sweeping machine in judging whether the lifting module has moved to the second position.

[0151] To sum up, in the present disclosure, by designing steps S410 to S420, the sweeping machine can re-determine the specific values ​​of the second current threshold and the fourth preset time, so that the re-determined fourth preset time and second current threshold match the ambient temperature of the sweeping machine, thereby improving the accuracy of the sweeping machine in judging whether the lifting module has moved to the second position.

[0152] In some implementations, the specific implementation of step S420 can be performed according to the steps shown in FIG. 5 .

[0153] 5 , there is shown a detailed flowchart of determining the second current threshold and the fourth preset time according to an embodiment of the present disclosure, which specifically includes steps S421 to S425:

[0154] S421, obtaining whether the current second position of the lifting module is the first in-place position.

[0155] In some embodiments, an in-position switch may be configured in the sweeping machine, so that the in-position switch may be used to detect whether the current second position of the lifting module of the sweeping machine is the first in-position.

[0156] In some embodiments, whether the current second position of the lifting module of the sweeping robot is the first in-position can be detected by means of a mechanical structure limit.

[0157] S422: If the second position is the first in-place position, control the lifting module to perform the first action.

[0158] S423 , obtaining whether a first driving current for driving the lifting module to perform the first action has overcurrent, and recording a second driving time for driving the lifting module to perform the first action.

[0159] S424: If the first driving current overcurrent occurs, the first driving current corresponding to the overcurrent is used as a reference current, and the second driving time corresponding to the overcurrent is used as a reference time.

[0160] In order to enable those skilled in the art to better understand the above steps S423 to S424, an example will be given below with reference to FIG6.

[0161] 6 , which shows a schematic diagram of obtaining whether the first driving current has overcurrent according to an embodiment of the present disclosure.

[0162] The first action corresponding to Figure 6 is the rising action. By acquiring the first drive current of the lifting module of the sweeper in real time during the rising action, the curve change diagram of the first drive current during the rising action shown in Figure 6 is obtained. As can be seen from Figure 6, when the second drive time reaches 400ms, the first drive current begins to overcurrent. Therefore, the corresponding overcurrent threshold in the overcurrent stage (i.e., the first drive current corresponding to the overcurrent) can be used as the reference current, and the second drive time corresponding to the beginning of the overcurrent stage (i.e., the second drive time corresponding to the overcurrent) can be used as the reference time. That is, 400ms in Figure 6 can be used as the reference time.

[0163] Continuing to refer to FIG. 5 , in S425 , the second current threshold and the fourth preset time are determined according to the reference current and the reference time.

[0164] During the execution of step S425, at least two situations may occur. The specific implementation methods of the two possible situations will be described in detail below.

[0165] In step S425 , the first possible situation is that “the reference current is less than the first set current, and the reference time is greater than the first set time and less than the second set time”. In this case, the steps shown in FIG. 7 may be followed.

[0166] 7 , a detailed flowchart of determining the second current threshold and the fourth preset time according to the reference current and the reference time is shown, which specifically includes the following steps S4251 to S4252:

[0167] S4251: If the reference current is less than the first set current, determine the reference current as the second current threshold.

[0168] In some embodiments, the first set current can be determined based on the historical records of each same type of sweeping machine performing the first action. Specifically, the execution records of each same type of sweeping machine that experienced overcurrent during the execution of the first action can be first searched, and then the fourth current corresponding to the overcurrent recorded in these execution records can be extracted, thereby obtaining multiple fourth currents, and the maximum value of these multiple fourth currents can be used as the first set current.

[0169] It should be noted that the present disclosure does not limit the specific method for determining the first set current. For example, the first set current can be determined to be 800mA. Under this setting, if the reference current is less than 800mA, the reference current can be directly determined as the second current threshold.

[0170] Continuing to refer to FIG. 7 , S4252 , if the reference time is greater than the first set time and less than the second set time, adjusting the reference time according to a preset adjustment ratio to obtain the fourth preset time, where the preset adjustment ratio is less than 1.

[0171] In step S4252, the product of the preset adjustment ratio and the reference time may be used as the fourth preset time.

[0172] The following describes the setting of the logic judgment parameters involved in step S4252.

[0173] For the settings of the first and second set time:

[0174] In some embodiments, the first set time and the second set time can be determined based on the results of the test. Specifically, in the test, an in-position switch is used to detect whether the lifting module of the sweeper has moved to the second in-position. In the test, multiple sweepers of the same type are placed in different ambient temperatures, and then each sweeper is controlled to move from the first in-position to the second in-position, and the fifth time taken for each sweeper to move from the first in-position to the second in-position is recorded, so that multiple fifth times can be obtained, and the maximum value of each fifth time can be used as the second set time, and the minimum value of each fifth time can be used as the first set time.

[0175] It should be noted that the present disclosure does not limit the specific method for determining the first set time and the second set time. For example, the first set time can be set to 200ms, and the second set time can be set to 500ms.

[0176] For preset adjustment ratio settings:

[0177] It should be noted that the purpose of setting the preset adjustment ratio is to prevent the lifting module of the sweeping machine from reaching the top or bottom completely. That is to say, by setting the preset adjustment ratio, when the lifting module of the sweeping machine rises to a position slightly lower than the top, it can be considered that the lifting module has risen into place, or when the lifting module of the sweeping machine falls to a position slightly higher than the bottom, it can be considered that the lifting module has fallen into place.

[0178] In some embodiments, the preset adjustment ratio can be set to 0.95, 0.9, etc., and the present disclosure does not limit the specifics. For example, assuming that the first set time is 200ms, the second set time is 500ms, the reference time is 400ms, and the preset adjustment ratio is 0.9, then it can be determined that the reference time 400ms is within the time range of [200ms, 500ms], and 360ms (0.9*400ms) can be used as the fourth preset time, as shown in T1 in Figure 6.

[0179] In step S425, the second possible situation is that "the reference current is greater than or equal to the first set current, the reference time is less than or equal to the first set time, or the reference time is greater than or equal to the second set time". In this case, the following steps S4251A to S4252A can be performed:

[0180] S4251A: If the reference current is greater than or equal to the first set current, a second set current is determined as the second current threshold, and the second set current is less than the first set current.

[0181] In step S4251, the product of the third set ratio and the first set current can be used as the second set current. The third set ratio is less than 1. For example, if the first set current is 800 mA and the third set ratio is 0.625, then the second set current can be 500 mA. Therefore, in this setting, if the reference current is greater than 800 mA, 500 mA can be used as the second current threshold.

[0182] It should be noted that the second set current may also be determined by other methods, which are not limited in this disclosure.

[0183] S4252A, if the reference time is less than or equal to the first set time, or the reference time is greater than or equal to the second set time, the third set time is determined as the fourth preset time, and the third set time is greater than the first set time and less than the second set time.

[0184] In some embodiments, the third set time can be determined based on the first set time and the second set time. For example, if the first set time is 200ms and the second set time is 500ms, then a time can be randomly selected within the time range of [200ms, 500ms] as the third set time. For example, 400ms can be selected as the third set time. Therefore, under this setting, if the reference time is 600ms, 400ms can be used as the fourth preset time.

[0185] It can be understood that the second set current and the third set time involved in steps S4251A to S4252A are the default parameters set in the self-calibration operation of the sweeping machine. When the sweeping machine confirms an abnormal reference time or reference current during the self-calibration operation, the second current threshold and the fourth preset time can be determined using the set default parameters.

[0186] In the above step S421, the sweeping machine obtains whether the current second position of the lifting module is the first in-place position. There are two results: the first result is that the current second position of the lifting module of the sweeping machine is the first in-place position, and the second result is that the current second position of the lifting module of the sweeping machine is not the first in-place position. Therefore, if the first result is obtained, the sweeping machine will execute the above step S422. If the second result is obtained, the sweeping machine will execute the following steps S422A to S424A:

[0187] S422A: If the second position is not the first in-place position, control the lifting module to perform the second action, and obtain whether the lifting module moves to the first in-place position.

[0188] S423A: If it is obtained that the lifting module moves to the first in-place position, control the lifting module to perform the first action.

[0189] It is understandable that if the sweeping robot obtains that the lifting module has moved to the first in-place position during the execution of the second action, the lifting module will be controlled to continue to execute the above step S422.

[0190] S424A: If it is not obtained that the lifting module moves to the first in-place position, the second set current is determined as the second current threshold, and the third set time is determined as the fourth preset time.

[0191] In step S424A, there are at least two implementations as follows:

[0192] In the first embodiment, if the sweeping machine does not obtain the movement of the lifting module to the first position within the fifth preset time, then when the first driving time reaches the fifth preset time, the second set current is determined as the second current threshold, and the third set time is determined as the fourth preset time.

[0193] In a second embodiment, if the lifting module is not detected to have reached the first in-place position within the fifth preset time, the lifting module is controlled to perform a first action to move to the second position. When the lifting module reaches the second position, the process returns to step S422A. If the number of times step S422A is returned to exceeds a preset number, the second set current is determined as the second current threshold, and the third set time is determined as the fourth preset time.

[0194] It should be noted that the specific implementation of step S424A is not limited in this disclosure and can be designed according to actual conditions.

[0195] In order to enable those skilled in the art to better understand the technical solutions of the present disclosure, some embodiments of the present disclosure will be generally described below with reference to FIG8 and FIG9.

[0196] 8 , which shows a schematic diagram of the overall flow of a cleaning device control method according to an embodiment of the present disclosure.

[0197] Step 800: Responding to a first control instruction, obtaining a current first position.

[0198] Step 810 : If the first position is the first in-place position, execute step 820 ; if the first position is not the first in-place position, execute step 811 .

[0199] Step 820: Control the lifting module to perform a first action.

[0200] Step 830 , if the first driving current exceeds the second current threshold within the third preset time, execute step 840 ; if the first driving current does not exceed the second current threshold within the third preset time, execute step 831 .

[0201] Step 840: Determine that the lifting module fails, and execute a second protection action for the lifting module.

[0202] Step 831 : If the first driving current exceeds the second current threshold within the fourth preset time, execute step 8311 ; if the first driving current does not exceed the second current threshold within the fourth preset time, execute step 8311A.

[0203] Step 8311, determine that the lifting module moves to the second position.

[0204] Step 8311A: When the first driving time reaches the fourth preset time, it is determined that the lifting module moves to the second in-position position.

[0205] Step 811, controlling the lifting module to perform the second action.

[0206] Step 812: If the second driving current exceeds the first current threshold within the first preset time, execute step 813; if the second driving current does not exceed the first current threshold within the first preset time, execute step 8121.

[0207] Step 813, control the lifting module to move to the first position, return to step 811, if the number of executions of the second action does not exceed the preset number of executions, return to step 811, if the number of executions of the second action exceeds the preset number of executions, execute step 814.

[0208] Step 814: Determine that the lifting module fails, and execute a second protection action for the lifting module.

[0209] Step 8121: If the lifting module is obtained to move to the first in-place position within the second preset time, execute step 820; if the lifting module is not obtained to move to the first in-place position within the second preset time, execute step 8122.

[0210] Step 8122, determining that the in-place switch is faulty, and executing the first protection action for the lifting module.

[0211] 9 , which shows a schematic diagram of an overall flow of determining the second current threshold and the fourth preset time according to an embodiment of the present disclosure.

[0212] Step 900: Responding to a second control instruction, obtaining a current second position.

[0213] Step 910 , if the second position is the first in-place position, execute step 920 ; if the second position is not the first in-place position, execute step 911 .

[0214] Step 920: Control the lifting module to perform the first action.

[0215] In step 930 , if it is determined that the first driving current is overcurrent, step 940 is executed; if it is not determined that the first driving current is overcurrent, step 930 is continued.

[0216] Step 940: Use the first driving current corresponding to the overcurrent as a reference current, and the corresponding second driving time as a reference time.

[0217] Step 941, if the reference current is less than the first set current, execute step 942A; if the reference time is greater than the first set time and less than the second set time, execute step 942A; if the reference current is not less than the first set current, execute step 942; if the reference time is greater than or equal to the first set time, or the reference time is less than or equal to the second set time, execute step 942.

[0218] Step 942: Use the second set current as the second current threshold, and use the third set time as the fourth preset time.

[0219] Step 942A: Using the reference current as the second current threshold, and adjusting the reference time according to a preset adjustment ratio to obtain a fourth preset time.

[0220] Step 911: Control the lifting module to perform the second action.

[0221] In step 912 , if it is obtained that the lifting module moves to the first in-place position, step 920 is executed; if it is not obtained that the lifting module moves to the first in-place position, step 913 is executed.

[0222] Step 913: Use the second set current as the second current threshold, and use the third set time as the fourth preset time.

[0223] In the technical solutions provided by some embodiments of the present disclosure, a lifting module for performing lifting actions is configured in the cleaning equipment, and the method for judging whether the lifting module has moved to the second in-place position is as follows: first, in response to a first control instruction, obtaining whether the current first position of the lifting module is the first in-place position, the first in-place position being a descending in-place position or an ascending in-place position; secondly, if the first position is the first in-place position, controlling the lifting module to perform a first action to move toward the second in-place position, the second in-place position being an in-place position opposite to the first in-place position; thirdly, obtaining a first driving current for driving the lifting module to perform the first action; finally, judging whether the lifting module has moved to the second in-place position based on the first driving current. Through the technical solution of the present disclosure, there are at least the following two technical effects:

[0224] On the one hand, in the process of judging whether the lifting module has moved to the second in-place position, the cleaning device disclosed in the present invention only performs logical judgment through the first driving current, that is, it can determine whether the lifting module has moved to the second in-place position. Therefore, it can be understood that the method disclosed in the present invention for judging whether the lifting module has moved to the second in-place position, on the one hand, does not need to rely on the in-place switch for judgment, which can reduce the configuration cost of configuring the in-place switch in the cleaning device to a certain extent, reduce the number of error reports for faults in the in-place switch, and thus improve the robustness of the lifting module; on the other hand, it does not need to rely on the mechanical structure limit method for judgment, so it can reduce the damage caused to the driving device (such as the driving motor) that drives the lifting module to perform the first action.

[0225] On the second aspect, in the present disclosure, a second current threshold and a fourth preset time for judging whether the lifting module has moved to the second position can be determined through a self-calibration operation, so that the second current threshold and the fourth preset time can be updated regularly, thereby improving the accuracy of judging whether the lifting module has moved to the second position.

[0226] Based on the same inventive concept, an embodiment of the present invention provides a cleaning equipment control device that can be used to execute the cleaning equipment control method in the above embodiment of the present disclosure. For details not disclosed in the embodiment of the present disclosure, please refer to the embodiment of the cleaning equipment control method in the above embodiment of the present disclosure.

[0227] 10 , which shows a block diagram of a cleaning equipment control device according to an embodiment of the present disclosure.

[0228] As shown in FIG10 , a cleaning equipment control device 1000 according to an embodiment of the present disclosure includes: an acquisition unit 1001 , a control unit 1002 , an acquisition unit 1003 , and a judgment unit 1003 .

[0229] Among them, the acquisition unit 1001 is used to respond to the first control instruction to obtain whether the current first position of the lifting module is the first in-place position, and the first in-place position is a descending in-place position or a rising in-place position; the control unit 1002 is used to control the lifting module to perform a first action to move toward a second in-place position if the first position is the first in-place position, and the second in-place position is an in-place position opposite to the first in-place position; the acquisition unit 1003 is used to obtain a first driving current that drives the lifting module to perform the first action; the judgment unit 1004 is used to judge whether the lifting module moves to the second in-place position based on the first driving current.

[0230] In some embodiments of the present disclosure, based on the aforementioned solution, the cleaning device further includes an in-place switch, and the in-place switch is used to obtain whether the first position is the first in-place position.

[0231] In some embodiments of the present disclosure, based on the aforementioned scheme, the control unit 1002 is also used to: if the first position is not the first in-place position, control the lifting module to perform a second action, and the second action is opposite to the action direction of the first action; obtain a second driving current for driving the lifting module to perform the second action; if the second driving current is not obtained to exceed the first current threshold within the first preset time, and the lifting module is obtained to move to the first in-place position within the second preset time, control the lifting module to perform the first action, and the first preset time is less than the second preset time.

[0232] In some embodiments of the present disclosure, based on the aforementioned scheme, the control unit 1002 is also used to: if the second driving current is not obtained to exceed the first current threshold within the first preset time, and the lifting module is not obtained to move to the first in-place position within the second preset time, it is determined that there is a fault in the in-place switch, and a first protection action for the lifting module is executed.

[0233] In some embodiments of the present disclosure, based on the aforementioned solution, the first protection action includes controlling the lifting module to stop moving, and / or controlling the cleaning device to report an error.

[0234] In some embodiments of the present disclosure, based on the aforementioned scheme, the control unit 1002 is also used to: if the second driving current obtained within the first preset time exceeds the first current threshold, then control the lifting module to perform the first action; if the lifting module moves to the first position, return to the step of controlling the lifting module to perform the second action until the second driving current is not obtained exceeding the first current threshold within the first preset time, or until the lifting module performs the second action for more than a preset number of times. threshold.

[0235] In some embodiments of the present disclosure, based on the aforementioned solution, the control unit 1002 is further used to: if the execution times exceed a preset threshold, determine that the lifting module has a fault, and execute a second protection action for the lifting module.

[0236] In some embodiments of the present disclosure, based on the aforementioned solution, the second protection action includes controlling the lifting module to stop moving, and / or controlling the cleaning device to send a prompt message to the user.

[0237] In some embodiments of the present disclosure, based on the aforementioned scheme, the judgment unit 1004 is also used to: if the first driving current obtained within a third preset time exceeds the second current threshold, it is determined that there is a fault in the lifting module, and a second protection action is executed for the lifting module.

[0238] In some embodiments of the present disclosure, based on the aforementioned scheme, the judgment unit 1004 is also used to: if the first driving current is not obtained to exceed the second current threshold within the third preset time, and the first driving current is obtained to exceed the second current threshold within the fourth preset time, then determine that the lifting module moves to the second in-place position, and the fourth preset time is greater than the third preset time.

[0239] In some embodiments of the present disclosure, based on the aforementioned scheme, the judgment unit 1004 is also used to: if the first driving current is not obtained to exceed the second current threshold within the fourth preset time, and the first driving time for driving the lifting module to perform the first action reaches the fourth preset time, then determine that the lifting module moves to the second in-place position, and the fourth preset time is greater than the third preset time.

[0240] In some embodiments of the present disclosure, based on the aforementioned scheme, the cleaning equipment control device of the present disclosure also includes a self-calibration unit, which is used to: trigger the execution of a self-calibration operation in response to a second control instruction; and determine the second current threshold and the fourth preset time based on the self-calibration operation.

[0241] In some embodiments of the present disclosure, based on the aforementioned scheme, the self-calibration unit is also used to: obtain whether the current second position of the lifting module is the first in-place position; if the second position is the first in-place position, control the lifting module to perform the first action; obtain whether the first driving current that drives the lifting module to perform the first action has an overcurrent, and record the second driving time that drives the lifting module to perform the first action; if the first driving current has an overcurrent, the first driving current corresponding to the overcurrent is used as a reference current, and the second driving time corresponding to the overcurrent is used as a reference time; determine the second current threshold and the fourth preset time based on the reference current and the reference time.

[0242] In some embodiments of the present disclosure, based on the aforementioned scheme, the self-calibration unit is also used to: if the reference current is less than the first set current, determine the reference current as the second current threshold; if the reference time is greater than the first set time and less than the second set time, adjust the reference time according to a preset adjustment ratio to obtain the fourth preset time, and the preset adjustment ratio is less than 1.

[0243] In some embodiments of the present disclosure, based on the aforementioned scheme, the self-calibration unit is also used to: if the reference current is greater than or equal to the first set current, then determine the second set current as the second current threshold, and the second set current is less than the first set current; if the reference time is less than or equal to the first set time, or the reference time is greater than or equal to the second set time, then determine the third set time as the fourth preset time, and the third set time is greater than the first set time and less than the second set time.

[0244] In some embodiments of the present disclosure, based on the aforementioned scheme, the self-calibration unit is also used to: if the second position is not the first in-place position, control the lifting module to perform the second action, and obtain whether the lifting module moves to the first in-place position; if it is obtained that the lifting module moves to the first in-place position, control the lifting module to perform the first action; if it is not obtained that the lifting module moves to the first in-place position, determine the second set current as the second current threshold, and determine the third set time as the fourth preset time.

[0245] Based on the same inventive concept, an embodiment of the present disclosure provides a computer-readable storage medium, wherein the computer-readable storage medium stores at least one computer program instruction, and the at least one computer program instruction is loaded and executed by a processor to implement the operations performed by the aforementioned method.

[0246] Based on the same inventive concept, an embodiment of the present disclosure also provides a cleaning device.

[0247] Referring to Figure 11, a structural schematic diagram of a cleaning device according to an embodiment of the present disclosure is shown. The cleaning device includes one or more memories 1104, one or more processors 1102, and at least one computer program (computer program instruction) stored on the memory 1104 and executable on the processor 1102. When the processor 1102 executes the computer program, the method described above is implemented.

[0248] In FIG11 , a bus architecture (represented by bus 1100) is shown. Bus 1100 may include any number of interconnected buses and bridges. Bus 1100 links various circuits, including one or more processors represented by processor 1102 and memory represented by memory 1104. Bus 1100 may also link various other circuits, such as peripherals, voltage regulators, and power management circuits, all of which are well known in the art and, therefore, will not be described further herein. Bus interface 1105 provides an interface between bus 1100 and receiver 1101 and transmitter 1103. Receiver 1101 and transmitter 1103 may be the same component, namely a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 1102 is responsible for managing bus 1100 and general processing, while memory 1104 may be used to store data used by processor 1102 when performing operations.

[0249] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored on or transmitted via a computer-readable medium as one or more instructions or code. Other examples and implementations are within the scope and spirit of the present disclosure and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwiring, or a combination of any of these. Furthermore, the functional units may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit.

[0250] In the several embodiments provided in the present disclosure, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0251] The units described as separate components may or may not be physically separate, and the components of the control device may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0252] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-accessible storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store computer program instructions, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0253] The foregoing description is merely an embodiment of the present disclosure and is not intended to limit the present disclosure. Those skilled in the art will readily appreciate that the present disclosure may be modified and varied in various ways. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present disclosure shall be within the scope of the claims of the present disclosure.

Claims

1. A cleaning equipment control method, wherein: The cleaning device comprises a lifting module, and the lifting module is used to perform a lifting action. The method comprises: In response to the first control instruction, obtaining whether the current first position of the lifting module is a first in-place position, wherein the first in-place position includes a descending in-place position or an ascending in-place position; In response to the first position being the first in-place position, controlling the lifting module to perform a first action to move toward a second in-place position, wherein the second in-place position is an in-place position opposite to the first in-place position; Acquire a first driving current for driving the lifting module to perform the first action; According to the first driving current, it is determined whether the lifting module moves to the second in-position position.

2. The method according to claim 1, wherein: The cleaning device further includes an in-place switch, and wherein obtaining whether the current first position of the lifting module is the first in-place position includes using the in-place switch to detect whether the first position is the first in-place position.

3. The method according to claim 2, further comprising: In response to the first position not being the first in-place position, controlling the lifting module to perform a second action, wherein the second action is opposite to the action direction of the first action; Acquire a second driving current for driving the lifting module to perform the second action; If the second driving current is not obtained to exceed the first current threshold within the first preset time, and the lifting module is obtained to move to the first in-place position within the second preset time, the lifting module is controlled to perform the first action, and the first preset time is less than the second preset time.

4. The method according to claim 3, further comprising: If the second driving current is not obtained to exceed the first current threshold within the first preset time, and the lifting module is not obtained to move to the first in-place position within the second preset time, it is determined that the in-place switch is faulty, and the first protection action for the lifting module is executed.

5. The method according to claim 4, wherein: The first protection action includes controlling the lifting module to stop moving, and / or controlling the cleaning device to report an error.

6. The method according to claim 3, further comprising: If the second driving current obtained within the first preset time exceeds the first current threshold, controlling the lifting module to perform the first action; If the lifting module moves to the first position, the lifting module is controlled to perform the second action again and the second driving current for driving the lifting module to perform the second action is obtained until the second driving current is not obtained to exceed the first current threshold within the first preset time, or until the lifting module performs the second action for more than a preset number of times. threshold.

7. The method according to claim 6, further comprising: If the execution times exceed the preset times threshold, it is determined that the lifting module has a fault, and a second protection action for the lifting module is executed.

8. The method according to claim 7, wherein: The second protection action includes controlling the lifting module to stop moving, and / or controlling the cleaning device to send a prompt message to the user.

9. The method according to any one of claims 1 to 8, wherein: The step of judging whether the lifting module moves to the second in-position position according to the first driving current includes: If the first driving current is obtained to exceed the second current threshold within the third preset time, it is determined that the lifting module has a fault, and a second protection action for the lifting module is executed.

10. The method according to claim 9, further comprising: If the first driving current is not obtained to exceed the second current threshold within the third preset time, and the first driving current is obtained to exceed the second current threshold within the fourth preset time, it is determined that the lifting module moves to the second in-place position, and the fourth preset time is greater than the third preset time.

11. The method according to claim 9, further comprising: If the first driving current is not obtained to exceed the second current threshold within the fourth preset time, and the first driving time for driving the lifting module to perform the first action reaches the fourth preset time, it is determined that the lifting module moves to the second in-place position, and the fourth preset time is greater than the third preset time.

12. The method according to any one of claims 1 to 11, further comprising: In response to the second control instruction, triggering execution of a self-calibration operation; Based on the self-calibration operation, determining a second current threshold and a fourth preset time; The second current threshold and the fourth preset time are configured to determine whether the lifting module moves to the second in-place position.

13. The method according to claim 12, wherein: The determining the second current threshold and the fourth preset time includes: Obtaining whether the current second position of the lifting module is the first in-place position; If the second position is the first in-place position, controlling the lifting module to perform the first action; Obtaining whether a first driving current for driving the lifting module to perform the first action has an overcurrent, and recording a second driving time for driving the lifting module to perform the first action; If the first driving current has an overcurrent, the first driving current corresponding to the overcurrent is used as a reference current, and the second driving time corresponding to the overcurrent is used as a reference time; The second current threshold and the fourth preset time are determined according to the reference current and the reference time.

14. The method according to claim 13, wherein: The determining the second current threshold and the fourth preset time according to the reference current and the reference time includes: If the reference current is less than the first set current, determining the reference current as the second current threshold; If the reference time is greater than the first set time and less than the second set time, the reference time is adjusted according to a preset adjustment ratio to obtain the fourth preset time, and the preset adjustment ratio is less than 1.

15. The method according to claim 14, further comprising: If the reference current is greater than or equal to the first set current, a second set current is determined as the second current threshold, and the second set current is less than the first set current; If the reference time is less than or equal to the first set time, or the reference time is greater than or equal to the second set time, a third set time is determined as the fourth preset time, and the third set time is greater than the first set time and less than the second set time.

16. The method according to claim 15, further comprising: If the second position is not the first in-place position, controlling the lifting module to perform the second action, and obtaining whether the lifting module moves to the first in-place position; If it is obtained that the lifting module moves to the first in-place position, controlling the lifting module to perform the first action; If the lifting module is not detected to move to the first in-place position, the second set current is determined as the second current threshold, and the third set time is determined as the fourth preset time.

17. A cleaning equipment control device, wherein: The cleaning device comprises a lifting module, and the lifting module is used to perform a lifting action. The cleaning device control device comprises: an acquisition unit, configured to acquire, in response to a first control instruction, whether the current first position of the lifting module is a first in-place position, wherein the first in-place position includes a descending in-place position or an ascending in-place position; a control unit configured to control the lifting module to perform a first action to move toward a second in-place position in response to the first position being the first in-place position, wherein the second in-place position is an in-place position opposite to the first in-place position; An acquisition unit, configured to acquire a first driving current for driving the lifting module to perform the first action; The judging unit is configured to judge whether the lifting module moves to the second in-place position according to the first driving current.

18. A computer-readable storage medium, wherein at least one program code is stored in the computer-readable storage medium, and the at least one program code is loaded and executed by a processor to implement the operations performed by the method according to any one of claims 1 to 16.

19. A cleaning device, comprising one or more processors and one or more memories, wherein at least one program code is stored in the one or more memories, and the at least one program code is loaded and executed by the one or more processors to implement the method according to any one of claims 1 to 16.

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