Control method and apparatus for cleaning device, and storage medium and cleaning device

Abstract

Disclosed are a control method and apparatus for a cleaning device, and a storage medium and a cleaning device. The cleaning device comprises a roller brush. The method comprises: acquiring a target pressure and a target rotational speed of a roller brush that are set for a surface to be cleaned; determining a target operating current of the roller brush on the basis of a preset association relationship between the pressure, rotational speed and operating current of the roller brush, and the target pressure and the target rotational speed; adjusting the rotational speed of the roller brush to the target rotational speed; acquiring the present operating current of the roller brush in real time; and on the basis of the present operating current and the target operating current, adjusting a first distance between the roller brush and said surface, such that the present operating current reaches the target operating current, wherein when the operating current is the target operating current, the pressure applied by the roller brush to said surface is the target pressure. Thus, by means of the present disclosure, the pressure applied by a roller brush to a surface to be cleaned can be accurately controlled.

Description

Control method, device, storage medium and cleaning equipment for cleaning equipment

[0001] Citation of Related Applications

[0002] This disclosure claims priority to the Chinese invention patent application with application number 202311289177.3 filed with the State Intellectual Property Office of the People's Republic of China on September 27, 2023, entitled "Control method, device, storage medium and cleaning equipment for cleaning equipment", and incorporates its entire contents into this disclosure by reference. Technical Field

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

[0004] In cleaning equipment, the roller brush is a common cleaning component, and the cleaning effect is achieved by the roller brush pressure generated by the rotation of the roller brush. Among them, the roller brush pressure refers to the pressure applied by the roller brush to the ground. The roller brush pressure is an important parameter in the cleaning effect and directly affects the cleaning effect. The material of the roller brush has a great influence on the roller brush pressure. When the soft brush and the hard brush have the same downward pressure (reflected by the roller brush height), the pressure of the soft brush on the ground is less than that of the hard brush on the ground. In addition, the roller brush will inevitably be worn out during use, and the occurrence of wear will also cause changes in the roller brush pressure.

[0005] However, in the prior art, when controlling the roller brush pressure of the cleaning equipment, most of the solutions adopt a fixed pressure level, which corresponds to different pressure levels of the roller brush by adjusting the different heights of the fixed roller brush (that is, the amount of downward pressure). However, it does not consider whether the roller brush pressure can remain consistent with the pressure corresponding to the fixed pressure level when the roller brush is replaced with a roller brush of different materials or the roller brush is worn. As a result, the cleaning equipment cannot accurately control the pressure applied to the surface to be cleaned.

[0006] Summary of the Invention

[0007] The embodiments of the present disclosure provide a control method, device, storage medium and cleaning device for a cleaning device, which can accurately control the pressure applied by a roller brush to a surface to be cleaned.

[0008] In a first aspect, an embodiment of the present disclosure provides a method for controlling a cleaning device, wherein the cleaning device includes a roller brush, including:

[0009] Obtaining a target pressure and a target speed of the roller brush set for the surface to be cleaned;

[0010] Determining a target operating current of the roller brush according to a preset correlation between the pressure, rotational speed, and operating current of the roller brush, the target pressure, and the target rotational speed;

[0011] adjusting the rotation speed of the roller brush to the target rotation speed;

[0012] Acquire the current working current of the roller brush in real time;

[0013] adjusting a first distance between the roller brush and the surface to be cleaned according to the current operating current and the target operating current so that the current operating current reaches the target operating current;

[0014] Wherein, the pressure is the pressure applied by the roller brush to the surface to be cleaned;

[0015] The association relationship satisfies: when the rotation speed of the roller brush is the target rotation speed and the working current is the target working current, the pressure applied by the roller brush to the surface to be cleaned is the target pressure.

[0016] In some embodiments, the correlation between the pressure, speed and working current of the roller brush conforms to the following mathematical model: I = a*P+b*V+c*P*V+d

[0017] Wherein, I is the working current of the roller brush, P is the pressure of the roller brush, V is the speed of the roller brush, and a, b, c, and d are preset constant coefficients.

[0018] In some embodiments, adjusting the first distance between the roller brush and the surface to be cleaned according to the current operating current and the target operating current includes:

[0019] If the current working current is less than the target working current, the roller brush is controlled to move toward the direction approaching the surface to be cleaned to reduce the first distance between the roller brush and the surface to be cleaned. When the current working current reaches the target working current, the adjustment of the first distance between the roller brush and the surface to be cleaned is stopped.

[0020] In some embodiments, adjusting the first distance between the roller brush and the surface to be cleaned according to the current operating current and the target operating current includes:

[0021] If the current working current is greater than the target working current, the roller brush is controlled to move away from the surface to be cleaned to increase the first distance between the roller brush and the surface to be cleaned. When the current working current reaches the target working current, the adjustment of the first distance between the roller brush and the surface to be cleaned is stopped.

[0022] In some embodiments, the cleaning device further includes a stepper motor connected to the roller brush; and adjusting the first distance between the roller brush and the surface to be cleaned according to the current operating current and the target operating current includes:

[0023] According to the current working current and the target working current, controlling the stepping motor to drive the roller brush to move, and detecting in real time whether the stepping motor reaches an adjustable limit position of the stepping motor;

[0024] When the stepping motor reaches the limit position at which the stepping motor can be adjusted, the stepping motor is controlled to stop driving the roller brush to move, so as to stop adjusting the first distance between the roller brush and the surface to be cleaned.

[0025] In a second aspect, an embodiment of the present disclosure further provides a control device for a cleaning device, comprising:

[0026] A first acquisition module is used to obtain a target pressure and a target speed of the roller brush set for the surface to be cleaned;

[0027] a current determination module, configured to determine a target operating current of the roller brush according to a preset correlation between the pressure, rotational speed, and operating current of the roller brush, the target pressure, and the target rotational speed;

[0028] A speed adjustment module, configured to adjust the speed of the roller brush to the target speed;

[0029] A second acquisition module is used to obtain the current working current of the roller brush in real time;

[0030] an adjusting module, configured to adjust a first distance between the roller brush and the surface to be cleaned according to the current operating current and the target operating current, so that the current operating current reaches the target operating current;

[0031] Wherein, the pressure is the pressure applied by the roller brush to the surface to be cleaned;

[0032] The association relationship satisfies: when the rotation speed of the roller brush is the target rotation speed and the working current is the target working current, the pressure applied by the roller brush to the surface to be cleaned is the target pressure.

[0033] In some embodiments, the correlation between the pressure, speed and working current of the roller brush conforms to the following mathematical model: I = a*P+b*V+c*P*V+d

[0034] Wherein, I is the working current of the roller brush, P is the pressure of the roller brush, V is the speed of the roller brush, and a, b, c, and d are preset constant coefficients.

[0035] In some embodiments, the adjustment module is used to control the roller brush to move toward the direction approaching the surface to be cleaned if the current working current is less than the target working current, so as to reduce the first distance between the roller brush and the surface to be cleaned, and stop adjusting the first distance between the roller brush and the surface to be cleaned when the current working current reaches the target working current.

[0036] In some embodiments, the adjustment module is used to control the roller brush to move away from the surface to be cleaned if the current working current is greater than the target working current, so as to increase the first distance between the roller brush and the surface to be cleaned, and stop adjusting the first distance between the roller brush and the surface to be cleaned when the current working current reaches the target working current.

[0037] In a third aspect, an embodiment of the present disclosure further provides a computer-readable storage medium on which a computer program is stored. When the computer program is run on a computer, the computer executes a control method for a cleaning device as provided in any embodiment of the present disclosure.

[0038] In a fourth aspect, an embodiment of the present disclosure further provides a cleaning device, comprising a processor and a memory, wherein the memory has a computer program, and the processor is configured to execute a control method for the cleaning device as provided in any embodiment of the present disclosure by calling the computer program.

[0039] The technical solution provided by the embodiment of the present disclosure pre-sets the correlation between the pressure, rotation speed and working current of the roller brush. The pressure of the roller brush is the pressure applied by the roller brush to the surface to be cleaned. Based on this correlation, after any two parameters among pressure, rotation speed and working current are known, the remaining parameters can be determined. In the present disclosure, after the user sets the target voltage and target rotation speed that the roller brush needs to reach, the working current of the roller brush when the roller brush reaches the target voltage and target rotation speed, that is, the target working current, can be determined based on this correlation. The rotation speed of the roller brush is controlled to the target rotation speed. When the rotation speed of the roller brush remains unchanged, the working current of the roller brush changes with the pressure of the roller brush. By adjusting the first distance between the roller brush and the surface to be cleaned, the pressure of the roller brush can be adjusted, thereby affecting the working current of the roller brush. The working current of the roller brush is obtained in real time. After the working current of the roller brush reaches the target working current, based on this correlation, it can be determined that the pressure of the roller brush has reached the target pressure, thereby achieving accurate control of the pressure applied by the roller brush to the surface to be cleaned. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0041] FIG1 is a schematic flow chart of a method for controlling a cleaning device according to an embodiment of the present disclosure;

[0042] FIG2 is a schematic structural diagram of a control device for a cleaning device according to an embodiment of the present disclosure;

[0043] FIG3 is a schematic structural diagram of a cleaning device provided in an embodiment of the present disclosure; DETAILED DESCRIPTION

[0044] The following will be combined with the accompanying drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the embodiments described are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present disclosure.

[0045] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present disclosure. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0046] The present disclosure provides a method for controlling a cleaning device. The method can be performed by a control device for the cleaning device provided in the present disclosure, or by a cleaning device incorporating the control device. The control device can be implemented in hardware or software. The cleaning device can be a cleaning robot, such as a robot vacuum.

[0047] Please refer to Figure 1, which is a flow chart of a control method for a cleaning device provided by an embodiment of the present disclosure. The control method for a cleaning device provided by an embodiment of the present disclosure is applied to a cleaning device including a roller brush. The specific process of the method may include the following steps:

[0048] S110 , obtaining a target pressure and a target rotation speed of the roller brush set for the surface to be cleaned.

[0049] The surface to be cleaned refers to any surface of an object that needs to be cleaned by the cleaning equipment, for example, it can be a floor, a wall, etc. that needs to be cleaned.

[0050] The pressure of the roller brush refers to the pressure applied by the roller brush to the surface to be cleaned. For example, when the surface to be cleaned is the ground, the pressure applied by the roller brush to the surface to be cleaned is the pressure caused by the downward pressure of the roller brush.

[0051] In one embodiment, the target pressure and target speed can be manually set through a control button provided on the cleaning device. For example, the control button can be a cleaning force gear, and the cleaning force gear can be divided into three gears: high, medium, and low. Each cleaning force gear corresponds to a set of pressure and speed. The higher the gear, the stronger the cleaning force. The user can manually set different cleaning force gears according to the situation of the surface to be cleaned, so that the cleaning device can perform cleaning work.

[0052] In one embodiment, the target pressure and target speed may also be the pressure and speed corresponding to the cleaning intensity level that the cleaning device automatically switches to when it automatically recognizes the cleaning intensity level required for the surface to be cleaned. When the cleaning device automatically recognizes the cleaning intensity level required for the surface to be cleaned, it may obtain an image of the surface to be cleaned, identify the severity of the garbage that needs to be cleaned on the surface to be cleaned using image recognition technology, and determine a cleaning intensity level from three different cleaning intensity levels of high, medium, and low based on the severity, so that the cleaning device can perform cleaning operations.

[0053] S120 , determining a target operating current of the roller brush according to a preset correlation between the pressure, rotational speed, and operating current of the roller brush, the target pressure, and the target rotational speed.

[0054] In this embodiment, the target operating current that the roller brush needs to provide is determined based on the preset correlation between the pressure, rotation speed and operating current of the roller brush, the target pressure, and the target rotation speed.

[0055] The working current of the roller brush is the working current of the roller brush motor, and the rotational speed of the roller brush is the rotational speed of the roller brush motor. The roller brush motor here is a motor that drives the roller brush to rotate.

[0056] In one implementation, the relationship between the pressure, speed, and operating current of the roller brush conforms to the following mathematical model: I = a*P+b*V+c*P*V+d

[0057] Wherein, I is the working current of the roller brush, P is the pressure of the roller brush, V is the speed of the roller brush, and a, b, c, and d are preset constant coefficients.

[0058] According to the above correlation, when the rotation speed of the roller brush is constant, the operating current of the roller brush is directly related to the pressure applied by the roller brush to the surface to be cleaned, and the operating current of the roller brush changes with the pressure of the roller brush.

[0059] It can be understood that the pressure applied by the roller brush to the surface to be cleaned is related to the distance between the roller brush and the surface to be cleaned. Therefore, the first distance between the roller brush and the surface to be cleaned can be adjusted so that the current working current of the roller brush reaches the target working current, thereby making the pressure applied by the roller brush to the surface to be cleaned reach the target pressure.

[0060] S130: Adjust the rotation speed of the roller brush to the target rotation speed.

[0061] In this embodiment, the current rotation speed of the roller brush can be detected. If the current rotation speed is less than the target rotation speed, the rotation speed of the roller brush is adjusted to the target rotation speed, and then the rotation speed of the roller brush is maintained at the target rotation speed.

[0062] S140: Acquire the current operating current of the roller brush in real time.

[0063] In this embodiment, the current working current of the roller brush can be detected in real time through the current detection component in the cleaning device.

[0064] S150. Adjust a first distance between the roller brush and the surface to be cleaned according to the current operating current and the target operating current, so that the current operating current reaches the target operating current.

[0065] Wherein, the pressure is the pressure applied by the roller brush to the surface to be cleaned;

[0066] The association relationship satisfies: when the rotation speed of the roller brush is the target rotation speed and the working current is the target working current, the pressure applied by the roller brush to the surface to be cleaned is the target pressure.

[0067] The first distance between the roller brush and the surface to be cleaned can be the distance between the roller brush's rotation axis and the surface to be cleaned. For example, when the surface to be cleaned is the ground, the first distance is the distance between the roller brush's rotation axis and the ground. The smaller the first distance, the greater the pressure applied by the roller brush to the surface to be cleaned. The first distance can reflect the amount of downward pressure applied by the roller brush; the smaller the first distance, the greater the downward pressure applied by the roller brush.

[0068] It should be noted that in order to clearly describe the control method of the cleaning equipment provided by the present disclosure, the present disclosure characterizes the pressure applied by the roller brush to the surface to be cleaned by the first distance of the roller brush relative to the surface to be cleaned, which is analogous to the situation in the related art where the pressure applied by the roller brush to the ground is characterized by the height of the roller brush. However, the height of the roller brush is only applicable to the description of the pressure when the surface to be cleaned is the ground. The first distance in the present disclosure is not only applicable to the description of the pressure when the surface to be cleaned is the ground, but also to the description of the pressure when the surface to be cleaned is a wall.

[0069] During specific implementation, the present disclosure is not limited by the execution order of the various steps described. If no conflict occurs, some steps may be performed in other orders or simultaneously.

[0070] The technical solution provided by the embodiment of the present disclosure pre-sets the correlation between the pressure, rotation speed and working current of the roller brush. The pressure of the roller brush is the pressure applied by the roller brush to the surface to be cleaned. Based on this correlation, after any two parameters among pressure, rotation speed and working current are known, the remaining parameters can be determined. In the present disclosure, after the user sets the target voltage and target rotation speed that the roller brush needs to reach, the working current of the roller brush when the roller brush reaches the target voltage and target rotation speed, that is, the target working current, can be determined based on this correlation. The rotation speed of the roller brush is controlled to the target rotation speed. When the rotation speed of the roller brush remains unchanged, the working current of the roller brush changes with the pressure of the roller brush. By adjusting the first distance between the roller brush and the surface to be cleaned, the pressure of the roller brush can be adjusted, thereby affecting the working current of the roller brush. The working current of the roller brush is obtained in real time. After the working current of the roller brush reaches the target working current, based on this correlation, it can be determined that the pressure of the roller brush has reached the target pressure, thereby achieving accurate control of the pressure applied by the roller brush to the surface to be cleaned.

[0071] In the embodiment of the present disclosure, the preset correlation between the pressure, speed and working current of the roller brush conforms to the following mathematical model: I = a*P+b*V+c*P*V+d

[0072] Among them, I is the working current of the roller brush, P is the pressure of the roller brush, V is the speed of the roller brush, and a, b, c, and d are constant coefficients.

[0073] In this embodiment, when the roller brush rotates at a constant target speed, the operating current varies with pressure, as can be seen from the correlation relationship. Specifically, the operating voltage of the roller brush motor remains essentially unchanged. To maintain the roller brush motor's speed at the target speed, the operating current of the roller brush motor varies with the friction between the roller brush and the surface to be cleaned. The greater the friction, the greater the operating current. The greater the pressure currently applied by the roller brush to the surface to be cleaned, the greater the friction. Therefore, the greater the pressure currently applied by the roller brush to the surface to be cleaned, the greater the operating current.

[0074] Based on the above principles and the above association relationship, in some embodiments, the step of “adjusting the first distance between the roller brush and the surface to be cleaned according to the current operating current and the target operating current” may include:

[0075] (1) If the current working current is less than the target working current, the roller brush is controlled to move toward the direction approaching the surface to be cleaned to reduce the first distance between the roller brush and the surface to be cleaned. When the current working current reaches the target working current, the adjustment of the first distance between the roller brush and the surface to be cleaned is stopped.

[0076] If the current operating current is less than the target operating current, the current operating current does not meet the target operating current, and the pressure currently applied by the roller brush to the surface to be cleaned is less than the target pressure, it is necessary to reduce the first distance of the roller brush relative to the surface to be cleaned to increase the pressure applied by the roller brush to the surface to be cleaned to the target pressure. When reducing the first distance of the roller brush relative to the surface to be cleaned, the roller brush can be controlled to move toward the surface to be cleaned.

[0077] (2) If the current working current is greater than the target working current, the roller brush is controlled to move away from the surface to be cleaned to increase the first distance between the roller brush and the surface to be cleaned. When the current working current reaches the target working current, the adjustment of the first distance between the roller brush and the surface to be cleaned is stopped.

[0078] In this embodiment, if the current operating current is greater than the target operating current, the current operating current has already met the target operating current, and the pressure currently applied by the roller brush to the surface to be cleaned is greater than the target pressure. Therefore, it is necessary to increase the first distance of the roller brush relative to the surface to be cleaned to reduce the pressure applied by the roller brush to the surface to be cleaned to the target pressure. When increasing the first distance of the roller brush relative to the surface to be cleaned, the roller brush can be controlled to move away from the surface to be cleaned.

[0079] It can be understood that in the present disclosure, when adjusting the first distance between the roller brush and the surface to be cleaned, the speed of the roller brush motor is a constant target speed, so that the current of the roller brush motor is directly related to the pressure applied by the roller brush to the surface to be cleaned, so the pressure applied by the roller brush to the surface to be cleaned can be reflected by the working current of the roller brush.

[0080] In some embodiments, the cleaning device further includes a stepper motor electrically connected to the roller brush, and the step of “adjusting the first distance between the roller brush and the surface to be cleaned according to the current operating current and the target operating current” may include:

[0081] (1) controlling the stepper motor to drive the roller brush to move according to the current working current and the target working current, and detecting in real time whether the stepper motor has reached an adjustable limit position of the stepper motor;

[0082] (2) When the stepper motor reaches the limit position that the stepper motor can adjust, the stepper motor is controlled to stop driving the roller brush to move, so as to stop adjusting the first distance between the roller brush and the surface to be cleaned.

[0083] In this embodiment, the roller brush can be driven by a stepping motor to move, for example, toward the direction of the surface to be cleaned or away from the surface to be cleaned, thereby adjusting the first distance of the roller brush relative to the surface to be cleaned.

[0084] The limit position that the stepper motor can adjust refers to the critical position that the stepper motor can adjust, which is affected by the physical structure of the cleaning equipment or the control strategy of the stepper motor.

[0085] It can be understood that when the stepper motor reaches the limit position that the stepper motor can adjust, the stepper motor is controlled to stop driving the roller brush to move, so as to stop adjusting the first distance between the roller brush and the surface to be cleaned. Even if the current working current does not reach the target working current, the adjustment is stopped to keep the roller brush working in the current state.

[0086] In some embodiments, the step of “adjusting the first distance between the roller brush and the surface to be cleaned according to the current operating current and the target operating current” may further include:

[0087] (1) controlling the roller brush to move a preset distance within a preset time period according to the stepping motor, and detecting the current working current of the roller brush once within the preset time period;

[0088] The preset duration and the preset distance are set by those skilled in the art as needed.

[0089] For example, the preset time length can be set to 1 second, the preset distance can be set to 5 mm, the stepper motor can be controlled to move 5 mm per second, and the current working current of the roller brush can be collected and detected 10 times per second.

[0090] (2) When it is detected that the current operating current meets the target operating current, the control of the roller brush movement is stopped.

[0091] In this embodiment, when it is detected that the current working current reaches the target working current, according to the correlation relationship, at this time, the pressure currently applied by the roller brush to the surface to be cleaned reaches the target pressure. Therefore, the driving of the stepper motor is stopped, thereby stopping the movement of the roller brush, avoiding the continued change of the first distance of the roller brush relative to the surface to be cleaned, resulting in continued change of the roller brush pressure.

[0092] The control method of the cleaning equipment provided in the present disclosure creatively determines the correlation between the pressure, rotation speed and working current of the roller brush, and can more accurately calculate the current pressure through the current and rotation speed, so it has the conditions for closed-loop control and achieves the effect of flexible pressure control.

[0093] In one embodiment, a control device for a cleaning device is also provided. Please refer to FIG2 , which is a schematic diagram of the structure of a control device 200 for a cleaning device according to an embodiment of the present disclosure. The control device 200 is applied to a cleaning device including a roller brush. The control device 200 includes a first acquisition module 201, a current determination module 202, a speed adjustment module 203, a second acquisition module 204, and an adjustment module 205, as follows:

[0094] The first acquisition module 201 is used to obtain the target pressure and target speed of the roller brush set for the surface to be cleaned;

[0095] The current determination module 202 is configured to determine a target operating current of the roller brush according to a preset correlation between the pressure, rotation speed, and operating current of the roller brush, the target pressure, and the target rotation speed;

[0096] A speed adjustment module 203 is used to adjust the speed of the roller brush to the target speed;

[0097] A second acquisition module 204 is used to obtain the current working current of the roller brush in real time;

[0098] an adjusting module 205 for adjusting a first distance between the roller brush and the surface to be cleaned according to the current operating current and the target operating current, so that the current operating current reaches the target operating current;

[0099] Wherein, the pressure is the pressure applied by the roller brush to the surface to be cleaned;

[0100] The association relationship satisfies: when the rotation speed of the roller brush is the target rotation speed and the working current is the target working current, the pressure applied by the roller brush to the surface to be cleaned is the target pressure.

[0101] In some embodiments, the correlation between the pressure, speed and working current of the roller brush conforms to the following mathematical model: I = a*P+b*V+c*P*V+d

[0102] Wherein, I is the working current of the roller brush, P is the pressure of the roller brush, V is the speed of the roller brush, and a, b, c, and d are preset constant coefficients.

[0103] In some embodiments, the adjustment module 205 may be configured to control the roller brush to move toward the surface to be cleaned so as to reduce the first distance between the roller brush and the surface to be cleaned if the current operating current is less than the target operating current, and stop adjusting the first distance between the roller brush and the surface to be cleaned when the current operating current reaches the target operating current;

[0104] In some embodiments, the adjustment module 205 can be used to control the roller brush to move away from the surface to be cleaned if the current working current is greater than the target working current, so as to increase the first distance between the roller brush and the surface to be cleaned, and stop adjusting the first distance between the roller brush and the surface to be cleaned when the current working current reaches the target working current.

[0105] In some embodiments, the adjustment module 205 may also be used to:

[0106] According to the current working current and the target working current, controlling the stepping motor to drive the roller brush to move, and detecting in real time whether the stepping motor reaches an adjustable limit position of the stepping motor;

[0107] When the stepping motor reaches the limit position at which the stepping motor can be adjusted, the stepping motor is controlled to stop driving the roller brush to move, so as to stop adjusting the first distance between the roller brush and the surface to be cleaned.

[0108] It should be noted that the control device of the cleaning equipment provided in the embodiment of the present disclosure belongs to the same concept as the control method of the cleaning equipment in the above embodiment. Any method provided in the control method embodiment of the cleaning equipment can be implemented through the control device of the cleaning equipment. The specific implementation process is detailed in the control method embodiment of the cleaning equipment and will not be repeated here.

[0109] In addition, in order to better implement the control method of the cleaning device in the embodiment of the present disclosure, the present disclosure further provides a cleaning device based on the control method of the cleaning device. Please refer to Figure 3, which shows a structural schematic diagram of the cleaning device 300 provided by the present disclosure. As shown in Figure 3, the cleaning device 300 provided by the present disclosure includes a processor 301 and a memory 302. The processor 301 is used to execute the computer program stored in the memory 302 to implement the various steps of the control method of the cleaning device in the above embodiment of the present disclosure, such as:

[0110] Obtaining a target pressure and a target speed of the roller brush set for the surface to be cleaned;

[0111] Determining a target operating current of the roller brush according to a preset correlation between the pressure, rotational speed, and operating current of the roller brush, the target pressure, and the target rotational speed;

[0112] adjusting the rotation speed of the roller brush to the target rotation speed;

[0113] Acquire the current working current of the roller brush in real time;

[0114] adjusting a first distance between the roller brush and the surface to be cleaned according to the current operating current and the target operating current so that the current operating current reaches the target operating current;

[0115] Wherein, the pressure is the pressure applied by the roller brush to the surface to be cleaned;

[0116] The association relationship satisfies: when the rotation speed of the roller brush is the target rotation speed and the operating current is the target operating current, the pressure applied by the roller brush to the surface to be cleaned is the target pressure. Exemplarily, the computer program can be divided into one or more modules / units, one or more modules / units are stored in the memory 302 and executed by the processor 301 to complete the embodiment of the present disclosure. One or more modules / units can be a series of computer program instruction segments that can perform specific functions, and the instruction segments are used to describe the execution process of the computer program in the computer device.

[0117] The cleaning device 300 may include, but is not limited to, a processor 301 and a memory 302. Those skilled in the art will appreciate that the illustration is merely an example of the cleaning device 300 and does not limit the cleaning device 300. The cleaning device 300 may include more or fewer components than shown, or a combination of certain components, or different components. For example, the cleaning device 300 may further include input and output devices, a network access device, a bus, and the like, and the processor 301, the memory 302, the input and output devices, and the network access device, etc., are connected via a bus.

[0118] The processor 301 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. The processor is the control center of the cleaning device 300 and connects various parts of the entire cleaning device 300 using various interfaces and lines.

[0119] The memory 302 can be used to store computer programs and / or modules. The processor 301 implements various functions of the computer device by running or executing the computer programs and / or modules stored in the memory 302 and calling the data stored in the memory 302. The memory 302 can mainly include a program storage area and a data storage area. The program storage area can store an operating system and at least one application required for a function (such as a sound playback function, an image playback function, etc.); the data storage area can store data generated based on the use of the cleaning device 300 (such as audio data, video data, etc.). In addition, the memory can include high-speed random access memory and non-volatile memory, such as a hard disk, internal memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0120] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the control device of the cleaning equipment, the cleaning equipment 300 and its corresponding units described above can refer to the description of the control method of the cleaning equipment in the above embodiments of the present disclosure, and the details will not be repeated here.

[0121] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be accomplished by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0122] To this end, an embodiment of the present disclosure provides a computer-readable storage medium storing a plurality of instructions, which can be loaded by a processor to execute the steps of the control method of the cleaning device in the above embodiment of the present disclosure, such as:

[0123] Obtaining a target pressure and a target speed of the roller brush set for the surface to be cleaned;

[0124] Determining a target operating current of the roller brush according to a preset correlation between the pressure, rotational speed, and operating current of the roller brush, the target pressure, and the target rotational speed;

[0125] adjusting the rotation speed of the roller brush to the target rotation speed;

[0126] Acquire the current working current of the roller brush in real time;

[0127] adjusting a first distance between the roller brush and the surface to be cleaned according to the current operating current and the target operating current so that the current operating current reaches the target operating current;

[0128] Wherein, the pressure is the pressure applied by the roller brush to the surface to be cleaned;

[0129] The association relationship satisfies: when the rotation speed of the roller brush is the target rotation speed and the operating current is the target operating current, the pressure applied by the roller brush to the surface to be cleaned is the target pressure. For specific operations, please refer to the description of the control method of the cleaning device in the above embodiments of the present disclosure, and will not be repeated here.

[0130] The computer-readable storage medium may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0131] Since the instructions stored in the computer-readable storage medium can execute the steps in the control method of the cleaning device in the above embodiments of the present disclosure, the beneficial effects that can be achieved by the control method of the cleaning device in the above embodiments of the present disclosure can be achieved. Please see the previous description for details and will not be repeated here.

[0132] Furthermore, the terms "first," "second," and "third," etc., in this disclosure are used to distinguish between different objects, not to describe a specific order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or modules is not limited to the listed steps or modules, but rather some embodiments may include steps or modules not listed, or some embodiments may include other steps or modules that are inherent to such process, method, product, or apparatus.

[0133] The above is a detailed introduction to the control method, device, cleaning equipment and storage medium of a cleaning equipment provided by the present disclosure. Specific examples are used in this article to illustrate the principles and implementation methods of the present disclosure. The description of the above embodiments is only used to help understand the method of the present disclosure and its core ideas. At the same time, for technical personnel in this field, according to the ideas of the present disclosure, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present disclosure.

Claims

1. A method for controlling a cleaning device, characterized in that: The cleaning device comprises a roller brush, and the method comprises: Obtaining a target pressure and a target rotation speed of the roller brush set for the surface to be cleaned; Determine the target working current of the roller brush according to the preset correlation between the pressure, rotation speed and working current of the roller brush, the target pressure, and the target rotation speed; adjusting the rotation speed of the roller brush to the target rotation speed; Acquire the current working current of the roller brush in real time; According to the current working current and the target working current, adjusting a first distance between the roller brush and the surface to be cleaned so that the current working current reaches the target working current; Wherein, the pressure is the pressure applied by the roller brush to the surface to be cleaned; The association relationship satisfies that: when the rotation speed of the roller brush is the target rotation speed and the working current is the target working current, the pressure applied by the roller brush to the surface to be cleaned is the target pressure.

2. The control method of the cleaning equipment according to claim 1, characterized in that: The correlation between the pressure, speed and working current of the roller brush conforms to the following mathematical model: I = a*P+b*V+c*P*V+d Among them, I is the working current of the roller brush, P is the pressure of the roller brush, V is the rotation speed of the roller brush, and a, b, c, and d are preset constant coefficients.

3. The control method of the cleaning equipment according to claim 1, characterized in that: The step of adjusting the first distance between the roller brush and the surface to be cleaned according to the current working current and the target working current includes: If the current working current is less than the target working current, the roller brush is controlled to move toward the direction approaching the surface to be cleaned so as to reduce the first distance between the roller brush and the surface to be cleaned. When the current working current reaches the target working current, the adjustment of the first distance between the roller brush and the surface to be cleaned is stopped.

4. The control method of the cleaning equipment according to claim 1, characterized in that: The step of adjusting the first distance between the roller brush and the surface to be cleaned according to the current working current and the target working current includes: If the current working current is greater than the target working current, the roller brush is controlled to move away from the surface to be cleaned to increase the first distance between the roller brush and the surface to be cleaned. When the current working current reaches the target working current, the adjustment of the first distance between the roller brush and the surface to be cleaned is stopped.

5. The control method of the cleaning device according to any one of claims 1 to 4, characterized in that: The cleaning device further includes a stepper motor connected to the roller brush; and adjusting the first distance between the roller brush and the surface to be cleaned according to the current working current and the target working current includes: According to the current working current and the target working current, the stepper motor is controlled to drive the roller brush to move, and the stepper motor is detected in real time to determine whether the stepper motor reaches the current that the stepper motor can adjust. The extreme position of When the stepper motor reaches the limit position that the stepper motor can adjust, the stepper motor is controlled to stop driving the roller brush to move, so as to stop adjusting the first distance between the roller brush and the surface to be cleaned.

6. A control device for a cleaning device, characterized in that: include: A first acquisition module is used to acquire a target pressure and a target rotation speed of the roller brush set for the surface to be cleaned; A current determination module, used to determine a target working current of the roller brush according to a preset correlation between the pressure, rotation speed and working current of the roller brush, the target pressure, and the target rotation speed; A rotation speed adjustment module, used for adjusting the rotation speed of the roller brush to the target rotation speed; A second acquisition module, used for acquiring the current working current of the roller brush in real time; an adjusting module, configured to adjust a first distance between the roller brush and the surface to be cleaned according to the current working current and the target working current, so that the current working current reaches the target working current; Wherein, the pressure is the pressure applied by the roller brush to the surface to be cleaned; The association relationship satisfies that: when the rotation speed of the roller brush is the target rotation speed and the working current is the target working current, the pressure applied by the roller brush to the surface to be cleaned is the target pressure.

7. The control device of the cleaning equipment according to claim 6, characterized in that: The correlation between the pressure, speed and working current of the roller brush conforms to the following mathematical model: I = a*P+b*V+c*P*V+d Among them, I is the working current of the roller brush, P is the pressure of the roller brush, V is the rotation speed of the roller brush, and a, b, c, and d are preset constant coefficients.

8. The control device of the cleaning equipment according to claim 6, characterized in that: The regulating module is used for controlling the roller brush to move toward the direction approaching the surface to be cleaned so as to reduce the first distance between the roller brush and the surface to be cleaned if the current working current is less than the target working current, and stopping regulating the first distance between the roller brush and the surface to be cleaned when the current working current reaches the target working current; and / or, The adjustment module is used to control the roller brush to move away from the surface to be cleaned so as to increase the first distance between the roller brush and the surface to be cleaned if the current working current is greater than the target working current, and stop adjusting the first distance between the roller brush and the surface to be cleaned when the current working current reaches the target working current.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed on a computer, the computer is enabled to execute the control method of the cleaning device according to any one of claims 1 to 5.

10. A cleaning device, comprising a processor and a memory, wherein the memory stores a computer program, characterized in that: The processor is used to execute the control method of the cleaning device according to any one of claims 1 to 5 by calling the computer program.

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