Cleaning device and control method therefor, and computer readable storage medium

Abstract

A cleaning device and a control method therefor, and a computer readable storage medium. The cleaning device comprises a device body (100), a cleaning module (20), and a thickness measurement module (40). The cleaning module (20) is arranged on the device body (100) and is provided with a water outlet (130) and water suction ports (111). The water outlet (130) is used for discharging water onto a carpet, and the water suction ports (111) are used for suctioning water from the carpet. The thickness measurement module (40) is arranged on the device body (100), and the thickness measurement module (40) is used for acquiring thickness parameters of the carpet. The cleaning module (20) controls, on the basis of the thickness parameters, the amount of water discharged from the water outlet (130) and / or the suction force of the water suction ports (111).

Description

Cleaning device, control method thereof, and computer-readable storage medium

[0001] This application claims priority to Chinese patent application No. 202311779516.6, filed on December 21, 2023, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of cleaning machines, and in particular to a cleaning device, a control method thereof, and a computer-readable storage medium. Background Art

[0003] For cleaning equipment that uses water washing to clean carpets, during the cleaning process, the carpet is usually wetted first, and then the water in the carpet is sucked away to achieve the cleaning effect. Technical issues

[0004] Among them, since carpets have different thicknesses, thicker carpets require more water to clean them thoroughly. However, the water output of the cleaning equipment is uniform and stable, resulting in insufficient water when encountering too thick carpets, resulting in incomplete cleaning. When encountering too thin carpets, there is too much water, resulting in the carpet taking too long to dry after cleaning. These problems reduce the user experience. Technical Solutions

[0005] The main purpose of this application is to provide a cleaning device that detects the thickness of the carpet through a thickness measuring module, and then adjusts the water output of the water outlet according to the thickness of the carpet to improve the cleaning effect of the carpet.

[0006] To achieve the above objectives, the cleaning equipment of this application includes:

[0007] Equipment body;

[0008] a cleaning module, the cleaning module being disposed on the device body and provided with a water outlet and a water suction port, the water outlet being used to discharge water toward the carpet, and the water suction port being used to absorb water from the carpet; and

[0009] A thickness measuring module is provided in the main body of the device, and is used to obtain thickness parameters of the carpet. The cleaning module controls the water output of the water outlet and / or the suction force of the water suction port according to the thickness parameters.

[0010] In one embodiment, the device body is provided with a floating member, which is movably arranged on the device body and can maintain a state of being in contact with the surface of the carpet to adapt to the thickness parameter;

[0011] The thickness measuring module includes a first sensor fixed to the device body, the first sensor is arranged opposite to the floating member, and the first sensor is used to detect the distance between the floating member and the first sensor.

[0012] In one embodiment, the device body includes a sewage tank, the floating part is configured as a floating suction nozzle that connects the cleaning module to the sewage tank, the floating suction nozzle is provided with the water suction port, and the floating suction nozzle is rotatably arranged on the device body so that the water suction port can maintain a state of being in contact with the surface of the carpet.

[0013] In one embodiment, the rotational connection position between the floating suction nozzle and the equipment body is arranged adjacent to the connecting port through which the floating suction nozzle connects to the sewage tank, the distance from the water suction port to the rotational connection position is greater than the distance from the connecting port to the rotational connection position, and the first sensor is arranged adjacent to the water suction port.

[0014] In one embodiment, the thickness measuring module includes a second sensor, which is arranged obliquely or vertically downward, and is used to measure the distance between the device body and the surface of the carpet.

[0015] In one embodiment, the second sensor is arranged on the side of the device body, and the second sensor is configured as a line laser sensor, which can project a horizontal line laser parallel to the side surface of the device body toward the carpet, and / or the line laser sensor can project a vertical line laser on a vertical plane toward the carpet.

[0016] In one embodiment, the second sensor is disposed at the bottom of the device body, and the second sensor is vertically opposite to the surface of the carpet.

[0017] In one embodiment, the thickness measuring module includes a current detector, the device body is provided with a driving wheel, the current detector is used to obtain a current signal of the driving wheel, and the thickness measuring module obtains the thickness parameter according to the current signal.

[0018] In addition, to achieve the above-mentioned purpose, the present application also provides a control method for a cleaning device, wherein the cleaning device is the cleaning device as described above, and the control method for the cleaning device includes:

[0019] Obtaining thickness parameters collected by a thickness measurement module of the cleaning equipment;

[0020] According to the thickness parameter, the cleaning module of the cleaning device is controlled to operate at a preset gear; wherein the number of the preset gears is multiple, and the cleaning module at each preset gear has a different water output and / or suction force;

[0021] The cleaning device is controlled to clean the carpet at the selected preset gear.

[0022] In one embodiment, the thickness measuring module is configured as a sensor, and the cleaning module includes a floating nozzle. The step of obtaining the thickness parameter collected by the thickness measuring module of the cleaning device specifically includes:

[0023] The processor obtains the height of the equipment body of the cleaning equipment from the ground, and stores the height from the ground in a memory;

[0024] The sensor obtains the distance from the sensor to the floating suction nozzle or the distance from the device body to the carpet surface as a thickness signal;

[0025] The processor compares the height above the ground with the thickness signal to obtain the thickness parameter.

[0026] In one embodiment, the sensor is configured as a line laser sensor, and the step of obtaining the distance from the device body to the carpet surface as the thickness signal by the sensor specifically includes:

[0027] The emitting end of the line laser sensor projects a horizontal line laser and / or a vertical line laser on the surface of the carpet;

[0028] The receiving end of the line laser sensor obtains the position parameters and reflectivity parameters of the horizontal line laser or the vertical line laser;

[0029] The processor obtains the thickness signal based on the position parameter and / or obtains the type of the carpet based on the reflectivity parameter.

[0030] In one embodiment, the step of controlling the cleaning module of the cleaning device to operate at a preset gear according to the thickness parameter specifically includes:

[0031] The processor obtains a standard distance of the cleaning device and stores the standard distance in a memory;

[0032] The processor determines the water output of the water outlet of the cleaning module at the standard distance based on the thickness parameter as the standard water output; wherein the thickness parameter is positively correlated with the standard water output;

[0033] The processor determines the suction force of the water suction port of the cleaning module based on the standard water output as the standard suction force; wherein the standard water output is positively correlated with the standard suction force.

[0034] In addition, to achieve the above-mentioned purpose, the present application also provides a computer-readable storage medium, on which a cleaning control program is stored. When the cleaning control program is executed by a processor, the steps of the control method of the cleaning equipment as described above are implemented. Beneficial effects

[0035] The technical solution of the present application is provided with a thickness measuring module on the main body of the device, and the thickness measuring module is connected to the cleaning module. When the cleaning device is cleaning the carpet, the thickness measuring module detects the current thickness of the carpet. The cleaning module controls the water outlet to flow out an appropriate amount of water according to the current thickness of the carpet, or controls the water inlet to provide an appropriate suction force, or simultaneously the water outlet flows out an appropriate amount of water and the water inlet also provides an appropriate suction force. This is manifested as follows: for thicker carpets, the water outlet has a larger water volume, or the water inlet also provides a larger suction force, or both the water outlet and the suction force of the water inlet are larger; for thinner carpets, the water outlet has a smaller water volume, or the water inlet also provides a smaller suction force, or both the water outlet and the suction force of the water inlet are smaller. This enables the cleaning device to have a good cleaning effect on carpets of various thicknesses, thereby improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0037] FIG1 is a schematic structural diagram of an embodiment of a cleaning device of the present application;

[0038] FIG2 is a schematic structural diagram of another embodiment of the cleaning device of the present application;

[0039] FIG3 is a control logic diagram of another embodiment of the cleaning device of the present application;

[0040] FIG4 is a flow chart of an embodiment of a control method for a cleaning device of the present application;

[0041] FIG5 is a schematic diagram of a detailed process of step S100 in FIG4 ;

[0042] FIG6 is a schematic diagram of a detailed process of step S120 in FIG5 ;

[0043] FIG7 is a schematic diagram of a detailed process of step S200 in FIG4 ;

[0044] FIG8 is a system control logic diagram of an embodiment of the cleaning device of the present application.

[0045] Description of Figure Numbers:

[0046] Reference number name Reference number name 100 Equipment body 110 Floating suction nozzle 111 Water suction port 120 Sewage tank 130 Water outlet 140 Driving wheel 200 First sensor 300 Second sensor 400 Current detector 10 Processor 20 Cleaning module 30 Memory 40 Thickness measurement module 50 Communication bus

[0047] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. Modes for Carrying Out the Invention

[0048] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. It should be understood that the specific embodiments described here are only used to explain this application and are not used to limit this application.

[0049] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0050] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme in which A and B are satisfied at the same time. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0051] The present application proposes a cleaning device.

[0052] In an embodiment of the present application, referring to FIG. 1 to FIG. 3 and FIG. 8 , the cleaning device includes:

[0053] Device body 100;

[0054] The cleaning module 20 is provided in the device body 100 and is provided with a water outlet 130 and a water suction port 111. The water outlet 130 is used to discharge water toward the carpet, and the water suction port 111 is used to absorb water from the carpet; and

[0055] The thickness measuring module 40 is provided in the device body 100 and is used to obtain the thickness parameters of the carpet. The cleaning module 20 controls the water output of the water outlet 130 and / or the suction force of the water suction port 111 according to the thickness parameters.

[0056] The technical solution of the present application is provided with a thickness measuring module 40 on the device body 100, and the thickness measuring module 40 is connected to the cleaning module 20. When the cleaning device is cleaning a carpet, the thickness measuring module 40 detects the thickness of the current carpet, and the cleaning module 20 controls the water outlet 130 to flow out an appropriate amount of water according to the thickness of the current carpet, or controls the water inlet 111 to provide an appropriate suction force, or the water inlet 111 also provides an appropriate suction force while the water outlet 130 flows out an appropriate amount of water. This is manifested as follows: for thicker carpets, the water outlet 130 has a larger water output, or the water inlet 111 also provides a larger suction force, or both the water outlet and the suction force of the water inlet are larger; for thinner carpets, the water outlet 130 has a smaller water output, or the water inlet 111 also provides a smaller suction force, or both the water outlet and the suction force of the water inlet are smaller. This enables the cleaning device to have a good cleaning effect on carpets of various thicknesses, thereby improving the user experience.

[0057] The thickness of a carpet is positively correlated with its water absorption capacity. The thicker the carpet, the greater its water absorption capacity, and the greater the amount of water required to clean the carpet. During carpet cleaning, a ratio of the amount of water absorbed by the water suction port 111 to the amount of water flowing out of the water outlet 130 between 0.3 and 0.9 represents a good return water ratio, ensuring a good carpet cleaning effect. It should be noted that the cleaning device can be configured as a carpet cleaning robot, capable of autonomously controlling its movements and cleaning the carpet. The cleaning device can also be configured as a manual cleaning device, eliminating the need for the user to manually adjust the water output and suction force, thereby enhancing the user experience. In this embodiment, the cleaning device is configured as a carpet cleaning robot, and the water outlet 130 is positioned forward of the water suction port 111 along the cleaning device's route.

[0058] In one embodiment, the cleaning module 20 includes a cleaning component, such as a roller brush or drum, for cleaning the carpet. This component can be positioned within the water outlet 111 to clean the carpet at the location of the water outlet 111. Alternatively, the component can be positioned between the water inlet 111 and the water outlet 130. After the carpet is moistened with the water outlet 111, the cleaning component is used to clean the carpet. The carpet thickness parameter reflects the thickness of the carpet. Given the same thickness parameter, the amount of water required to clean carpets of different materials will vary. Regardless of whether the carpet is of the same or different types, the thickness parameter is positively correlated with the amount of water used to clean the carpet.

[0059] In one embodiment, referring to FIG1 , the device body 100 is provided with a floating member (not shown in the figure). The floating member is movably arranged on the device body 100 and is capable of maintaining a state of contact with the surface of the carpet to adapt to the thickness parameters. The thickness measurement module 40 includes a first sensor 200 fixed to the device body 100. The first sensor 200 is arranged opposite to the floating suction nozzle 110. The first sensor 200 is used to detect the distance between the floating suction nozzle 110 and the first sensor 200. Specifically, the device body 100 can be provided with a floating member on the front side of the forward direction of the cleaning device, or on the rear side or on both sides. The floating member is capable of maintaining contact with the surface of the carpet. Corresponding to carpets of different thicknesses, the distance between the floating member and the first sensor 200 detected by the first sensor 200 on the device body 100 will be different. The thicker the carpet, the larger the distance between the first sensor 200 and the floating member. In this way, the cleaning device of this embodiment can control the cleaning module 20 to flow out an appropriate amount of water and provide an appropriate suction force according to different carpet thicknesses. In addition, if the floating part is set on the front side of the device body 100, it can respond to the thickness of the carpet on the current path in advance, and reserve cleaning adjustment time for the cleaning module 20, thereby ensuring the timeliness of the cleaning adjustment of the cleaning equipment, and better adapting to the situation of different thicknesses on a carpet, thereby improving the cleaning accuracy and cleaning effect of the carpet.

[0060] In this embodiment, referring to FIG1 , the device body 100 includes a sewage tank 120, and the floating member is configured as a floating suction nozzle 110 that connects the cleaning module 20 to the sewage tank 120. The floating suction nozzle 110 is provided with a water suction port 111. The floating suction nozzle 110 is rotatably disposed on the device body 100 so that the water suction port 111 can maintain contact with the surface of the carpet. It should be noted that due to the weight of the cleaning device and the relatively soft nature of the carpet, during the cleaning process, the weight of the cleaning device is concentrated on the device body 100, causing the wheels under the device body 100 to sink into the bottom of the carpet. The floating suction nozzle 110 can float relative to the device body 100, resulting in a smaller force applied by the floating suction nozzle 110 on the carpet surface. This allows the water suction port 111 on the floating suction nozzle 110 to adhere to the surface of the carpet without sinking into the carpet, or to sink into the carpet at a shallow depth. It is understood that the range of motion of the floating suction nozzle 110 relative to the device body 100 will vary for carpets of varying thicknesses. This is manifested as: the thicker the carpet, the greater the distance between the floating suction nozzle 110 and the first sensor 200. Thus, the distance between the first sensor 200 and the floating suction nozzle 110 in the cleaning device will vary for carpets of varying thicknesses. The first sensor 200 detects the distance between them, indirectly reflecting the current carpet thickness. This allows the cleaning module 20 to control the water outlet 130 to flow an appropriate amount of water and the water intake 111 to provide an appropriate suction force, thereby ensuring effective carpet cleaning. Furthermore, in this embodiment, the first sensor 200 detects the floating suction nozzle 110, thereby utilizing the cleaning device's existing components that can detect carpet thickness, avoiding the need for a separate component to do so, thereby reducing costs. Without loss of generality, during the carpet cleaning process, the floating nozzle 110 can maintain contact with the carpet surface to ensure effective cleaning of carpets of varying thicknesses or with uneven surfaces. Alternatively, the floating nozzle 110 can simply follow the thickness of the carpet without maintaining contact with the carpet surface. Specifically, the first sensor 200 is configured as a distance measuring sensor such as a PSD (Position Sensitive Detector), a point laser sensor, or an infrared sensor.

[0061] In this embodiment, referring to FIG1 , the rotational connection position between the floating suction nozzle 110 and the device body 100 is disposed adjacent to a communication port (not shown) through which the floating suction nozzle 110 connects to the sewage tank 120. The distance between the water suction port 111 and the rotational connection position is greater than the distance between the communication port and the rotational connection position. The first sensor 200 is disposed adjacent to the water suction port 111. It will be appreciated that the floating amplitude of the floating suction nozzle 110 at the water suction port 111 is greater than the floating amplitude at the communication port. The first sensor 200 is disposed adjacent to the water suction port 111 of the floating suction nozzle 110, thereby enhancing the display of changes in carpet thickness during the floating process of the floating suction nozzle 110 and reducing the detection error of the first sensor 200 and the accuracy requirements for the first sensor 200. This allows the first sensor 200 to more accurately reflect the thickness of the carpet, thereby improving the accuracy of the cleaning device in controlling the water output and suction force for carpets of different thicknesses, thereby ensuring the cleaning effect and user experience. Furthermore, during the floating process of the floating suction nozzle 110, the deformation amplitude of the connection point between the floating suction nozzle 110 and the sewage tank 120 is relatively low, ensuring the airtightness of the connection between the floating suction nozzle 110 and the sewage tank 120. Furthermore, since the elasticity requirements for the connection point between the floating suction nozzle 110 and the sewage tank 120 are not high, most elastic materials available on the market are suitable, thereby reducing production costs. Of course, in other embodiments, the distance from the water suction port 111 to the rotational connection position may be smaller than the distance from the connection port to the rotational connection position, and the first sensor 200 may be positioned adjacent to the connection port. Alternatively, the first sensor 200 may be configured as an angle sensor to detect the rotation angle of the floating suction nozzle 110 at the rotational connection position to adapt to the thickness of the carpet.

[0062] In another embodiment, referring to FIG2 , the thickness measurement module 40 includes a second sensor 300 , which is tilted or vertically positioned downward and is used to measure the distance between the device body 100 and the carpet surface. Without loss of generality, the device body 100 is equipped with wheels to facilitate the mobility of the cleaning device. Due to the weight of the cleaning device and the relatively soft nature of the carpet, the wheels of the cleaning device will sink into the bottom of the carpet during the cleaning process. Therefore, the distance between the device body 100 and the carpet surface will vary for carpets of different thicknesses. In particular, the deeper the cleaning device wheels sink into a certain type of carpet, the deeper the thickness of the carpet, which indicates not only the thickness of the carpet but also the higher water absorbency of the carpet. In this way, a second sensor 300 is set on the device body 100, and the second sensor 300 measures the distance between the second sensor 300 and the carpet surface, and compares the distance with the distance between the second sensor 300 and the bottom of the wheel, thereby obtaining the thickness parameter of the carpet. The larger the thickness parameter, the thicker the carpet. When the distance between the second sensor 300 and the carpet surface is larger, the water output and suction force of the cleaning module 20 are greater, so that the cleaning device can have a good cleaning effect on carpets of various thicknesses, thereby improving the user experience.

[0063] In this embodiment, referring again to FIG. 2 , the second sensor 300 is disposed on the side of the device body 100 and is configured as a line laser sensor. The line laser sensor is capable of projecting a horizontal laser line parallel to the side surface of the device body 100 toward the carpet, and / or a vertical laser line on a vertical surface toward the carpet. It should be noted that the laser light emitted by the line laser sensor forms a laser line on the carpet surface, enabling detection of multiple points on the carpet surface. Furthermore, the linear distribution of the multiple points along the laser line facilitates analysis of the reflected laser light, thereby improving the reliability and accuracy of carpet thickness detection. Specifically, the second sensor 300 is positioned on the front side of the device body 100. For horizontal laser beams on the carpet surface, each reflection point is equally spaced from the device body 100. This increases the coverage area of ​​the carpet within a predetermined distance from the device body 100, thereby improving the accuracy of the second sensor 300 in detecting carpet thickness. For vertical laser beams on the carpet surface, the distance they reflect back to the line laser sensor varies proportionally, accurately reflecting changes in carpet thickness along the cleaning device's path. This ensures reliable carpet thickness detection and provides reliable information about carpet thickness changes. The line laser sensor can project only horizontal laser beams, only vertical laser beams, both horizontal and vertical laser beams, or a projected line laser beam with both horizontal and vertical laser beam components. Furthermore, the line laser sensor can determine the laser reflectivity on the carpet surface. Different reflectivities correspond to different carpet materials, allowing for more accurate control of the water output and suction force of the cleaning module 20, ensuring the cleaning effect of the cleaning device on the carpet.

[0064] In this embodiment, referring again to FIG. 2 , the line laser sensor may be a sensor configured for obstacle avoidance in the cleaning device. Specifically, in this embodiment, processor 10 is configured to analyze the position information of the laser beam emitted by the obstacle avoidance sensor on the carpet surface to determine the carpet thickness. This eliminates the need for a separate line laser sensor for measuring carpet thickness, thereby reducing costs. Of course, in other embodiments, a separate line laser sensor may also be configured to measure carpet thickness.

[0065] In other embodiments, the second sensor 300 is disposed at the bottom of the device body 100, vertically opposite the carpet surface. It will be appreciated that in this embodiment, the second sensor 300 is configured as an infrared sensor, a laser sensor, or a PSD sensor. The second sensor 300 is vertically opposite the carpet surface. The distance between the second sensor 300 and the carpet surface can be determined by calculating the time it takes for a measuring medium emitted by the second sensor 300 to reach a receiving medium. This reduces the requirements for the second sensor 300 and improves the reliability and accuracy of the data measured by the second sensor 300, facilitating precise control of the water output and suction force by the cleaning module 20 based on the carpet thickness. Without loss of generality, when the second sensor 300 is disposed at the bottom of the device body 100, the bottom of the device body 100 is recessed upward to establish an effective measurement distance between the second sensor 300 and the carpet surface. In other embodiments, the second sensor 300 can also be disposed on a side surface of the device body 100, establishing an effective measurement distance from the carpet surface. This ensures the reliability and accuracy of the data measured by the second sensor 300 while also reducing the accuracy requirements for the second sensor 300.

[0066] In another embodiment, referring to FIG3 , the thickness measurement module 40 includes a current detector 400 . The device body 100 is provided with a drive wheel 140 . The current detector 400 is used to obtain a current signal from the drive wheel 140 . The thickness measurement module 40 obtains a thickness parameter based on the current signal. It should be noted that the drive wheel 140 of the cleaning device encounters resistance in the carpet. For thicker carpets, the drive wheel 140 sinks deeper and the area of ​​contact between the drive wheel 140 and the carpet surface increases, resulting in greater resistance encountered by the drive wheel 140 . When the resistance encountered by the drive wheel 140 increases, the current flowing through the drive motor of the drive wheel 140 is typically increased to ensure that the rotational speed of the drive wheel 140 remains stable. Thus, the current detector 400 detects the current flowing through the drive wheel 140 and generates a current signal. For carpets of different thicknesses, the current detector 400 will generate different current signals, thereby determining the thickness of the carpet currently being cleaned by the cleaning device and, in turn, controlling the cleaning module 20 to deliver an appropriate amount of water and provide an appropriate suction force.

[0067] In one embodiment, a cleaning device may be configured with a floating nozzle 110, a first sensor 200, a second sensor 300, and a current detector 400. The floating nozzle 110 and the first sensor 200 form a first set of thickness measurement modules, the second sensor 300 forms a second set of thickness measurement modules, and the current detector 400 and the driving wheel 140 form a third set of thickness measurement modules. During operation, the cleaning device may operate at least one of the first, second, and third sets of thickness measurement modules. Depending on the reliability and accuracy of the three sets of thickness measurement modules 40 in measuring carpet thickness, different weights may be assigned to the thickness information obtained by the first, second, and third sets of thickness measurement modules. For example, the weight of the thickness information obtained by the first set of thickness measurement modules may be 0.7-0.9, the weight of the thickness information obtained by the second set of thickness measurement modules may be 0.1-0.2, and the weight of the thickness information obtained by the third set of thickness measurement modules may be 0.05-0.1. In this way, the reliability and accuracy of the thickness parameters obtained by the thickness measuring module 40 can be improved, ensuring that the amount of water flowing out of the cleaning module 20 and the suction force provided can better adapt to the thickness of the current carpet, thereby improving the cleaning effect of the cleaning equipment on the carpet.

[0068] The present application also proposes a control method for cleaning equipment, wherein the cleaning equipment in the embodiment of the control method is the aforementioned cleaning equipment. Since the present cleaning equipment adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0069] To facilitate the description of the control method of the cleaning equipment, the structure of the cleaning equipment of the hardware operating environment involved in the embodiment of the present application is first described. As shown in Figure 8, the cleaning equipment may include: a cleaning module 20, a thickness measuring module 40, a processor 10, such as a central processing unit 10 (CPU), a communication bus 50 and a memory 30. Among them, the communication bus 50 is used to realize the communication connection between these components, and the memory 30 can be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 30 can also be a storage device independent of the aforementioned processor 10. According to the memory 30, a cleaning control program that can be run on the processor 10 is stored. When the cleaning control program is executed by the processor 10, the steps of the control method of the cleaning equipment of the technical solution of the present application can be implemented.

[0070] Those skilled in the art will appreciate that the memory 30, as a computer storage medium, may include an operating system, a network communication module, and a node location program. The operating system is a program that manages and controls the hardware and software resources of the node location system and supports the operation of the node location program and other software and / or programs. The network communication module is used to enable communication between the various components within the memory 30, as well as communication with other hardware and software in the node location system.

[0071] The control method of the cleaning device provided in the embodiment of the present application, referring to Figures 4 to 7, includes:

[0072] Step S100, obtaining thickness parameters collected by the thickness measuring module 40 of the cleaning equipment;

[0073] Step S200: Controlling the cleaning module 20 of the cleaning device to operate at a preset gear according to the thickness parameter; wherein the preset gears are multiple, and the cleaning module 20 at each preset gear has a different water output and / or suction force;

[0074] Step S300: Control the cleaning device to clean the carpet at the selected preset gear.

[0075] In this way, after obtaining the thickness parameters of the carpet collected by the thickness measuring module 40, the processor 10 analyzes the thickness parameters to determine the thickness of the carpet currently to be cleaned. Then, the processor 10 controls the cleaning module 20 to flow an appropriate amount of water or provide an appropriate suction force, or both flow an appropriate amount of water and provide an appropriate suction force. Finally, the processor 10 controls the cleaning device to clean the current carpet at a preset gear position that is adapted to the current carpet thickness. Thus, the cleaning device can achieve good cleaning effects on carpets of various thicknesses, thereby improving the user experience. Among them, the preset gear position of the cleaning module 20 is adapted to the thickness of the carpet, which can ensure that the ratio of the amount of water absorbed by the water intake port 111 to the amount of water flowing out of the water outlet 130 is a good return water ratio, such as between 0.3 and 0.9.

[0076] In this embodiment, referring to FIG. 5 , the thickness measuring module 40 is configured as a sensor, the cleaning module 20 includes a floating nozzle 110 , and step S100 specifically includes:

[0077] Step S110: The processor 10 obtains the height of the cleaning device body 100 from the ground, and stores the height from the ground in the memory 30;

[0078] Step S120: The sensor obtains the distance from the sensor to the floating suction nozzle 110 or the distance from the device body 100 to the carpet surface as a thickness signal;

[0079] In step S130 , the processor 10 compares the height from the ground with the thickness signal to obtain a thickness parameter.

[0080] In one embodiment, the height of the device body 100 from the ground is the distance from the bottom of the device body 100 to the bottom of the wheels. Due to the weight of the cleaning device and the relatively soft nature of the carpet, during the process of the cleaning device cleaning the carpet, the wheels of the cleaning device will be recessed relative to the surface of the carpet. Thus, for the floating suction nozzle 110, the water suction port 111 on the floating suction nozzle 110 needs to suck water from the carpet surface without sinking into the carpet. It is understandable that the range of motion of the floating suction nozzle 110 relative to the device body 100 will vary for carpets of different thicknesses. This is manifested as follows: the thicker the carpet, the greater the distance between the floating suction nozzle 110 and the sensor. That is, when the sensor and the floating suction nozzle 110 are facing each other, the thickness signal is the distance between the sensor and the floating suction nozzle 110. Regarding the carpet surface, the distance between the device body 100 and the carpet surface will also vary for carpets of different thicknesses. In particular, when the cleaning device's wheels sink deeper into a certain type of carpet, it not only reflects the thickness of the carpet, but also reflects its strong water absorption. That is, when the sensor is facing the carpet surface, the thickness signal is the distance between the device body 100 and the carpet surface. This allows the thickness signal acquired by the sensor to be converted into the distance between the bottom of the device body 100 and the carpet surface.

[0081] After the processor 10 obtains the thickness signal generated by the sensor, the processor 10 will compare the thickness signal with the height of the device body 100 from the ground to obtain the thickness parameter of the carpet, that is, the thickness of the current carpet, thereby controlling the cleaning module 20 to clean the current carpet at an appropriate preset gear, thereby ensuring the carpet cleaning effect and user experience.

[0082] In this embodiment, referring to FIG. 6 , the sensor is configured as a line laser sensor, and a solution in step S120 specifically includes:

[0083] Step S121: The transmitting end of the line laser sensor projects a horizontal line laser and / or a vertical line laser onto the surface of the carpet;

[0084] Step S122: The receiving end of the line laser sensor obtains position parameters and reflectivity parameters of the horizontal line laser or the vertical line laser;

[0085] In step S123 , the processor 10 obtains a thickness signal based on the position parameter, and / or obtains the type of the carpet based on the reflectivity parameter.

[0086] In one embodiment, referring to Figure 6 , the laser light emitted by the line laser sensor forms a laser line on the carpet surface, enabling detection of multiple points on the carpet surface. The multiple points on the laser line are distributed in a straight line, facilitating analysis of reflected laser light, thereby improving the reliability and accuracy of carpet thickness and type detection. Specifically, in this embodiment, the second sensor 300 is positioned on the front side of the device body 100. For horizontal laser light on the carpet surface, the distance it reflects back to the line laser sensor is uniform. Each point on the horizontal laser line can equally reflect the thickness and type of the carpet portion at the same distance from the device body 100, thereby improving the accuracy of carpet thickness and type detection. For vertical laser light on the carpet surface, the distance it reflects back to the line laser sensor varies proportionally, accurately reflecting changes in carpet thickness and type along the cleaning device's path. This ensures reliable detection of carpet thickness and type while also providing reliable information on changes in carpet thickness and type to the cleaning device. The line laser sensor may project only horizontal laser light, only vertical laser light, or both horizontal and vertical laser light. Different reflectivities of the carpet surface to laser light correspond to carpets of different materials.

[0087] During this process, referring to Figure 6 , the emitting end of the line laser sensor projects a line laser onto the carpet surface, which is then reflected back to the receiving end of the line laser sensor. The processor 10 analyzes the current carpet's thickness signal based on the position parameters of the current carpet carried by the reflected line laser, thereby deriving the current carpet's thickness parameters based on this thickness signal. Simultaneously, the processor 10 also synchronously analyzes the current carpet's type based on the reflectivity parameters of the current carpet carried by the reflected line laser. This allows the cleaning device to know both the current carpet's thickness and type, enabling the processor 10 to effectively control the cleaning module 20 to operate at the appropriate preset gear, thereby dispensing the appropriate amount of water and providing the appropriate suction force to ensure a cleansing effect on the current carpet.

[0088] In one embodiment, referring to FIG. 7 , step S200 specifically includes:

[0089] Step S210: The processor 10 obtains the standard distance of the cleaning device and stores the standard distance in the memory 30;

[0090] In step S220, the processor 10 determines the water output of the water outlet 130 of the cleaning module 20 at the standard distance based on the thickness parameter as the standard water output; wherein the thickness parameter is positively correlated with the standard water output;

[0091] In step S230 , the processor 10 determines the suction force of the water inlet 111 of the cleaning module 20 based on the standard water output as the standard suction force. The standard water output is positively correlated with the standard suction force.

[0092] In one embodiment, referring to FIG7 , the standard distance can be set to 100 mm or 10 mm. After defining the standard distance, the processor 10 sets different water outputs according to different carpet thicknesses. That is, at a standard distance, different standard water outputs will correspond to different carpet thicknesses. After the water outlet 130 flows out a standard water output adapted to the current carpet thickness, the processor 10 selects a standard suction force based on the current standard water output. That is, different standard suction forces will correspond to different standard water outputs. This ensures that the standard water output from the water outlet 130 is adapted to the current carpet thickness at the standard distance, ensuring that there is sufficient water to clean the carpet. At the same time, it also ensures that the standard suction force provided by the water suction port 111 is adapted to the current standard water output, thereby ensuring that the cleaning device has a good return water ratio, ensuring that the carpet is well dried after cleaning, and improving the user experience.

[0093] The present application also proposes a computer-readable storage medium, and the above-mentioned computer program product includes a computer-readable program medium storing a cleaning control program. The above-mentioned computer program is operable to enable a computer to execute part or all of the steps of any method recorded in the above-mentioned control method. That is, the specific implementation method of the computer-readable storage medium of the present application is basically the same as the various embodiments of the above-mentioned node positioning method, and will not be repeated here.

[0094] As a computer-readable storage medium, any combination of one or more computer-readable media can be used. A computer-readable storage medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CDROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or device.

[0095] Program code embodied on a computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0096] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0097] Through the above description of the embodiments, those skilled in the art can clearly understand that the above embodiment method can be implemented by means of software plus necessary hardware.

[0098] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A cleaning device comprising: Equipment body; A cleaning module, the cleaning module is arranged on the device body and is provided with a water outlet and a water suction port, the water outlet is used to discharge water toward the carpet, and the water suction port is used to absorb water from the carpet; as well as A thickness measuring module is arranged on the device body, and is used to obtain thickness parameters of the carpet. The cleaning module controls the water output of the water outlet and / or the suction force of the water suction port according to the thickness parameters.

2. The cleaning device according to claim 1, wherein: The device body is provided with a floating member, which is movably arranged on the device body and can maintain a state of being in contact with the surface of the carpet to adapt to the thickness parameter; The thickness measuring module includes a first sensor fixedly mounted on the device body, the first sensor is arranged opposite to the floating member, and the first sensor is used to detect the distance between the floating member and the first sensor.

3. The cleaning device according to claim 2, wherein: The equipment body includes a sewage tank, the floating part is configured as a floating suction nozzle that connects the cleaning module with the sewage tank, the floating suction nozzle is provided with the water suction port, and the floating suction nozzle is rotatably arranged on the equipment body so that the water suction port can maintain a state of being in contact with the surface of the carpet.

4. The cleaning device according to claim 3, wherein: The rotational connection position between the floating suction nozzle and the equipment body is arranged adjacent to the connecting port of the floating suction nozzle to the sewage tank, the distance from the water suction port to the rotational connection position is greater than the distance from the connecting port to the rotational connection position, and the first sensor is arranged adjacent to the water suction port.

5. The cleaning device according to claim 1, wherein: The thickness measuring module includes a second sensor, which is arranged obliquely or vertically downward, and is used to measure the distance between the device body and the surface of the carpet.

6. The cleaning device according to claim 5, wherein: The second sensor is disposed on the side of the device body, and the second sensor is configured as a line laser sensor, which can project a horizontal line laser parallel to the side surface of the device body toward the carpet, and / or the line laser sensor can project a vertical line laser on a vertical plane toward the carpet; Alternatively, the second sensor is disposed at the bottom of the device body, and the second sensor is vertically opposite to the surface of the carpet.

7. The cleaning device according to claim 1, wherein: The thickness measuring module includes a current detector, the equipment body is provided with a driving wheel, the current detector is used to obtain a current signal of the driving wheel, and the thickness measuring module obtains the thickness parameter according to the current signal.

8. A method for controlling a cleaning device, wherein the cleaning device is the cleaning device according to any one of claims 1 to 7, wherein: The control method of the cleaning device comprises: Obtaining thickness parameters collected by a thickness measuring module of the cleaning device; According to the thickness parameter, the cleaning module of the cleaning device is controlled to operate at a preset gear; wherein the number of the preset gears is multiple, and the cleaning module at each preset gear has a different water output and / or suction force; The cleaning device is controlled to clean the carpet at the selected preset gear.

9. The control method according to claim 8, wherein: The thickness measuring module is configured as a sensor, the cleaning module includes a floating nozzle, and the step of obtaining the thickness parameter collected by the thickness measuring module of the cleaning device specifically includes: The processor obtains the height of the equipment body of the cleaning equipment from the ground, and stores the height from the ground in a memory; The sensor acquires the distance from the sensor to the floating suction nozzle or the distance from the device body to the carpet surface as a thickness signal; The processor compares the height above the ground with the thickness signal to obtain the thickness parameter.

10. The control method according to claim 9, wherein: The sensor is configured as a line laser sensor, and the sensor acquires the distance from the device body to the carpet surface as the thickness signal, specifically comprising: The transmitting end of the line laser sensor projects a horizontal line laser and / or a vertical line laser on the surface of the carpet; The receiving end of the line laser sensor obtains the position parameter and reflectivity parameter of the horizontal line laser or the vertical line laser; The processor obtains the thickness signal based on the position parameter and / or obtains the type of the carpet based on the reflectivity parameter.

11. The control method according to claim 8, wherein: The step of controlling the cleaning module of the cleaning device to operate at a preset gear according to the thickness parameter specifically includes: The processor obtains the standard distance of the cleaning device activity and stores the standard distance in the memory; The processor determines the water output of the water outlet of the cleaning module at the standard distance based on the thickness parameter as the standard water output; wherein the thickness parameter is positively correlated with the standard water output; The processor determines the suction force of the water suction port of the cleaning module based on the standard water output as the standard suction force; wherein the standard water output is positively correlated with the standard suction force. 12 . A computer-readable storage medium having a cleaning control program stored thereon, wherein the cleaning control program, when executed by a processor, implements the steps of the control method for the cleaning device according to claim 8 .

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