Cleaning device control method, cleaning device and storage medium

Abstract

Provided in the present application are a cleaning device control method, a cleaning device and a storage medium. The cleaning device control method comprises: receiving a trigger signal representing a cleaning mode; on the basis of the trigger signal, determining a cleaning mode to be executed by a cleaning device; detecting the current state of the cleaning device, and determining whether the current state is consistent with a preset state corresponding to the cleaning mode to be executed; and if so, controlling the cleaning device to operate according to the cleaning mode to be executed. Since the cleaning device has different preset states in different cleaning modes, in the cleaning device control method, the cleaning mode to be executed by the cleaning device is firstly determined by means of the received trigger signal, and then whether the cleaning device executes the cleaning mode to be executed is determined by means of comparing the current state with the preset state corresponding to the cleaning mode to be executed. In this way, the unintended starting of the cleaning device can be prevented and it is ensured that the cleaning device executes a cleaning operation according to a cleaning mode selected by a user.

Description

Cleaning device control method, cleaning device, and storage medium

[0001] The present application claims priority to the Chinese patent application No. 202411517532.2, filed on October 28, 2024, and entitled "Cleaning device control method, cleaning device, and storage medium", the whole content of the aforementioned priority being incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the field of cleaning robots, and discloses a cleaning device control method, a cleaning device, and a storage medium. BACKGROUND

[0003] With the continuous development of science and technology, more and more cleaning devices have gradually entered people's daily life to improve people's living standards. For example, when cleaning a swimming pool, a swimming pool cleaning robot can be used to clean the bottom and / or water surface of the pool to replace traditional manual cleaning. When the existing swimming pool cleaning robot is in use, the user is likely to throw the swimming pool robot into the water in an incorrect posture, and then the swimming pool robot starts working after detecting the water, which causes the swimming pool robot to be unable to work normally. SUMMARY

[0004] The main purpose of the present application is to provide a cleaning device control method to solve the technical problem that the existing swimming pool robot starts working after entering the water in an incorrect posture.

[0005] To achieve the above-mentioned purpose, the present application provides a cleaning device control method, comprising:

[0006] receiving a trigger signal representing a cleaning mode;

[0007] determining a to-be-executed cleaning mode of the cleaning device according to the trigger signal;

[0008] detecting a current state of the cleaning device, and determining whether the current state is consistent with a preset state corresponding to the to-be-executed cleaning mode;

[0009] if yes, controlling the cleaning device to operate according to the to-be-executed cleaning mode.

[0010] Since the cleaning device has different preset states in different cleaning modes, the above-mentioned cleaning device control method first determines the to-be-executed cleaning mode of the cleaning device through the received trigger signal, and then determines whether the to-be-executed cleaning mode of the cleaning device can be executed through the comparison between the current state and the preset state corresponding to the to-be-executed cleaning mode. In this way, the cleaning device can be prevented from being started incorrectly, and the cleaning device can be ensured to perform cleaning work according to the cleaning mode selected by the user.

[0011] In some embodiments, receiving the trigger signal indicative of the cleaning mode comprises:

[0012] detecting whether a dust basket of the cleaning device is installed;

[0013] if yes, receiving a trigger signal generated when the dust basket is installed to a preset position.

[0014] In some embodiments, determining the cleaning mode to be performed by the cleaning device according to the trigger signal comprises:

[0015] detecting a signal source of the trigger signal;

[0016] determining the cleaning mode corresponding to the trigger signal according to the signal source.

[0017] In some embodiments, receiving the trigger signal indicative of the cleaning mode comprises:

[0018] receiving a user operation instruction;

[0019] generating and receiving the trigger signal indicative of the cleaning mode according to the operation instruction.

[0020] In some embodiments, the cleaning device control method further comprises:

[0021] detecting whether the cleaning device is in water;

[0022] if yes, controlling the cleaning device to perform the next step;

[0023] if no, controlling the cleaning device to be in a silent state.

[0024] In some embodiments, detecting the current state of the cleaning device comprises:

[0025] detecting a posture of the cleaning device;

[0026] determining the current state of the cleaning device according to the posture of the cleaning device.

[0027] In some embodiments, determining the current state of the cleaning device according to the posture of the cleaning device comprises:

[0028] comparing the posture of the cleaning device with a preset first water entry posture and a second water entry posture;

[0029] determining the current state of the cleaning device according to the comparison result;

[0030] wherein the first water entry posture corresponds to a first cleaning mode of the cleaning device, and the second water entry posture corresponds to a second cleaning mode of the cleaning device.

[0031] In some embodiments, the cleaning device comprises a buoyancy device having a floating cavity, a water inlet and an air inlet, and the cleaning device control method further comprises:

[0032] controlling the air port of the buoyancy device to be closed.

[0033] In some embodiments, the method further comprises:

[0034] controlling the air port of the buoyancy device to be closed so that the cleaning device floats on the water surface;

[0035] or, controlling the air port and the water port of the buoyancy device to be opened so that the cleaning device sinks into the water.

[0036] In some embodiments, the method further comprises:

[0037] detecting whether the cleaning device is submerged in the water;

[0038] if yes, controlling the air port of the buoyancy device to be closed.

[0039] In some embodiments, the detecting whether the cleaning device is submerged in the water comprises:

[0040] controlling the water pump motor of the cleaning device to be started after a preset time;

[0041] detecting a change in current or voltage of the water pump motor, and determining whether the cleaning device is submerged in the water according to the change in current or voltage of the water pump motor.

[0042] In some embodiments, the method further comprises:

[0043] if the current posture of the cleaning device is inconsistent with the preset posture corresponding to the cleaning mode to be executed, controlling the cleaning device to adjust the current posture until the current posture is consistent with the preset posture corresponding to the cleaning mode to be executed.

[0044] In some embodiments, the controlling the cleaning device to adjust the current posture comprises:

[0045] controlling the water pump motor of the cleaning device to be started.

[0046] In some embodiments, the method further comprises:

[0047] if the current posture of the cleaning device is inconsistent with the preset posture corresponding to the cleaning mode to be executed, controlling the cleaning device to send a first prompt signal.

[0048] In some embodiments, after the step of determining the cleaning mode to be executed of the cleaning device according to the trigger signal, the method further comprises:

[0049] controlling the cleaning device to send a second prompt signal for representing the cleaning mode.

[0050] The embodiment of the present application also provides a cleaning device, which comprises a processor and a memory, the memory storing a computer program, and the processor executes the cleaning device control method in any of the above embodiments when calling the computer program.

[0051] The embodiment of the present application also provides a storage medium for computer readable storage, the storage medium storing a computer program, and the computer program is called by a processor to execute the cleaning device control method in any of the above embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0052] Fig. 1 is a flow chart of the cleaning device control method in the embodiment of the present application.

[0053] Fig. 2 is a flow chart of the cleaning device control method in the embodiment of the present application.

[0054] Fig. 3 is a flow chart of the cleaning device control method in the embodiment of the present application.

[0055] Fig. 4 is a flow chart of the cleaning device control method in the embodiment of the present application.

[0056] Fig. 5 is a flow chart of the cleaning device control method in the embodiment of the present application.

[0057] Fig. 6 is a perspective view of the cleaning device in the embodiment of the present application.

[0058] Fig. 7 is a side view of the first water entry posture of the cleaning device in Fig. 6.

[0059] Fig. 8 is a side view of the second water entry posture of the cleaning device in Fig. 6.

[0060] Fig. 9 is a bottom view of the cleaning device in Fig. 6 from the bottom perspective.

[0061] Fig. 10 is a perspective view of the inside of the cleaning device in Fig. 6.

[0062] Fig. 11 is a sectional view of the water tank in the embodiment of the present application.

[0063] Fig. 12 is a schematic view of the cleaning device in the embodiment of the present application.

[0064] Main component symbol explanation 100, pool robot; 101, trash basket installation position; 102, top; 103, bottom; 10, buoyancy device; 11, water tank; 111, water inlet; 112, air inlet; 113, floating cavity; 12, electric air valve; 20, driving assembly; 21, track wheel; 211, track; 22, driving paddle; 30, cleaning brush; 40, water pump assembly; 41, water pump motor; 42, water outlet; 50, trash basket; 51, water surface trash basket; 52, water bottom trash basket; 200, cleaning device; 201, processor; 202, memory; 203, computer program. Detailed Implementation

[0065] The technical solution of this application will now be described with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments.

[0066] It should be noted that when a component is referred to as "located" on another component, it can be directly on top of the other component or it can be located in the middle of the other component. The term "on" includes directly above and diagonally above, or simply indicates a higher horizontal level; the term "below" includes directly below and diagonally below, or simply indicates a lower horizontal level. The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual order of execution may change depending on the actual situation. The term "and / or" refers to any combination of one or more of the associated listed items, as well as all possible combinations, and includes these combinations.

[0067] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0068] The cleaning equipment proposed in this application can be a pool robot, a sweeping robot, or other similar devices, including but not limited to these. For ease of description, the following explanation uses a pool robot as an example. A pool robot is an automatic cleaning device used to clean swimming pools. Various types of pool robots with different functions are available on the market, such as surface cleaning robots, underwater cleaning robots, and cleaning robots that combine both surface and underwater cleaning functions. As the name suggests, surface cleaning robots are designed to clean the surface of the pool, while underwater cleaning robots are designed to clean the bottom, sidewalls, and waterline of the pool.

[0069] As shown in Figures 6 to 11, the pool robot 100 proposed in this application has both surface and underwater cleaning modes. In the surface cleaning mode, the pool robot 100 has a first water entry posture (as shown in Figure 7), and in the underwater cleaning mode, the pool robot 100 has a second water entry posture (as shown in Figure 8). In a specific embodiment, the first water entry posture corresponds to the pool robot 100 being flipped upside down on the water surface, that is, the top 102 of the pool robot 100 is immersed in the water, and the bottom 103 of the pool robot 100 is above the water surface. The second water entry posture corresponds to the pool robot 100 being placed upright on the water surface, that is, the top 102 of the pool robot 100 is above the water surface, and the bottom 103 is immersed in the water. The pool robot 100 includes at least a buoyancy device 10, a drive assembly 20, a cleaning brush 30, a water pump assembly 40, and a trash can 50. The drive assembly 20 is used to drive the pool robot 100 to move on and under the water surface. The cleaning brush 30 is used to sweep away the debris attached to the water surface and underwater walls and collect it into the trash can 50. The buoyancy device 10 is used to provide buoyancy for the pool robot 100 to float on the water surface during cleaning. As shown in Figures 10 and 11, the buoyancy device 10 includes a water tank 11, which has a water inlet 111, an air inlet 112, and a float cavity 113 that are connected to each other. The water inlet 111 is used to allow water from the pool to flow into the float cavity 113 so that the pool robot 100 sinks to the bottom. The air inlet 112 is used to allow air to be discharged from the float cavity 113.

[0070] In some embodiments, the sprue 111 of the buoyancy device 10 is located at the bottom 103 of the pool robot 100 and is normally open, that is, the sprue 111 of the buoyancy device 10 is designed to be open, and the air vent 112 is located at the top 102. During underwater cleaning, the pool robot 100 needs to be placed into the pool in a second entry posture. At this time, water in the pool can flow into the float cavity 113 from the sprue, and at the same time, gas in the float cavity 113 can be discharged from the air vent 112, thereby causing the pool robot 100 to sink to the bottom. During surface cleaning, the pool robot 100 needs to be placed into the pool in a first entry posture. At this time, the air vent 112 is closed, and the sprue 111 is above the water surface. Therefore, water will not enter the float cavity 113, and the pool robot 100 can float on the water surface by relying on the buoyancy provided by the float cavity 113.

[0071] In some embodiments, the buoyancy device 10 further includes an electric air valve 12, which is disposed at the air inlet 112 and can automatically control the opening and closing of the air inlet 112. In one specific embodiment, the electric air valve 12 is normally closed, that is, after the user powers on the pool robot 100, the electric air valve 12 will close the air inlet 112. When the user puts the pool robot 100 into the pool to work, the electric air valve 12 is controlled to open the air inlet 112 or keep the electric air valve 12 closed according to the state of the pool robot 100.

[0072] In some embodiments, the water pump assembly 40 includes a water pump motor 41, an impeller (not shown), an inlet (not shown), and an outlet 42. The outlet 42 is located on the top 102 of the pool robot 100. The output actuator of the water pump motor 41 is connected to the impeller to drive the impeller to rotate, thereby discharging the water flowing in from the inlet from the outlet 42.

[0073] In some embodiments, the drive assembly 20 includes track wheels 21 and drive paddles 22. The track wheels 21 include a first wheel set (not shown), a second wheel set (not shown), and a track 211 disposed at the front and rear ends. The first and second wheel sets are used to drive the pool robot 100 to walk on the pool wall, and the track 211 is used to increase the contact area between the first and second wheel sets and the pool wall, thereby improving the grip of the pool robot 100. The drive paddles 22 and the cleaning brush 30 are respectively located at the front and rear ends of the pool robot 100, and the drive paddles 22 are used to drive the pool robot 100 to move on the water surface.

[0074] When using the pool robot 100, user errors may occur, causing the pool robot 100 to malfunction. For example, if a user needs the pool robot 100 to perform a water surface cleaning task, as mentioned earlier, the pool robot 100 required to be placed into the water in a first entry posture when performing this task. However, due to user negligence or lack of understanding of the usage method, the user may mistakenly place the pool robot 100 into the water in a second entry posture. In this case, if the pool robot 100 starts operating, it will be unable to complete the cleaning work required by the user.

[0075] To address the aforementioned problems, this application proposes a cleaning equipment control method, as shown in Figure 1. This cleaning equipment control method includes the following steps:

[0076] Step S1: Receive the trigger signal representing the cleaning mode;

[0077] Step S2: Determine the cleaning mode to be executed by the pool robot 100 based on the trigger signal;

[0078] Step S3: Detect the current state of the pool robot 100 and determine whether the current state is consistent with the preset state corresponding to the cleaning mode to be executed;

[0079] Step S4: If yes, control the pool robot 100 to run according to the cleaning mode to be executed.

[0080] It should be noted that the cleaning device proposed in this application has at least two different cleaning modes. In different cleaning modes, the cleaning device has different working states. The cleaning device can control its operation or silence based on the comparison result between its current state and the working state corresponding to the pre-executed cleaning mode. In some embodiments, the working state can be the posture of the cleaning device or the environmental state in which the cleaning device is located. The environmental state can refer to whether the cleaning device is in water or not; that is, the working state when the cleaning device is in water is the first working state, and the working state when the cleaning device is on land is the second working state. The first working state and the second working state correspond to the first cleaning mode and the second cleaning mode, respectively. Taking the above-mentioned pool robot 100 as an example, the pool robot 100 has at least two cleaning modes: surface and underwater. The two cleaning modes correspond to two different water entry postures, namely the first water entry posture and the second water entry posture. When it is detected that the current water entry posture of the pool robot 100 is consistent with the water entry posture corresponding to the pre-executed cleaning mode, the pool robot 100 can be controlled to operate according to the cleaning mode to be executed, so as to perform the cleaning work that the user wants the pool robot 100 to perform. In some embodiments, the pool robot 100 may also have a third cleaning mode, in which the pool robot 100 is located on the ground. In this mode, the pool robot 100 can function as a sweeping machine to clean the ground.

[0081] Since cleaning equipment has different preset states in different cleaning modes, the above-mentioned cleaning equipment control method first determines the cleaning mode to be executed by the cleaning equipment through steps S1 and S2, and then determines whether the cleaning mode to be executed by the cleaning equipment can be executed through steps S3 and S4. In this way, the cleaning equipment can be prevented from starting incorrectly and the cleaning equipment can be guaranteed to perform cleaning work according to the cleaning mode selected by the user.

[0082] The following embodiments use a pool robot 100 as an example to illustrate the solution, but it is understood that the following embodiments are not limited to the pool robot 100, but can be implemented in all feasible cleaning devices.

[0083] In some embodiments, as shown in FIG2, step S1 includes:

[0084] Step S1a: Check whether the trash can 50 of the pool robot 100 is installed;

[0085] Step S1b: If yes, receive the trigger signal generated when the trash can 50 is installed in the preset position.

[0086] Specifically, as shown in Figure 9, the trash can 50 includes a surface trash can 51 and an underwater trash can 52. The pool robot 100 is provided with a trash can mounting position 101, which is used to install either the surface trash can 51 or the underwater trash can 52. When the pool robot 100 is in surface cleaning mode, the trash can mounting position 101 needs to be equipped with the surface trash can 51; when the pool robot 100 is in underwater cleaning mode, the trash can mounting position 101 needs to be equipped with the underwater trash can 52. At this time, step S1a refers to detecting whether the pool robot 100 has installed the surface trash can 51 or the underwater trash can 52 in the trash can mounting position 101, and step S1b refers to receiving the trigger signal generated when the surface trash can 51 or the underwater trash can 52 is installed in the trash can mounting position 101.

[0087] For example, the surface trash can 51 and the bottom trash can 52 are each equipped with a magnet, and the magnets are positioned differently relative to the pool robot 100 in the height direction. The pool robot 100 is equipped with two Hall sensors, which are spaced apart in the height direction of the pool robot 100. When the surface trash can 51 or the bottom trash can 52 is installed on the pool robot 100, the magnets of each can be detected by the Hall sensors at the corresponding heights and generate corresponding trigger signals. At this time, in step S1a, it can be detected whether the surface trash can 51 or the bottom trash can 52 is installed in the trash can installation position 101 by identifying the triggered Hall sensors. In step S1b, the trigger signal generated by the triggered Hall sensors is received.

[0088] Alternatively, for example, the surface trash can 51 and the bottom trash can 52 can also be equipped with different chips or tags. Sensors are installed on the pool robot 100. When the surface trash can 51 or the bottom trash can 52 is installed on the pool robot 100, their respective chips or tags can be detected by the sensors and generate corresponding trigger signals. In this case, in step S1a, the presence of a surface trash can 51 or a bottom trash can 52 in the trash can mounting position 101 can be detected by identifying the trigger signal generated by the sensor. In step S1b, the trigger signal generated by the sensor is received.

[0089] In other embodiments, the pool robot 100 can use the same trash can 50 in both surface cleaning and bottom cleaning modes. The trash can 50 can be installed in two different locations on the pool robot 100, corresponding to the surface cleaning mode and the bottom cleaning mode respectively. Furthermore, the trash can 50 in the two different locations can trigger different trigger signals from the pool robot 100. In this case, step S1a refers to detecting the location of the trash can 50 installed on the pool robot 100, and step S1b refers to the trigger signals generated when the trash can 50 is installed in different locations.

[0090] For example, the trash can 50 is equipped with a magnet, and the pool robot 100 has two Hall sensors spaced apart in the height direction. When the trash can 50 is installed at different positions on the pool robot 100, the magnet can be detected by the corresponding Hall sensor and generate a corresponding trigger signal. At this time, in step S1a, the position of the trash can 50 can be detected by identifying the triggered Hall sensor, and in step S1b, the trigger signal generated by the triggered Hall sensor is received.

[0091] In some embodiments, as shown in FIG2, step S1 may further include:

[0092] Step S1c: Receive user operation instructions;

[0093] Step S1d: Generate and receive a trigger signal to characterize the cleaning mode according to the operation instructions.

[0094] Specifically, the pool robot 100 has an interactive device (not shown) that allows users to operate, enabling them to select a surface cleaning mode and a bottom cleaning mode. In this case, step S1c refers to the interactive device receiving the user's operation command, and step S1d refers to the interactive device generating a trigger signal corresponding to the surface cleaning mode or the bottom cleaning mode based on the user's operation command, and then ensuring that the pool robot 100 receives the trigger signal.

[0095] For example, when a user selects the surface cleaning mode through the interactive device, the interactive device generates a trigger signal corresponding to the surface cleaning mode and the pool robot 100 receives the trigger signal; when a user selects the bottom cleaning mode through the interactive device, the interactive device generates a trigger signal corresponding to the bottom cleaning mode and the pool robot 100 receives the trigger signal.

[0096] Optionally, the interactive device can be a button, touch screen, knob, lever, voice recognizer, or mobile terminal (such as a mobile phone or tablet computer) on the pool robot 100, as long as it can interact with the user and generate corresponding trigger signals.

[0097] In some embodiments, as shown in FIG2, step S2 includes:

[0098] Step S2a: Detect the signal source of the trigger signal;

[0099] Step S2b: Determine the cleaning mode corresponding to the trigger signal based on the signal source.

[0100] Specifically, the two cleaning modes of the pool robot 100 correspond to different signal sources for the trigger signals. The signal source may contain encoded information, etc. Step S2a refers to the processor of the pool robot 100 receiving the trigger signal and detecting the signal source of the trigger signal. Step S2b refers to the processor comparing the signal source of the trigger signal with the information database in the memory. The information database contains the association information between the signal source and the cleaning mode, thereby determining the cleaning mode corresponding to the trigger signal.

[0101] For example, when installing the surface trash can 51, the trigger signal generated by the corresponding Hall sensor has a corresponding signal source. After comparing the signal source with the information database in the memory, the processor can obtain that the cleaning mode corresponding to the signal source is the surface cleaning mode. Therefore, the cleaning mode to be executed by the pool robot 100 is determined to be the surface cleaning mode. Similarly, when installing the bottom trash can 52, the trigger signal generated by the corresponding Hall sensor has a corresponding signal source. After comparing the signal source with the information database in the memory, the processor can obtain that the cleaning mode corresponding to the signal source is the bottom cleaning mode. Therefore, the cleaning mode to be executed by the pool robot 100 is determined to be the bottom cleaning mode.

[0102] Specifically, in step S3, when it is detected that the current state of the pool robot 100 is consistent with the preset state corresponding to the water surface cleaning mode, step S4 is to control the pool robot 100 to run the water surface cleaning mode; or, in step S3, when it is detected that the current state of the pool robot 100 is consistent with the preset state corresponding to the bottom cleaning mode, step S4 is to control the pool robot 100 to run the bottom cleaning mode.

[0103] Furthermore, in step S3, the current state of the pool robot 100 includes, but is not limited to, the state of the pool robot 100 on land and the state of the pool robot 100 in water. In some embodiments, in addition to the surface cleaning mode and the bottom cleaning mode, the pool robot 100 may also have a ground cleaning mode, in which the pool robot 100 can be used to clean the ground. For example, when it is detected that the current state of the pool robot 100 is placed on the ground, it can be determined that the current state is consistent with the preset state corresponding to the ground cleaning mode, and then the pool robot 100 can be controlled to operate according to the ground cleaning mode.

[0104] In some embodiments, as shown in FIG3, step S3, "detecting the current state of the cleaning equipment", includes:

[0105] Step S3a: Detect the posture of the pool robot 100;

[0106] Step S3b: Determine the current state of the pool robot 100 based on its posture.

[0107] Specifically, in steps S3a and S3b, the posture of the pool robot 100 refers to either the first entry posture or the second entry posture. For example, the pool robot 100 has a posture sensor used to detect its posture in the water. It should be noted that after entering the water, the pool robot 100 may tilt to a certain extent due to water surface ripples or a shift in its center of gravity. The posture sensor can detect the tilt angle of the pool robot 100, and as long as the tilt angle is within a preset range, the posture of the pool robot 100 can be determined.

[0108] In some embodiments, as shown in FIG3, step S3b includes:

[0109] S3b1: Compare the posture of the pool robot 100 with the preset first and second water entry postures;

[0110] S3b2: Determine the current state of the pool robot 100 based on the comparison results.

[0111] Specifically, the attitude sensor is used to detect the relative position of the top 102 and bottom 103 of the pool robot 100. When the attitude sensor detects that the top 102 of the pool robot 100 is on top and the bottom 103 is on the bottom, the current state of the pool robot 100 is determined to be the first water entry attitude; when the attitude sensor detects that the current state of the pool robot 100 is the top 102 is on the bottom and the bottom 103 is on top, the current state of the pool robot 100 is determined to be the second water entry attitude.

[0112] In some embodiments, the state of the pool robot 100 can be detected by a water pump assembly 40, the impeller of which is disposed on the top 102 of the pool robot 100. When the pool robot 100 is placed upright in the water, the impeller of the water pump assembly 40 is above the water surface, and the impeller is in an unloaded state when rotating, with its corresponding operating current being a first current. When the pool robot 100 is flipped over and placed upside down on the water surface, the impeller of the water pump assembly 40 is immersed in the water, and the impeller is in a loaded state when rotating, with its corresponding operating current being a second current, which is greater than the first current. Therefore, the state of the pool robot 100 can also be detected by the water pump assembly 40, that is, when the pool robot 100 is dropped into the water, the water pump assembly 40 can be started to determine the working state of the pool robot 100 by the operating current of the water pump assembly 40.

[0113] In some embodiments, as shown in FIG4, prior to step S3, the cleaning equipment control method further includes:

[0114] Step S5: Check if the pool robot 100 has entered the water.

[0115] Specifically, the pool robot 100 has a liquid level sensor, which detects whether it has entered the water. Alternatively, the pool robot 100 has a weight sensor. Since the pool robot 100 will take in water and its weight will increase after entering the water, the weight sensor can detect the change in the weight of the pool robot 100 to determine whether it has entered the water.

[0116] Step S6: If yes, control the pool robot 100 to execute the next step.

[0117] In step S6, the next step can refer to step S3, that is, detecting the current state of the pool robot 100 after confirming that the pool robot 100 has entered the water.

[0118] Step S7: If not, control the pool robot 100 to remain in a silent state.

[0119] Specifically, the silent state in step S7 can refer to a state where the power supply of the pool robot 100 has been turned on, but none of the components of the pool robot 100 are working.

[0120] In some embodiments, as shown in FIG5, prior to step S3, the cleaning equipment control method further includes:

[0121] Step S8: Close the air port 112 of the buoyancy device 10.

[0122] Specifically, step S8 allows the gas in the float cavity 113 to be retained inside the float cavity 113, so that the pool robot 100 will not sink immediately after entering the water, but will sink after determining that the pool robot 100 is executing the underwater cleaning mode. This allows the pool robot 100 to float on the surface of the water even if it is in an incorrect posture, making it easy for the user to pick up the pool robot 100.

[0123] In some embodiments, as shown in FIG5, step S4 includes:

[0124] Step S4a: Keep the air vent 112 of the buoyancy device 10 closed so that the pool robot 100 floats on the water surface.

[0125] Step S4a is the step executed after determining in step S3 that the current state is consistent with the preset state corresponding to the water surface cleaning mode, so that the pool robot 100 floats on the water surface.

[0126] Step S4b: Control the air inlet 112 and water outlet 111 of the buoyancy device 10 to open, so that the pool robot 100 sinks into the water.

[0127] Step S4b is executed after determining in step S3 that the current state is consistent with the preset state corresponding to the underwater cleaning mode, so that the water in the area to be cleaned enters the float cavity 113 through the water inlet 111 and the gas in the float cavity 113 is discharged from the float cavity 113 through the air inlet 112, thereby increasing the weight of the pool robot 100 and causing the pool robot 100 to sink.

[0128] Specifically, when the pool robot 100 is in use, when the user places the pool robot 100 into the water in the second entry posture with the bottom 103 down and the top 102 up, the water inlet 111 is below the water surface. At this time, when the underwater cleaning mode needs to be executed, the electric air valve 12 controls the air inlet 112 to open, and the water in the area to be cleaned will enter the water inlet 111 and the gas in the float chamber 113 will be discharged upward from the air inlet 112, so that the pool robot 100 sinks. Alternatively, when the cleaning mode to be executed for the pool robot 100 is the surface cleaning mode, but the user throws the pool robot 100 into the water in the wrong second entry posture, the electric air valve 12 controls the air inlet 112 to close. At this time, since the gas in the float chamber 113 cannot be discharged, the water will not enter the float chamber 113, so that the pool robot 100 floats on the water surface, so that the user can pick up the pool robot 100 and correct its posture.

[0129] When the user places the pool robot 100 into the water with its top 102 facing down and bottom 103 facing up, the sprue 111 is above the water surface and the air vent 112 is below the water surface. Therefore, water in the area to be cleaned is difficult to enter the float cavity 113 through the sprue 111, allowing the float cavity 113 to retain enough air to generate buoyancy. However, the air vent 112 needs to be closed at this time to prevent water from entering the float cavity 113 through the air vent 112 and causing the pool robot 100 to sink.

[0130] Alternatively, the pool robot 100 may also be equipped with a blocking device, such as a valve, at the water inlet 111, which can be electrically controlled to control the opening and closing of the water inlet 111.

[0131] In some embodiments, as shown in FIG5, after step S4b, the cleaning equipment control method further includes:

[0132] Step S9: Check if the pool robot 100 is submerged in the water;

[0133] Step S10: If yes, then close the air port 112 of the buoyancy device 10.

[0134] When the pool robot 100 is detected to be submerged in the water, the control air vent 112 is closed to prevent air from entering the float cavity 113, thereby retaining water in the float cavity 113 and reducing the risk of the pool robot 100 floating up due to accidental air entering the float cavity 113 when the air vent 112 is exposed above the water surface.

[0135] Understandably, step S10 can also be replaced by: if so, then close the water inlet 111 of the buoyancy device 10. Because closing the water inlet 111 can also retain the water in the float cavity 113, preventing the water in the float cavity 113 from being discharged, and can also prevent the float cavity 113 from accidentally taking in air.

[0136] In some embodiments, as shown in FIG5, step S9 includes:

[0137] Step S9a: Control the water pump motor 41 to start after a preset time.

[0138] Specifically, in underwater cleaning mode, since the process from the pool robot 100 entering the water to being fully submerged takes a certain amount of time, the water pump motor 41 is turned on after a preset time. This allows the water pump motor 41 to turn on only after the pool robot 100 is almost or completely submerged, thereby reducing the idling time caused by the water pump motor 41 turning on when it is exposed above the water surface. Further optionally, the preset time can be 10 seconds, 30 seconds, 1 minute, 2 minutes, or 5 minutes, as long as it reduces the idling time of the water pump motor 41.

[0139] Step S9b: Detect the current or voltage of the water pump motor 41, and determine whether the pool robot 100 is submerged in the water based on the change in the current or voltage of the water pump motor 41.

[0140] For example, since the resistance of the water pump motor 41 is different in the air and in the water, the current or voltage of the water pump motor 41 is different when it is running in the air and when it is running in the water. Therefore, the current or voltage of the water pump motor 41 can be used to determine whether the pool robot 100 is submerged in the water.

[0141] In some embodiments, as shown in FIG1, after step S3, the cleaning equipment control method further includes:

[0142] Step S11: If the current posture of the pool robot 100 is inconsistent with the preset posture corresponding to the cleaning mode to be performed, then control the pool robot 100 to adjust its current posture until it is consistent with the preset posture corresponding to the cleaning mode to be performed. Step S11 enables the pool robot 100 to automatically correct its posture without the need for manual correction by the user.

[0143] Specifically, step S11 includes:

[0144] Step S11a: Control the water pump motor 41 to start.

[0145] When the water pump motor 41 is started, it can generate a force to adjust the posture of the pool robot 100 until the current posture of the pool robot 100 is consistent with the preset posture corresponding to the cleaning mode to be executed, so as to automatically correct the posture of the pool robot 100.

[0146] Specifically, the pool robot 100 has a water pump motor 41 installed at its top 102. When the pool robot 100 enters the water in a first entry posture with its top 102 facing down, the water pump motor 41 is submerged and can generate an upward driving force, thereby flipping the pool robot 100. This allows the water pump motor 41 to correct the posture of the pool robot 100 in the underwater cleaning mode. However, if the user mistakenly places the pool robot 100 in the water in a second entry posture with its top 102 facing up and its bottom 103 facing down in the surface cleaning mode, the pool robot 100 floats on the surface, causing the water pump motor 41 to be exposed above the water. Therefore, the water pump motor 41 cannot generate sufficient driving force, making it difficult to correct the current posture of the pool robot 100.

[0147] Understandably, in other embodiments, the bottom 103 of the pool robot 100 may also be equipped with a water pump motor 41, so that the pool robot 100 can also flip in the water to correct the current posture in the second water entry posture.

[0148] In some embodiments, as shown in FIG1, after step S3, the cleaning equipment control method further includes:

[0149] S12: If the current posture of the pool robot 100 is inconsistent with the preset posture corresponding to the cleaning mode to be executed, control the pool robot 100 to issue a first prompt signal.

[0150] Specifically, if a user mistakenly places the pool robot 100 into the water with its top 102 facing down and bottom 103 facing up in the underwater cleaning mode, the pool robot 100 will issue a first warning signal to remind the user to correct its posture. Similarly, if a user mistakenly places the pool robot 100 into the water with its top 102 facing up and bottom 103 facing down in the surface cleaning mode, the pool robot 100 will also issue a first warning signal to remind the user to correct its posture.

[0151] For example, the first prompt signal may include an audible prompt and / or a visual prompt to make it easier for the user to notice. Further optionally, when the first prompt signal is a light, it may emit different colors of light, and / or flashing light, and / or emit light at different locations to make it easier for the user to notice. For example, the first prompt signal may be a flashing red light, or a red light that flashes alternately between two adjacent light sources, or a red light that continuously emits from multiple light sources, or a red and blue light that flashes alternately from multiple light sources, etc., as long as it is noticeable to the user.

[0152] In some embodiments, as shown in FIG1, after step S2, the cleaning equipment control method further includes:

[0153] S13: Control the pool robot 100 to send a second cue signal to indicate the cleaning mode.

[0154] Specifically, after detecting that the trash can installation position 101 contains a surface trash can 51, the pool robot 100 determines its cleaning mode to be the surface cleaning mode. At this time, the pool robot 100 issues a second prompt signal, which contains information about the preset posture corresponding to the surface cleaning mode. For example, the second prompt signal prompts the user via voice to place the pool robot 100 into the water with its top 102 down and bottom 103 up in a first water entry posture to improve posture accuracy. Similarly, after detecting that the trash can installation position 101 contains an underwater trash can 52, the pool robot 100 determines its cleaning mode to be the underwater cleaning mode. At this time, the pool robot 100 issues a second prompt signal, which contains information about the preset posture corresponding to the underwater cleaning mode. For example, the second prompt signal prompts the user via voice to place the pool robot 100 into the water with its bottom 103 down and top 102 up in a second water entry posture to improve posture accuracy.

[0155] As shown in Figure 12, one embodiment of this application provides a cleaning device 200, which includes a processor 201 and a memory 202. The memory 202 stores a computer program 203. When the processor 201 calls the computer program 203, it executes the cleaning device control method of any of the above embodiments. For example, the cleaning device 200 can also be a pool robot 100.

[0156] One embodiment of this application provides a storage medium (not shown) for computer-readable storage, the storage medium storing a computer program that is invoked by a processor to execute the cleaning equipment control method in any of the above embodiments.

[0157] For example, the storage medium can be an internal storage unit of the cleaning device described in the foregoing embodiments, such as a hard drive or memory. The storage medium can also be an external storage device of the cleaning device, such as a plug-in hard drive, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., provided on the cleaning device.

[0158] Furthermore, those skilled in the art should recognize that the above embodiments are merely illustrative of this application and are not intended to limit this application. Any appropriate changes and variations made to the above embodiments within the essential spirit and scope of this application fall within the scope of this application's disclosure.

Claims

1. A method for controlling cleaning equipment, characterized in that, include: Receive the trigger signal that represents the cleaning mode; The cleaning mode to be executed by the cleaning equipment is determined based on the trigger signal; Detect the current state of the cleaning equipment and determine whether the current state is consistent with the preset state corresponding to the cleaning mode to be executed; If so, the cleaning equipment is controlled to operate according to the cleaning mode to be executed.

2. The cleaning equipment control method according to claim 1, characterized in that, The receiving trigger signal representing the cleaning mode includes: Check whether the trash can of the cleaning equipment is installed; If so, the trigger signal generated when the trash can is installed in the preset position is received.

3. The cleaning equipment control method according to claim 2, characterized in that, The step of determining the cleaning mode to be executed by the cleaning equipment based on the trigger signal includes: The signal source for detecting the trigger signal; The cleaning mode corresponding to the trigger signal is determined based on the signal source.

4. The cleaning equipment control method according to claim 1, characterized in that, The receiving trigger signal representing the cleaning mode includes: Receive user operation commands; According to the operation instructions, a trigger signal for characterizing the cleaning mode is generated and received.

5. The cleaning equipment control method according to claim 1, characterized in that, The cleaning equipment control method further includes: Check whether the cleaning equipment has been submerged in water; If so, control the cleaning equipment to perform the next step; If not, the cleaning equipment is controlled to remain in a silent state.

6. The cleaning equipment control method according to claim 1, characterized in that, The current status of the inspection and cleaning equipment includes: Detect the attitude of the cleaning equipment; The current state of the cleaning equipment is determined based on its posture.

7. The cleaning equipment control method according to claim 6, characterized in that, Determining the current state of the cleaning equipment based on its posture includes: The posture of the cleaning device is compared with the preset first water entry posture and second water entry posture; Based on the comparison results, determine the current status of the cleaning equipment; Wherein, the first water entry posture corresponds to the first cleaning mode of the cleaning device, and the second water entry posture corresponds to the second cleaning mode of the cleaning device.

8. The cleaning equipment control method according to claim 1, characterized in that, The cleaning equipment includes a buoyancy device, which has a float cavity, a water inlet, and an air inlet. The cleaning equipment control method further includes: The air vent of the buoyancy device is closed.

9. The cleaning equipment control method according to claim 8, characterized in that, The control of the cleaning equipment to operate according to the cleaning mode to be executed includes: The air vent of the buoyancy device is kept closed to keep the cleaning equipment floating on the water surface. Alternatively, the air inlet and water outlet of the buoyancy device can be opened to allow the cleaning equipment to sink into the water.

10. The cleaning equipment control method according to claim 9, characterized in that, The cleaning equipment control method further includes: Check whether the cleaning equipment is submerged in water; If so, then the air inlet of the buoyancy device is closed.

11. The cleaning equipment control method according to claim 10, characterized in that, The detection of whether the cleaning equipment is submerged in water includes: The water pump motor of the cleaning equipment is controlled to start after a preset time; The current or voltage change of the water pump motor is detected, and the cleaning equipment is determined to be submerged in water based on the current or voltage change of the water pump motor.

12. The cleaning equipment control method according to claim 1, characterized in that, The cleaning equipment control method further includes: If the current posture of the cleaning device is inconsistent with the preset posture corresponding to the cleaning mode to be executed, the cleaning device is controlled to adjust its current posture until it is consistent with the preset posture corresponding to the cleaning mode to be executed.

13. The cleaning equipment control method according to claim 12, characterized in that, The control of the cleaning equipment to adjust its current posture includes: The water pump motor of the cleaning equipment is started.

14. The cleaning equipment control method according to claim 1, characterized in that, The cleaning equipment control method further includes: If the current posture of the cleaning device is inconsistent with the preset posture corresponding to the cleaning mode to be executed, the cleaning device is controlled to issue a first prompt signal.

15. The cleaning equipment control method according to claim 1, characterized in that, After determining the cleaning mode to be executed by the cleaning equipment based on the trigger signal, the cleaning equipment control method further includes: The cleaning device is controlled to emit a second prompt signal that indicates the cleaning mode.

16. A cleaning device, characterized in that, The cleaning device includes a processor and a memory, the memory storing a computer program, and the processor executing the cleaning device control method as described in any one of claims 1 to 15 when it invokes the computer program.

17. A storage medium for computer-readable storage, characterized in that, The storage medium stores a computer program that is invoked by a processor to execute the cleaning equipment control method as described in any one of claims 1 to 15.

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