CN110226899A - A kind of dust catcher control method, device and dust catcher - Google Patents
A kind of dust catcher control method, device and dust catcher Download PDFInfo
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- CN110226899A CN110226899A CN201910512350.9A CN201910512350A CN110226899A CN 110226899 A CN110226899 A CN 110226899A CN 201910512350 A CN201910512350 A CN 201910512350A CN 110226899 A CN110226899 A CN 110226899A
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- Prior art keywords
- dust
- amount
- dust catcher
- purging zone
- catcher
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- Electric Vacuum Cleaner (AREA)
Abstract
The embodiment of the present application discloses a kind of dust catcher control method, device and dust catcher, this method comprises: monitoring the amount of dust in vacuum region when dust catcher is cleaned along preset path, obtaining the first amount of dust；According to the first amount of dust, cleaning time of the adjustment dust catcher to purging zone.The embodiment of the present application can only guarantee to clean effect to the dust in big amount of dust region and small amount of dust region, additionally it is possible to improve the sweeping efficiency of dust catcher, guarantee that dust catcher is timely, be efficiently completed cleaning task.
Description
Technical field
This application involves automatic control technology field more particularly to a kind of dust catcher control methods, device and dust catcher.
Background technique
Dust catcher is set as the electronics for the dust that one kind can suck in certain purging zone according to certain cleaning path
It is standby, it is widely used in the production and living of people.But existing dust catcher still has the cleaning effect to dust not
It is good, cannot in time, be efficiently completed the problem of cleaning task.
Summary of the invention
In order to solve prior art problem, the embodiment of the present application provides a kind of dust catcher control method, device and dust suction
Device is able to solve the ineffective problem of vacuum in the prior art.
The embodiment of the present application first aspect provides a kind of dust catcher control method, comprising:
When dust catcher is cleaned along preset path, the amount of dust in the vacuum region is monitored, obtains
One amount of dust；
According to first amount of dust, the dust catcher is adjusted to the cleaning time of the purging zone.
Optionally, described according to first amount of dust, adjust the dust catcher to the cleaning time of the purging zone,
It specifically includes:
Based on the size relation between the first amount of dust and default adjusting parameter, cleaning of the dust catcher to purging zone is adjusted
Time.
Optionally, the default adjusting parameter, comprising: first threshold；It is described to be based on the first amount of dust and default adjustment ginseng
Size relation between number adjusts dust catcher to the cleaning time of purging zone, specifically includes:
Judge whether first amount of dust is greater than the first threshold；
When first amount of dust is greater than the first threshold, it is described clear with curved path return to control the dust catcher
It sweeps region to carry out repeating cleaning, alternatively, planning the preset path again so that the dust catcher again passes by the sweeping area
Domain.
Optionally, the default adjusting parameter, comprising: second threshold；It is described to be based on the first amount of dust and default adjustment ginseng
Size relation between number adjusts dust catcher to the cleaning time of purging zone, specifically includes:
Judge whether first amount of dust is greater than the second threshold；
When first amount of dust is greater than the second threshold, the forward speed of the dust catcher is reduced.
Optionally, the default adjusting parameter, comprising: third threshold value；It is described to be based on the first amount of dust and default adjustment ginseng
Size relation between number adjusts dust catcher to the cleaning time of purging zone, specifically includes:
Judge whether first amount of dust is less than or equal to the third threshold value；
When first amount of dust is less than or equal to the third threshold value, increase the forward speed of the dust catcher.
Optionally, when first amount of dust is less than or equal to the third threshold value, the method also includes:
Reduce dust suction amount of the dust catcher within the unit time.
Optionally, the dust suction amount for reducing the dust catcher within the unit time, specifically includes:
Reduce the revolving speed of the vacuum component；
And/or reduce the suction of the dust catcher；
Wherein, the cleaning part, comprising: round brush and/or side brush.
Optionally, the method also includes:
Amount of dust of the dust catcher in purging zone is monitored, the second amount of dust is obtained；
Judge whether second amount of dust is greater than the 4th threshold value；
When second amount of dust is greater than four threshold value, controls the dust catcher and the purging zone is carried out
It repeats to clean.
Optionally, the control dust catcher carries out the purging zone to repeat cleaning, specifically includes:
Control the driving wheel reversion of the dust catcher；
It carries out repeating cleaning alternatively, controlling the dust catcher and returning to the purging zone with curved path；
Alternatively, planning the preset path again so that the dust catcher again passes by the purging zone.
The embodiment of the present application second aspect provides a kind of dust catcher control device, comprising: the first monitoring modular and cleaning
Control module；
First monitoring modular, for monitoring the vacuum when dust catcher is cleaned along preset path
Amount of dust in region obtains the first amount of dust；
The purge control module, for adjusting the dust catcher to the purging zone according to first amount of dust
The cleaning time.
The embodiment of the present application third aspect provides a kind of dust catcher, comprising: the first dust sensor and controller；
First dust sensor for monitoring the amount of dust in the vacuum region, and monitoring is obtained
The first amount of dust be transmitted to the controller；
The controller, for adjusting cleaning of the dust catcher to the purging zone according to first amount of dust
Time.
Optionally, the inlet of the round brush is arranged in first dust sensor；
Alternatively, the inlet of the vacuum cleaner dust box is arranged in first dust sensor；
Alternatively, first dust sensor is arranged in inside the dust channel of the dust catcher.
Optionally, dust catcher further include: the second dust sensor；
Second dust sensor for monitoring amount of dust of the dust catcher in purging zone, and will monitor
To the second amount of dust be transmitted to the controller；
The controller, is also used to judge whether second amount of dust is greater than the 4th threshold value；When second amount of dust
When greater than four threshold value, controls the dust catcher and the purging zone is carried out to repeat cleaning.
The embodiment of the present application fourth aspect provides a kind of computer readable storage medium, is stored thereon with computer journey
Sequence is realized when the computer program is executed by processor as any in dust catcher control method provided by the above embodiment
It is a kind of.
The 5th aspect of the embodiment of the present application provides a kind of control equipment, comprising: processor and memory；
The memory is transferred to the processor for storing program code, and by said program code；
The processor, for executing such as dust catcher provided by the above embodiment according to the instruction in said program code
Any one in control method.
Compared with prior art, the application has at least the following advantages:
In the embodiment of the present application, when dust catcher is cleaned along preset path, dust catcher is monitored at current time
Amount of dust in purging zone obtains the first amount of dust.Then, according to the first amount of dust, dust catcher is adjusted to the purging zone
The cleaning time, can not only guarantee to clean effect to the dust in big amount of dust region and small amount of dust region, additionally it is possible to improve
The sweeping efficiency of dust catcher guarantees that dust catcher is timely, is efficiently completed cleaning task.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in application, for those of ordinary skill in the art, without creative efforts,
It can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is a kind of flow diagram of dust catcher control method provided by the embodiments of the present application；
Fig. 2 is a kind of flow diagram for dust catcher control method that the application specific embodiment provides；
Fig. 3 is a kind of schematic diagram of curved path of the application specific embodiment；
Fig. 4 is the flow diagram for another dust catcher control method that the application specific embodiment provides；
Fig. 5 is the flow diagram for another dust catcher control method that the application specific embodiment provides；
Fig. 6 is the flow diagram for another dust catcher control method that the application specific embodiment provides；
Fig. 7 is the flow diagram of another dust catcher control method provided by the embodiments of the present application；
Fig. 8 is a kind of structural schematic diagram of dust catcher control device provided by the embodiments of the present application；
Fig. 9 is a kind of structural schematic diagram of dust catcher provided by the embodiments of the present application；
Figure 10 is the structural schematic diagram of another dust catcher provided by the embodiments of the present application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only this
Apply for a part of the embodiment, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art exist
Every other embodiment obtained under the premise of creative work is not made, shall fall in the protection scope of this application.
It should be appreciated that in this application, " at least one (item) " refers to one or more, and " multiple " refer to two or two
More than a."and/or" indicates may exist three kinds of relationships, for example, " A and/or B " for describing the incidence relation of affiliated partner
It can indicate: only exist A, only exist B and exist simultaneously tri- kinds of situations of A and B, wherein A, B can be odd number or plural number.Word
Symbol "/" typicallys represent the relationship that forward-backward correlation object is a kind of "or"." at least one of following (a) " or its similar expression, refers to
Any combination in these, any combination including individual event (a) or complex item (a).At least one of for example, in a, b or c
(a) can indicate: a, b, c, " a and b ", " a and c ", " b and c ", or " a and b and c ", and wherein a, b, c can be individually, can also
To be multiple.
In order to make it easy to understand, introducing the concrete application scene of the embodiment of the present application first below.
Dust catcher control method provided by the embodiments of the present application and device, can be applied to any one can realize automatic control
The dust catcher of system, such as sweeping robot.The dust catcher can be under the control of driving wheel, along the cleaning path planned in advance
(i.e. preset path) carries out automatic cleaning.In addition to driving wheel, which further includes dynamic component, cleaning part, exhaust fan
And dust-collection element.Power part drives cleaning part with certain rotational speed and suction needed for providing dust suction.Cleaning part with
Dust-collection element is direct or connects through dust channel.Cleaning part during rotation, can will be on the cleaning face that be in contact with it
Dust cleaning raise, and dust collected into dust-collection element under the action of the suction that exhaust fan provides, realizes dust
It cleans.
However, existing dust catcher in cleaning process, when the amount of dust in purging zone is excessive, cannot carry out in time
It is effective to clean；And when amount of dust is less in purging zone, there is the higher problem of energy consumption again in dust catcher.
For this purpose, the embodiment of the present application provides a kind of dust catcher control method, device and a kind of dust catcher, on dust catcher edge
When preset path cleans, the amount of dust in vacuum region is monitored in real time, according to amount of dust adjustment dust catcher to cleaning
The cleaning time in region can not only improve the cleaning effect for crossing multizone to amount of dust, timely complete to big amount of dust
It cleans, improves sweeping efficiency, additionally it is possible to save the time on the basis of guaranteeing the cleaning effect to the less region of amount of dust, reduce
Energy consumption, so that timely, efficient, the energy-efficient completion cleaning task of dust catcher.
Based on above-mentioned thought, in order to make the above objects, features, and advantages of the present application more apparent, below with reference to
Attached drawing is described in detail the specific embodiment of the application.
Referring to Fig. 1, which is a kind of flow diagram of dust catcher control method provided by the embodiments of the present application.
A kind of dust catcher control method provided by the embodiments of the present application, comprising:
S101: when dust catcher is cleaned along preset path, the amount of dust in vacuum region is monitored, obtains the
One amount of dust.
In the embodiment of the present application, preset path refers to the cleaning path of dust catcher, specifically can be and artificially indicates
Path or the path planned in advance.The planning mode of preset path can use the realization of any one paths planning method, here
No longer repeat one by one.The region that purging zone, that is, current time vacuum component is contacted in preset path, sweeping area
Amount of dust in domain, which represents dust catcher at this time, needs the amount of dust cleaned, influences the cleaning effect of dust catcher.So in the application
In embodiment, need to be monitored the amount of dust in purging zone, when obtaining the first amount of dust to indicate to vacuum
Between adjustment, guarantee the cleaning effect of dust catcher.
It should be noted that can use touch sensor or contactless biography to the detection of amount of dust in purging zone
Sensor is realized.It is monitored for example, can use electrostatic and dust is adsorbed on sensor, in another example, it can use light sensing
Device realizes that the dust for sucking dust catcher can block the detection light of optical sensor, to realize to purging zone amount of dust
Monitoring, obtain the first amount of dust.It, can also be using the method for image recognition to purging zone in some possible designs
Monitoring image in identification obtain the first amount of dust.The embodiment of the present application to monitoring amount of dust specific method without limit,
Here it will not enumerate.In practical applications, which can be set at the inlet of round brush, side brush, dirt box enters
Any one or more positions at mouthful and in dust channel.
S102: according to the first amount of dust, cleaning time of the adjustment dust catcher to purging zone.
It is understood that according to the first amount of dust adjustment dust catcher to the cleaning time of purging zone, so that dust catcher
The amount of dust for cleaning time and purging zone be adapted, when can not only increase the cleaning of dust catcher when amount of dust is more
Between, guarantee the cleaning effect to amount of dust compared with multizone, additionally it is possible to reduce the cleaning of dust catcher accordingly when amount of dust is smaller
Time improves the effect and efficiency of dust suction.
It in practical applications, can be by changing the cleaning of the travel speed, adjustment dust catcher of dust catcher to purging zone
The modes such as number, cleaning time of the adjustment dust catcher to purging zone.It is described in detail below in conjunction with specific example, this
In first do not repeat.
It should also be noted that, inventor has found in the course of the research, if the variation of the first amount of dust of direct basis adjusts
Dust catcher is easy there is a problem of that the adjustment of cleaning time is excessively frequent, leads to making for dust catcher to the cleaning time of purging zone
With ineffective, the service life of reduction dust catcher components.Therefore, in some possible implementations of the embodiment of the present application
In, step S102 can specifically include:
Based on the size relation between the first amount of dust and default adjusting parameter, cleaning of the dust catcher to purging zone is adjusted
Time.
With the size relation between the first amount of dust and default adjusting parameter be according to dust catcher to the clear of purging zone
Flyback time is adjusted, on the one hand, the frequency that can reduce adjustment guarantees the service life of dust catcher；It on the other hand, can be with
By the setting to default adjusting parameter, the accuracy rate and effect of adjustment are improved, improves the cleaning effect of dust catcher.
In practical applications, based on the size relation between the first amount of dust and default adjusting parameter, dust catcher pair is adjusted
The cleaning time of purging zone includes at least the possible implementation of following four, explains one by one below.
In the first possible implementation, it can realize by repeatedly clean to purging zone and clean the time
Increase.Specifically, default adjusting parameter may include: first threshold；Then, as shown in Fig. 2, based on the first amount of dust and presetting
Size relation between adjusting parameter adjusts dust catcher to the cleaning time of purging zone, may include:
S1021: judge whether the first amount of dust is greater than first threshold.When the first amount of dust is greater than first threshold, execute
Step S1022 or step S1023.
In the embodiment of the present application, first threshold is the threshold value for judging whether the amount of dust of purging zone is excessive, Ke Yigen
It is set according to actual needs, when the first amount of dust is greater than first threshold, then illustrates that the amount of dust of purging zone is more, need to increase
The cleaning time of dust catcher guarantees the cleaning effect and efficiency of dust catcher.In practical applications, purging zone is carried out repeatedly clear
It is swept to few there are two kinds of possible implementations, explains one by one below.
S1022: control dust catcher returns to purging zone with curved path and carries out repeating cleaning.
It is understood that can come back to purging zone after dust catcher is advanced with curved path and be cleaned, Fig. 3 is lifted
It is illustrated a kind of curved path of dust catcher.In one example, can use path planning algorithm to the arc area into
Professional etiquette is drawn, and is controlled curved path of the dust catcher after planning and advanced to carry out repeating cleaning to purging zone.In another example
It, can also be by controlling the driving wheel for driving it to act on dust catcher, so that dust catcher is returned with curved path in son
Purging zone carries out repeating cleaning.As an example, when dust catcher includes the first driving being separately positioned at left and right sides of it
When wheel and the second driving wheel, it can control the first driving wheel and advanced with First Speed, control the second driving wheel to be greater than the first speed
The second speed of degree is advanced, and can also be controlled the first driving wheel and be retreated with First Speed, controls the second driving wheel to be greater than first
The second speed of speed retreats, so that dust catcher does curvilinear motion, realizes that returning to purging zone with curved path repeat clearly
It sweeps.In one example, First Speed can be zero, i.e. the first driving wheel is failure to actuate, the second driving wheel forward or reverse.
In some instances, can also include: after step S1022
Continue to judge whether the first amount of dust restores judgment threshold less than first；If so, control dust catcher continues along pre-
If path is cleaned.
In the embodiment of the present application, whether the first recovery judgment threshold can be dry to judge to clean after cleaning with curved path
First recovery judgment threshold can be set smaller than or be equal to first threshold by net threshold value.When purging zone amount of dust (i.e.
First amount of dust) when being less than or equal to first and restoring judgment threshold, illustrates that the dust of purging zone is less or does not have, be completed pair
The cleaning of the purging zone, ensure that the cleaning effect of dust catcher, and dust catcher continuation is cleaned along preset path, can and
When, be efficiently completed cleaning task, avoid the waste of energy.
S1023: plan preset path so that dust catcher again passes by purging zone again.
In the embodiment of the present application, preset path can be planned again using any one path planning algorithm.
For example, if detecting, dust is more (i.e. the first amount of dust is greater than first threshold) in purging zone, can be normal in dust catcher
In cleaning process, the preset path of real time modifying vacuum, so that dust catcher again passes by the purging zone and repeated
It cleans.In another example dust catcher can also record in real time the more region of each dust in cleaning process, then normally cleaning
After the completion, the area information according to record re-starts the planning in path, so that dust that dust catcher again passes by record is more
Region carries out repeating cleaning.
In the second possible implementation, dust catcher can be increased by way of reducing dust catcher speed cleaning
The cleaning time in region.Specifically, default adjusting parameter may include: second threshold；Then, referring to fig. 4, it is based on the first amount of dust
Size relation between default adjusting parameter adjusts dust catcher to the cleaning time of purging zone, can specifically include:
S1024: judge whether the first amount of dust is greater than second threshold.When the first amount of dust is greater than second threshold, execute
Step S1025.
What needs to be explained here is that second threshold is similar with first threshold, and judge purging zone amount of dust whether
Excessive threshold value can be set according to actual needs.When it is implemented, second threshold can it is equal with first threshold and also with
First threshold etc., here without limiting.Similarly, when the first amount of dust is greater than second threshold, then illustrate purging zone
Amount of dust is more, needs to increase the cleaning time of dust catcher, guarantees the cleaning effect and efficiency of dust catcher.
S1025: the forward speed of dust catcher is reduced.
It is understood that dust catcher can be accordingly increased in purging zone by the forward speed for reducing dust catcher
The interior residence time has accordingly increased dust catcher to the cleaning time of purging zone.It in practical applications, can be according to specific
Situation sets the forward speed of dust catcher, can the reduction amount to dust catcher forward speed set, can also be right
Forward speed after reduction is set.In a specific example, the forward speed of dust catcher can be reduced to zero, so that
Dust catcher is stopped in purging zone, to carry out emphasis cleaning.
In some instances, can also include: after step S1025
Continue to judge whether the first amount of dust restores judgment threshold less than second；If so, increasing the advance speed of dust catcher
Degree.
In the embodiment of the present application, the second recovery judgment threshold can be to judge to reduce the cleaning of the forward speed of dust catcher
Second recovery judgment threshold can be set smaller than or be equal to second threshold by the threshold value whether cleaned up afterwards.Work as sweeping area
The amount of dust (i.e. the first amount of dust) in domain be less than or equal to second restore judgment threshold when, illustrate the dust of purging zone it is less or
No, the cleaning to the purging zone is completed, ensure that the cleaning effect of dust catcher, can in time, be efficiently completed cleaning
Task avoids the waste of energy.
In the third possible implementation, different plans can be set according to the difference of amount of dust in purging zone
Slightly to increase dust catcher to the cleaning time of purging zone, the cleaning effect of dust catcher is further increased.Specifically, default adjustment
Parameter may include: first threshold and second threshold；First threshold is greater than second threshold；Then, as shown in figure 5, based on the first ash
Size relation between dust quantity and default adjusting parameter adjusts dust catcher to the cleaning time of purging zone, can specifically include:
S501: judge whether the first amount of dust is greater than first threshold.When the first amount of dust is greater than first threshold, step is executed
Rapid S502；When the first amount of dust is less than or equal to first threshold, step S503 is executed.
S502: control dust catcher returns to purging zone with curved path and carries out repeating cleaning, alternatively, planning default road again
Diameter is so that dust catcher again passes by purging zone.
It, specifically can be with it is understood that the explanation to step S501-S502 is similar with above-mentioned steps S1021-S1023
Referring to related description above, which is not described herein again.
S503: judge whether the first amount of dust is greater than second threshold.When the first amount of dust is greater than second threshold, step is executed
Rapid S504.
S504: the travel speed of dust catcher is reduced.
It, specifically can be with it is understood that the explanation to step S503-S504 is similar with above-mentioned steps S1024-S1025
Referring to related description above, which is not described herein again.
What needs to be explained here is that first threshold and second threshold are to judge whether the amount of dust of purging zone is excessive
Threshold value.When the first amount of dust is greater than first threshold, the amount of dust in purging zone is excessive, can be by the more of purging zone
It is secondary to repeat to clean to guarantee the cleaning effect to the region；And when the first amount of dust is greater than second threshold, in purging zone
Amount of dust is only more, and the travel speed by reducing dust catcher is the cleaning effect that can guarantee to purging zone, and be can be improved
Efficiency, the energy saving of cleaning.In this way, corresponding cleaning strategy is set accordingly because of the different situations according to amount of dust,
Efficient, energy-efficient cleaning can be realized on the basis of guaranteeing cleaning effect, improve the performance of dust catcher.
In some instances, dust is less in current purging zone or does not have sometimes it is also possible to restore the clear of dust catcher
State is swept, in time, cleaning task is efficiently completed, avoids the waste of energy.
In the fourth possible implementation, default adjusting parameter may include: third threshold value；Then, as shown in fig. 6,
Based on the size relation between the first amount of dust and default adjusting parameter, dust catcher is adjusted to the cleaning time of purging zone, tool
Body may include:
S601: judge whether the first amount of dust is less than or equal to third threshold value；When the first amount of dust is less than or equal to third
When threshold value, step S602 is executed.
How above-mentioned three kinds of possible implementations guarantee the cleaning effect of dust catcher when more to amount of dust in purging zone
Fruit is described in detail, and when the amount of dust of purging zone is less, in the fourth possible implementation, it can also lead to
Cross the efficiency for reducing the cleaning time to purging zone to reduce the energy consumption of dust catcher, improve dust suction.
In the embodiment of the present application, third threshold value is the threshold value for judging whether the amount of dust of purging zone is very few.When first
When amount of dust is less than third threshold value, illustrate that the amount of dust of purging zone is smaller, dust catcher can be protected without the excessive cleaning time
The cleaning effect to purging zone is demonstrate,proved, can reduce the cleaning time to purging zone, to reduce energy consumption.It is understood that
Third threshold value can be set smaller than in practical applications or is equal to first threshold.
S602: increase the forward speed of dust catcher.
It is understood that the forward speed due to dust catcher increases, also just reduce dust catcher accordingly in sweeping area
Residence time in domain reduces dust catcher to the cleaning time of purging zone, dust catcher is more quickly finished
It cleans, improves the efficiency of cleaning, saved energy consumption.In practical applications, can incrementss to dust catcher forward speed into
Row setting, can also set the dust catcher forward speed after increase, here without limiting.
In some instances, due in purging zone amount of dust it is less, can also increase dust catcher forward speed it is same
When, reduce dust suction amount of the dust catcher within the unit time, dust suction can also be further reduced on the basis of guaranteeing cleaning effect
The energy consumption of device, specifically, step S603 can also be performed when the first amount of dust is less than or equal to third threshold value.
S603: reduce dust suction amount of the dust catcher within the unit time.
It is understood that also just reducing suction accordingly since dust suction amount of the dust catcher within the unit time reduces
The energy consumption of dirt device.As an example, step S603 can specifically include:
Reduce the revolving speed of vacuum component；And/or reduce the suction of dust catcher.
In the embodiment of the present application, cleaning part specifically can be the side brush on the round brush and/or dust catcher of dust catcher, this
In without limit.It is understood that reducing the revolving speed of cleaning part, the suction of reduction dust catcher can reduce dust catcher
Cleaning dynamics (the dust scavenging amount i.e. in the unit time) and energy consumption.
In the embodiment of the present application, when dust catcher is cleaned along preset path, dust catcher is monitored at current time
Amount of dust in purging zone obtains the first amount of dust.Then, according to the first amount of dust, dust catcher is adjusted to the purging zone
The cleaning time, can not only guarantee to clean effect to the dust in big amount of dust region and small amount of dust region, additionally it is possible to improve
The sweeping efficiency of dust catcher guarantees that dust catcher is timely, is efficiently completed cleaning task.
Above content is described in detail in cleaning process, how to be inhaled according to the adjustment of the amount of dust adaptability of purging zone
The cleaning time of dirt device, to realize instant, efficient, energy-efficient cleaning effect.However, in some possible situations, dust catcher
Still the dust in purging zone can not be completed to remove.For this purpose, being in some possible implementations of the embodiment of the present application
The cleaning effect for further increasing dust catcher can also carry out the purging zone to repeat cleaning.The following detailed description of.
Referring to Fig. 7, which is the flow diagram of another dust catcher control method provided by the embodiments of the present application.
In some possible implementations of the embodiment of the present application, this method can also include:
S701: the monitoring dust catcher amount of dust in purging zone obtains the second amount of dust.
In the embodiment of the present application, purging zone, that is, current time vacuum completes the region of (or having passed by),
The amount of dust in purging zone represents the actual cleaning effect of dust catcher.So in the embodiment of the present application, by
The monitoring of amount of dust obtains the second amount of dust in purging zone, so as to determine the cleaning effect of dust catcher, to avoid dust suction
The device dust not yet in effect removed in purging zone.
In practical applications, it can use and be arranged at dust catcher rear (before when i.e. dust catcher is normally cleaned along preset path
Into the opposite direction in direction) sensor the amount of dust of purging zone is monitored.The sensor and monitoring purging zone
Sensor is similar, is specifically also possible to touch sensor or noncontacting proximity sensor, as infrared sensor, imaging sensor and
Sonar sensor etc., which is not described herein again.
S702: judge whether the second amount of dust is greater than the 4th threshold value；When the second amount of dust is greater than four threshold values, step is executed
Rapid S703.
In the embodiment of the present application, the 4th threshold value is the judgement threshold value that whether purging zone cleans up, can basis
Actual needs setting, such as the 4th threshold value should be less than first threshold.When the second amount of dust is greater than four threshold values, illustrate dust catcher
The dust (i.e. purging zone does not clean up) not yet in effect cleared up in purging zone, needs to repeat purging zone
It cleans, to guarantee the cleaning effect of dust catcher.
S703: control dust catcher carries out purging zone to repeat cleaning.
It is understood that carrying out repeating cleaning to purging zone by control dust catcher, this can be further reduced
Dust in purging zone improves the effect of cleaning.
In practical applications, at least there is following three kinds of possible implementations in step S703:
In the first possible implementation, step S703 be can specifically include: control the driving wheel reversion of dust catcher.
In normal clean, driving wheel is rotated forward, so that dust catcher is cleaned along preset path advance.Then, in driving wheel
When reversion, it can control dust catcher and retreated along preset path, come back to purging zone and cleaned, realize to sweeping area
The repetition in domain cleans.In practical applications, the speed reversal of driving wheel can be set according to actual needs, here without limit
It is fixed.
In second of possible implementation, step S703 be can specifically include:
Control dust catcher returns to purging zone with curved path and carries out repeating cleaning.
Dust catcher is similar with above-mentioned steps S1022 with the explanation that curved path repeat cleaning, referring in particular to phase
Hold inside the Pass, repeats no more.
In the third possible implementation, step S703 be can specifically include:
Again planning preset path is so that dust catcher again passes by purging zone.
Again planning preset path repeat cleaning explanation it is similar with above-mentioned steps S1023, referring in particular to mutually inside the Pass
Appearance repeats no more.
The dust catcher control method provided based on the above embodiment, the embodiment of the present application also provides a kind of controls of dust catcher
Device.
Referring to Fig. 8, which is a kind of structural schematic diagram of dust catcher control device provided by the embodiments of the present application.
Dust catcher control device provided by the embodiments of the present application, comprising: the first monitoring modular 801 and purge control module
802；
First monitoring modular 801, for monitoring in vacuum region when dust catcher is cleaned along preset path
Amount of dust, obtain the first amount of dust；
Purge control module 802, for according to the first amount of dust, cleaning time of the adjustment dust catcher to purging zone.
Optionally, purge control module 802 specifically can be used for based between the first amount of dust and default adjusting parameter
Size relation, cleaning time of the adjustment dust catcher to purging zone.
In some possible implementations of the embodiment of the present application, adjusting parameter is preset, may include: first threshold；Then,
Purge control module 802, can specifically include: the first judging submodule；It can also include: the first control submodule or the second control
System module；
First judging submodule, for judging whether the first amount of dust is greater than first threshold；
First control submodule, for controlling when the first judging submodule judges that the first amount of dust is greater than first threshold
Dust catcher returns to purging zone with curved path and carries out repeating cleaning；
Second control submodule is used for when the first judging submodule judges that the first amount of dust is greater than first threshold, again
Plan preset path so that dust catcher again passes by purging zone.
In some possible implementations of the embodiment of the present application, adjusting parameter is preset, may include: second threshold；Then,
Purge control module 802, can specifically include: second judgment submodule and third control submodule；
Second judgment submodule, for judging whether the first amount of dust is greater than second threshold；
Third control submodule, for reducing when second judgment submodule judges that the first amount of dust is greater than second threshold
The forward speed of dust catcher.
In some possible implementations of the embodiment of the present application, adjusting parameter is preset, may include: third threshold value；Then,
Purge control module 802, can specifically include: third judging submodule and the 4th control submodule；
Third judging submodule, for judging whether the first amount of dust is less than or equal to third threshold value；
4th control submodule, for judging that the first amount of dust is less than or equal to third threshold value when third judging submodule
When, increase the forward speed of dust catcher.
Optionally, purge control module 802 can also include: the 5th control submodule；
5th control submodule, for judging that the first amount of dust is less than or equal to third threshold value when third judging submodule
When, reduce dust suction amount of the dust catcher within the unit time.
In some possible implementations of the embodiment of the present application, the 5th control submodule is specifically used for:
Reduce the revolving speed of vacuum component；And/or reduce the suction of dust catcher；
Wherein, cleaning part, comprising: round brush and/or side brush.
In some possible implementations of the embodiment of the present application, which can also include: the second monitoring modular and sentence
Disconnected module；
Second monitoring modular obtains the second amount of dust for monitoring amount of dust of the dust catcher in purging zone；
Judgment module, for judging whether the second amount of dust is greater than the 4th threshold value；
Purge control module 802 is also used to control dust suction when judgment module judges that the second amount of dust is greater than four threshold values
Device carries out purging zone to repeat cleaning.
Optionally, purge control module 802 specifically can be used for:
Control the driving wheel reversion of dust catcher；
It carries out repeating cleaning alternatively, control dust catcher returns to purging zone with curved path；
Alternatively, planning preset path is so that dust catcher again passes by purging zone again.
In the embodiment of the present application, when dust catcher is cleaned along preset path, dust catcher is monitored at current time
Amount of dust in purging zone obtains the first amount of dust.Then, according to the first amount of dust, dust catcher is adjusted to the purging zone
The cleaning time, can not only guarantee to clean effect to the dust in big amount of dust region and small amount of dust region, additionally it is possible to improve
The sweeping efficiency of dust catcher guarantees that dust catcher is timely, is efficiently completed cleaning task.
The dust catcher control method and device provided based on the above embodiment, the embodiment of the present application also provides a kind of dust suctions
Device.
Referring to Fig. 9, which is a kind of structural schematic diagram of dust catcher provided by the embodiments of the present application.
A kind of dust catcher provided by the embodiments of the present application, comprising: the first dust sensor 901 and controller 902；
First dust sensor 901, for monitoring the amount of dust in vacuum region, and first that monitoring is obtained
Amount of dust is transmitted to controller 902.
In the embodiment of the present application, the first dust sensor 901 can be touch sensor or noncontacting proximity sensor.
It dust is adsorbed on sensor is monitored for example, the first dust sensor 901 can use electrostatic, in another example, the first ash
Dust sensor 901 can use optical sensor realization, and the dust for sucking dust catcher can block the detection light of optical sensor,
To realize the monitoring to purging zone amount of dust, the first amount of dust is obtained.In some possible designs, the first dust sensing
Device 901 can also be identified from the monitoring image to purging zone using the method for image recognition obtains the first amount of dust.
The specific method of 901 pairs of the first dust sensor of the embodiment of the present application monitoring amount of dust is without limiting, here not
It enumerates again.In some possible designs, the first dust sensor 901 can be set at the inlet of round brush, side brush,
Any one or more positions in the inlet of vacuum cleaner dust box and the dust channel of dust catcher.
Controller 902, for according to the first amount of dust, cleaning time of the adjustment dust catcher to purging zone.
In some possible implementations of the embodiment of the present application, as shown in Figure 10, dust catcher can also include: second
Dust sensor 903；
Second dust sensor 903, for monitoring amount of dust of the dust catcher in purging zone, and that monitoring is obtained
Two amount of dust are transmitted to controller 902.
In practical applications, the second dust sensor 903 can be set that (i.e. dust catcher is along preset path at dust catcher rear
The opposite direction of direction of advance when normal cleaning), the amount of dust of purging zone is monitored.With the first dust sensor 901
Similar, the second dust sensor 903 is specifically also possible to touch sensor or noncontacting proximity sensor, as infrared sensor,
Imaging sensor and sonar sensor etc., which is not described herein again.
Controller 902, is also used to judge whether the second amount of dust is greater than the 4th threshold value；When the second amount of dust is greater than the 4th threshold
When value, control dust catcher carries out purging zone to repeat cleaning.
It is understood that in the present embodiment, controller 902 is specifically used for executing dust catcher provided by the above embodiment
Any one in control method, can be configured in dust catcher control device provided by above-described embodiment in controller 902
Any one, illustrate referring to the related content in above-described embodiment, which is not described herein again.
In the embodiment of the present application, when dust catcher is cleaned along preset path, dust catcher is monitored at current time
Amount of dust in purging zone obtains the first amount of dust.Then, according to the first amount of dust, dust catcher is adjusted to the purging zone
The cleaning time, can not only guarantee to clean effect to the dust in big amount of dust region and small amount of dust region, additionally it is possible to improve
The sweeping efficiency of dust catcher guarantees that dust catcher is timely, is efficiently completed cleaning task.
The dust catcher control method and device provided based on the above embodiment, the embodiment of the present application also provides a kind of calculating
Machine readable storage medium storing program for executing, is stored thereon with computer program, when the computer program is executed by processor, realizes such as above-mentioned reality
Any one in the dust catcher control method of example offer is provided.
The dust catcher control method and device provided based on the above embodiment, the embodiment of the present application also provides a kind of controls
Equipment, comprising: processor and memory.Wherein, memory is transferred to for storing program code, and by the program code
Processor；Processor, for executing such as dust catcher control method provided by the above embodiment according to the instruction in the program code
In any one.
It should be noted that each embodiment in this specification is described in a progressive manner, each embodiment emphasis is said
Bright is the difference from other embodiments, and the same or similar parts in each embodiment may refer to each other.For reality
For applying system or device disclosed in example, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, it is related
Place is referring to method part illustration.
It should also be noted that, herein, relational terms such as first and second and the like are used merely to one
Entity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation
There are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to contain
Lid non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
The above is only the preferred embodiment of the application, not makes any form of restriction to the application.Though
Right the application has been disclosed in a preferred embodiment above, however is not limited to the application.It is any to be familiar with those skilled in the art
Member, in the case where not departing from technical scheme ambit, all using the methods and technical content of the disclosure above to the application
Technical solution makes many possible changes and modifications or equivalent example modified to equivalent change.Therefore, it is all without departing from
The content of technical scheme, any simple modification made to the above embodiment of the technical spirit of foundation the application are equal
Variation and modification, still fall within technical scheme protection in the range of.
Claims (15)
1. a kind of dust catcher control method, which is characterized in that the described method includes:
When dust catcher is cleaned along preset path, the amount of dust in the vacuum region is monitored, obtains the first ash
Dust quantity；
According to first amount of dust, the dust catcher is adjusted to the cleaning time of the purging zone.
2. adjusting the dust suction the method according to claim 1, wherein described according to first amount of dust
Device specifically includes the cleaning time of the purging zone:
Based on the size relation between the first amount of dust and default adjusting parameter, when adjusting cleaning of the dust catcher to purging zone
Between.
3. according to the method described in claim 2, it is characterized in that, the default adjusting parameter, comprising: first threshold；It is described
Based on the size relation between the first amount of dust and default adjusting parameter, dust catcher is adjusted to the cleaning time of purging zone, tool
Body includes:
Judge whether first amount of dust is greater than the first threshold；
When first amount of dust is greater than the first threshold, the dust catcher is controlled with curved path and returns to the sweeping area
Domain carries out repeating cleaning, alternatively, planning the preset path again so that the dust catcher again passes by the purging zone.
4. according to the method in claim 2 or 3, which is characterized in that the default adjusting parameter, comprising: second threshold；Institute
It states based on the size relation between the first amount of dust and default adjusting parameter, adjusts dust catcher to the cleaning time of purging zone,
It specifically includes:
Judge whether first amount of dust is greater than the second threshold；
When first amount of dust is greater than the second threshold, the forward speed of the dust catcher is reduced.
5. according to the method described in claim 2, it is characterized in that, the default adjusting parameter, comprising: third threshold value；It is described
Based on the size relation between the first amount of dust and default adjusting parameter, dust catcher is adjusted to the cleaning time of purging zone, tool
Body includes:
Judge whether first amount of dust is less than or equal to the third threshold value；
When first amount of dust is less than or equal to the third threshold value, increase the forward speed of the dust catcher.
6. according to the method described in claim 5, it is characterized in that, when first amount of dust is less than or equal to the third threshold
When value, the method also includes:
Reduce dust suction amount of the dust catcher within the unit time.
7. according to the method described in claim 6, it is characterized in that, the dust suction for reducing the dust catcher within the unit time
Amount, specifically includes:
Reduce the revolving speed of the vacuum component；
And/or reduce the suction of the dust catcher；
Wherein, the cleaning part, comprising: round brush and/or side brush.
8. the method according to claim 1, wherein the method also includes:
Amount of dust of the dust catcher in purging zone is monitored, the second amount of dust is obtained；
Judge whether second amount of dust is greater than the 4th threshold value；
When second amount of dust is greater than four threshold value, controls the dust catcher and the purging zone is repeated
It cleans.
9. according to the method described in claim 8, it is characterized in that, the control dust catcher to the purging zone into
Row repeats to clean, and specifically includes:
Control the driving wheel reversion of the dust catcher；
It carries out repeating cleaning alternatively, controlling the dust catcher and returning to the purging zone with curved path；
Alternatively, planning the preset path again so that the dust catcher again passes by the purging zone.
10. a kind of dust catcher control device, which is characterized in that described device includes: the first monitoring modular and purge control module；
First monitoring modular, for monitoring the vacuum region when dust catcher is cleaned along preset path
Interior amount of dust obtains the first amount of dust；
The purge control module, for adjusting the dust catcher to the clear of the purging zone according to first amount of dust
Flyback time.
11. a kind of dust catcher characterized by comprising the first dust sensor and controller；
First dust sensor, for monitoring the amount of dust in the vacuum region, and that monitoring is obtained
One amount of dust is transmitted to the controller；
The controller, for adjusting the dust catcher to the cleaning time of the purging zone according to first amount of dust.
12. according to the method for claim 11, which is characterized in that
The inlet of the round brush is arranged in first dust sensor；
Alternatively, the inlet of the vacuum cleaner dust box is arranged in first dust sensor；
Alternatively, first dust sensor is arranged in inside the dust channel of the dust catcher.
13. dust catcher according to claim 11 or 12, which is characterized in that further include: the second dust sensor；
Second dust sensor, for monitoring amount of dust of the dust catcher in purging zone, and monitoring is obtained
Second amount of dust is transmitted to the controller；
The controller, is also used to judge whether second amount of dust is greater than the 4th threshold value；When second amount of dust is greater than
When four threshold value, controls the dust catcher and the purging zone is carried out to repeat cleaning.
14. a kind of computer readable storage medium, which is characterized in that computer program is stored thereon with, when the computer program
When being executed by processor, dust catcher control method as described in any one of claim 1 to 9 is realized.
15. a kind of control equipment characterized by comprising processor and memory；
The memory is transferred to the processor for storing program code, and by said program code；
The processor, for executing suction as described in any one of claim 1 to 9 according to the instruction in said program code
Dirt device control method.
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