CN114794993A - Control method and device of cleaning machine, control equipment and storage medium - Google Patents
Control method and device of cleaning machine, control equipment and storage medium Download PDFInfo
- Publication number
- CN114794993A CN114794993A CN202210741207.9A CN202210741207A CN114794993A CN 114794993 A CN114794993 A CN 114794993A CN 202210741207 A CN202210741207 A CN 202210741207A CN 114794993 A CN114794993 A CN 114794993A
- Authority
- CN
- China
- Prior art keywords
- cleaning
- cleaning machine
- instruction
- map
- machine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
- A47L11/283—Floor-scrubbing machines, motor-driven having rotary tools the tools being disc brushes
-
- 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
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
-
- 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
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4038—Disk shaped surface treating tools
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/20—Drawing from basic elements, e.g. lines or circles
- G06T11/206—Drawing of charts or graphs
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
-
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application relates to the technical field of cleaning robots, and discloses a control method, a control device, a cleaning machine, control equipment and a storage medium of the cleaning machine, wherein the control method comprises the following steps: acquiring area information of a working area where a cleaning machine is located, wherein the area information comprises an area range; establishing a cleaning map according to the area information and the current position of the cleaning machine in the operation area; and controlling the cleaning machine to clean the working area according to the cleaning map. The application aims to improve the efficiency of the cleaning machine for cleaning the working area.
Description
Technical Field
The present disclosure relates to the field of cleaning robots, and more particularly, to a control method of a cleaning machine, a control device of a cleaning machine, a control apparatus, and a computer-readable storage medium.
Background
Along with the development of science and technology and the improvement of the living standard of people, people have higher and higher requirements on improving the living environment and improving the quality of life, and intelligent and efficient household cleaning machines (or called cleaning robots) are favored by users more and more, so that people can be liberated from fussy housework activities.
Currently, in the process of cleaning the working area by the cleaning machine, if the cleaning machine only searches the working area and cleans the working area, the cleaned place may be cleaned repeatedly, which not only reduces the cleaning efficiency, but also wastes certain cleaning resources.
Disclosure of Invention
The application provides a control method of a cleaning machine, a control device of the cleaning machine, a control device and a computer readable storage medium, aiming at improving the cleaning efficiency of the cleaning machine on a working area.
To achieve the above object, there is provided a control method of a cleaning machine, including the steps of:
acquiring area information of a working area where a cleaning machine is located, wherein the area information comprises an area range;
establishing a cleaning map according to the area information and the current position of the cleaning machine in the operation area;
and controlling the cleaning machine to clean the working area according to the cleaning map.
Optionally, the step of controlling the cleaning machine to clean the working area according to the cleaning map includes:
determining a cleaning route according to the cleaning map;
and controlling the cleaning machine to clean the working area along the cleaning route.
Optionally, the step of controlling the cleaning machine to clean the working area according to the cleaning map includes:
sending the cleaning map to a control device for the control device to generate a cleaning instruction based on the cleaning map;
and when a cleaning instruction sent by the control equipment is received, the cleaning machine is controlled to clean the working area according to the cleaning instruction.
Optionally, the step of controlling the cleaning machine to clean the working area according to the cleaning instruction includes:
when the cleaning instruction is detected to be a first cleaning instruction, identifying a cleaning route planned on the cleaning map by the first cleaning instruction;
and controlling the cleaning machine to clean the working area along the cleaning route.
Optionally, the step of controlling the cleaning machine to clean the working area according to the cleaning instruction includes:
when the cleaning instruction is detected to be a second cleaning instruction, determining a target stain position located on the cleaning map by the second cleaning instruction;
and controlling the cleaning machine to go to the target stain position to clean in a preset mode until the stain on the target stain position is removed.
Optionally, the step of controlling the cleaning machine to clean the working area according to the cleaning instruction includes:
when the cleaning instruction is detected to be a third cleaning instruction, planning a cleaning route according to all the stain positions in the operation area;
and controlling the cleaning machine to travel along the cleaning route, and cleaning all stain positions on the cleaning route.
Optionally, the step of acquiring the area information of the working area where the cleaning machine is located includes:
and acquiring the area information of the working area in the process of carrying out the whole area cleaning on the working area by the cleaning machine.
Optionally, the cleaning machine includes a main body and at least one walking turntable, the at least one walking turntable is rotatably mounted on one side of the main body facing the surface to be cleaned, and the at least one walking turntable rotates and/or tilts to drive the main body to move relative to the surface to be cleaned.
Optionally, the cleaning machine further comprises a cleaning turntable, and the cleaning turntable is rotatably arranged on one side of the main body facing the surface to be cleaned.
To achieve the above object, there is also provided a control method of a cleaning machine, including:
the method comprises the steps that control equipment receives a cleaning map sent by a cleaning machine and displays the cleaning map, wherein the cleaning map is established based on area information of a working area where the cleaning machine is located and the current position of the cleaning machine in the working area; the region information includes a region range;
when a cleaning instruction generated based on the cleaning map is detected, the cleaning instruction is sent to the cleaning machine, so that the cleaning machine can clean the working area according to the cleaning instruction.
Optionally, the cleaning instructions include any one of a first cleaning instruction, a second cleaning instruction, and a third cleaning instruction;
when the control equipment detects that a first cleaning instruction is generated, the control equipment sends the first cleaning instruction to the cleaning machine;
when the cleaning machine receives the first cleaning instruction, identifying a cleaning route planned on the cleaning map by the first cleaning instruction, and cleaning the working area along the cleaning route; or
When the control equipment detects that a second cleaning instruction is generated, the control equipment sends the second cleaning instruction to the cleaning machine;
when the cleaning machine receives the second cleaning instruction, cleaning a target stain position in a preset mode until stains on the target stain position are removed; or
When detecting that a third cleaning instruction is generated, the control equipment sends the third cleaning instruction to the cleaning machine;
and when the cleaning machine receives the third cleaning instruction, planning a cleaning route according to all the stain positions in the working area, and moving along the cleaning route so as to clean all the stain positions on the cleaning route.
To achieve the above object, there is also provided a control device of a cleaning machine, including:
the cleaning device comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for acquiring the area information of a working area where the cleaning machine is located, and the area information comprises an area range;
the map building module is used for building a cleaning map according to the area information and the current position of the cleaning machine in the operation area;
and the control module is used for controlling the cleaning machine to clean the working area according to the cleaning map.
To achieve the above object, there is also provided a cleaning machine including: the control program of the cleaning machine realizes the steps of the control method of the cleaning machine when being executed by the processor.
To achieve the above object, there is also provided a control apparatus including: a memory, a processor and a control program of the cleaning machine stored on the memory and operable on the processor, the control program of the cleaning machine when executed by the processor implementing the steps of the control method of the cleaning machine as described above.
To achieve the above object, there is also provided a computer readable storage medium having stored thereon a control program of a cleaning machine, which when executed by a processor, performs the steps of the control method of the cleaning machine as described above.
According to the control method of the cleaning machine, the control device of the cleaning machine, the control equipment and the computer readable storage medium, the cleaning map is established by the cleaning machine based on the stain distribution condition of the working area, the working area is cleaned based on the cleaning map, and the efficiency of removing stains in the working area by the cleaning machine is improved.
Drawings
FIG. 1 is a schematic diagram illustrating steps of a method for controlling a cleaning machine according to an embodiment;
FIG. 2 is a schematic diagram of a control method of the cleaning machine in an embodiment;
FIG. 3 is a schematic diagram of the steps of a method for controlling the cleaning machine according to another embodiment;
FIG. 4 is a diagram illustrating a user-triggered cleaning location of a control method of the cleaning machine in one embodiment;
FIG. 5 is a schematic illustration of a method for controlling a cleaning machine according to yet another embodiment;
FIG. 6 is a diagram illustrating an exemplary structure of a cleaning machine according to an embodiment;
FIG. 7 is a view showing an exemplary structure of a cleaning machine according to another embodiment;
FIG. 8 is a block diagram showing an internal structure of a control device of the cleaning machine according to the embodiment;
FIG. 9 is a schematic block diagram of an internal structure of a cleaning machine according to an embodiment;
fig. 10 is a schematic block diagram of an internal structure of a control device of an embodiment.
The objects, features, and advantages will be further explained with reference to the accompanying drawings.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present application and should not be construed as limiting the present application, and all other embodiments that can be derived by one of ordinary skill in the art based on the embodiments herein without making creative efforts shall fall within the protection scope of the present application.
Referring to fig. 1, in an embodiment, a control method of the cleaning machine includes:
step S10, acquiring area information of a working area where the cleaning machine is located, wherein the area information comprises an area range;
step S20, establishing a cleaning map according to the area information and the current position of the cleaning machine in the working area;
and step S30, controlling the cleaning machine to clean the working area according to the cleaning map.
In this embodiment, the terminal of the embodiment may be a cleaning machine, or may be a control device, a control apparatus, or the like that controls the cleaning machine.
The cleaning machine can be a window cleaning machine, a floor cleaning machine, a wall cleaning machine, a roof cleaning machine for cleaning the top of a house and the like, and the working area of the cleaning machine can be an area with smooth or unsmooth surface, such as a window, a floor, a ceramic tile wall, a roof and the like. That is, the cleaning machine may be a cleaning machine that needs to be attached to the surface to be cleaned, or a cleaning machine that does not need to be attached to the surface to be cleaned. Hereinafter, a description will be given taking a cleaning machine as a window cleaner as an example.
As stated in step S10, the working area where the cleaning machine is located may refer to an area having a certain area range where the cleaning machine is responsible for cleaning, such as a floor in an indoor space when the cleaning machine is used for wiping the floor. If the cleaning machine is used for window cleaning, the working area can be window glass.
Alternatively, when the cleaning machine is in the working area, the terminal (control device or cleaning machine) may acquire the area information in the working area by sending a corresponding control instruction to the cleaning machine to control the cleaning machine to patrol the whole working area. Wherein, the region information at least comprises a region range and can also comprise stain information. The soil information may include a soil location. Of course, the cleaning machine may itself scan the entire work area to acquire area information within the work area.
Optionally, the cleaning machine is provided with a distance measuring sensor, and the size of the working area can be measured by the distance measuring sensor, so as to obtain the area range.
Optionally, the cleaning machine is provided with a stain recognition sensor, and stain information in the work area can be acquired through the stain recognition sensor. The dirt information at least comprises a dirt position, and if the dirt is detected in the process of controlling the cleaning machine to patrol the working area, the position of the dirt in the working area is recorded; or, a camera (such as a depth camera) carried by the cleaning machine is used for shooting a picture in the working area of the cleaning machine, the dirt in the picture is identified by using a picture analysis technology, and the real position of the dirt in the working area is analyzed according to the imaging area of the dirt in the picture.
Optionally, the stain information may further include a stain component, and when the terminal (control device or cleaning machine) controls the cleaning machine or the cleaning machine itself identifies the stain through the stain identification sensor, the corresponding stain component (the stain component may be animal excrement, mud ash, juice, or the like) may also be obtained through synchronous identification of the stain identification sensor.
Optionally, the stain information may further include stain three-dimensional information, and the cleaning machine may further obtain three-dimensional graphic information of the corresponding stain by applying an image recognition technology while recognizing the stain through the stain recognition sensor.
As described in step S20, the terminal (control device or cleaning machine) may construct a rectangular planar coordinate system or a three-dimensional coordinate system based on the plane of the working area, and construct a map corresponding to the actual working area in the coordinate system in an equal-scale manner according to the detected area range, so as to obtain a basic cleaning map.
Optionally, the cleaning machine further maps and displays the position of each dirt in the actual working area (i.e., the dirt position) to a corresponding position within the range of the working area in the cleaning map according to the dirt information detected in the working area. Thus, the corresponding location of each spot can be displayed in the cleaning map.
Optionally, the cleaning machine also synchronously displays the current position (namely the current position) of the machine in the working area to the cleaning map. Wherein the cleaning machine can update its current position in the working area in the cleaning map at regular time or in real time.
Alternatively, referring to fig. 2, when the cleaning map shows a map of the work area, a position of each stain on the map, and a current position of the cleaning machine on the map, the cleaning map construction is completed.
After the cleaning map is constructed, as described in step S30, the terminal (control device or cleaning machine) may determine a cleaning route according to the cleaning map, and control the cleaning machine to clean the working area along the cleaning route (or the cleaning machine itself actively cleans the working area along the cleaning route).
Optionally, when the terminal (the control device or the cleaning machine) plans the cleaning route according to all the stain positions on the cleaning map, the cleaning route may be planned according to a distance relationship between each stain position and the current position of the cleaning machine (for example, on the principle that cleaning is preferentially performed when the cleaning machine is closer, the stain position closest to the cleaning machine may be used as a first cleaning point on the cleaning route, and the next cleaning point is a stain position closest to the cleaning machine and located outside the first cleaning point, and so on), and the planned cleaning route may cover all the stain positions.
Optionally, after the cleaning route is generated according to all the stain positions, the cleaning machine or the cleaning machine itself is controlled to travel along the cleaning route from the current position, and a corresponding cleaning task is executed in the traveling process, so as to clean all the stain positions on the cleaning route. In the process that the cleaning machine travels along the cleaning route, after reaching each spot position on the cleaning route, performing fixed-point cleaning (for example, repeatedly wiping the spot position for several times) on the corresponding spot position until the spot on the corresponding spot position is cleaned.
Alternatively, the terminal (control device or cleaning machine) may detect whether the number of all the stains on the cleaning map is greater than a preset threshold value. If the number of the stains is smaller than a preset threshold value, determining a cleaning route according to the cleaning map, and cleaning the operation area along the cleaning route by a cleaning machine; and if the number of the stains is larger than or equal to a preset threshold value, the cleaning machine directly cleans the whole operation area. The preset threshold is used for measuring the amount of the stains, and can be specifically set according to the actual situation, which is not limited in this embodiment.
Therefore, the cleaning map is established by the cleaning machine based on the stain distribution condition of the working area, and the working area is cleaned based on the cleaning map, so that the efficiency of cleaning the working area by the cleaning machine is improved, and particularly the efficiency of removing stains in the working area by the cleaning machine is improved.
In an embodiment, referring to fig. 3, on the basis of the above embodiment, the step of controlling the cleaning machine to clean the working area according to the cleaning map includes:
step S40, sending the cleaning map to a control device, so that the control device can generate a cleaning instruction based on the cleaning map;
and step S41, when receiving a cleaning instruction sent by the control device, controlling the cleaning machine to clean the working area according to the cleaning instruction.
In this embodiment, after the clean map is constructed, the cleaning machine may also send the clean map to a control device (such as a remote controller, a mobile intelligent terminal, etc.) associated with the cleaning machine, so that the control device may display the clean map. The control equipment can be preset with APP (application) matched with the cleaning map, and after the control equipment receives the cleaning map sent by the cleaning machine, the corresponding APP can be opened, so that the cleaning map is displayed on the display interface. Therefore, a user can know the stain distribution condition in the working area of the cleaning machine by checking the cleaning map on the control equipment, and can remotely control the cleaning machine to execute corresponding cleaning tasks aiming at the specific stain distribution condition through the control equipment.
Optionally, after the cleaning machine sends the cleaning map to the control device, the stain position in the cleaning map and the latest position (i.e., the current position) of the cleaning machine may also be updated in real time or at regular time, and the update information is fed back to the control device, so that the control device may update the cleaning map synchronously.
Optionally, in order to facilitate a user to know detailed stain information, so as to control the cleaning machine to perform a finer cleaning operation, the generated cleaning image may further display stain components corresponding to each stain position.
Optionally, if the generated cleaning map is a three-dimensional map, the three-dimensional graph of each stain can be displayed on the cleaning map according to the stain three-dimensional information corresponding to each stain position, so that a user can more intuitively know about the stain three-dimensional graph
Therefore, the cleaning map is established by the cleaning machine based on the stain distribution condition of the operation area, and the cleaning map is sent to the related control equipment, so that a user can remotely know the stain distribution condition of the operation area of the cleaning machine through the control equipment without physically approaching the operation area of the cleaning machine, the user can conveniently perform some refined cleaning operations aiming at specific dirty scenes based on the cleaning map in a remote control mode, and the use convenience of the cleaning machine is improved.
Optionally, after the user knows the stain distribution condition in the working area of the cleaning machine through the cleaning map displayed by the control device, the user can send a corresponding cleaning instruction to the cleaning machine through the control device to control the cleaning machine to clean the specific stain distribution condition.
Optionally, in order to facilitate user control, a conventional control key may be displayed in the map application, and a user may directly send some conventional control instructions to the cleaning machine through the control device by using the conventional control key, so as to control the cleaning machine to perform a corresponding cleaning task; the user can also trigger the cleaning map displayed by the control device to generate a corresponding cleaning instruction, then the cleaning instruction is sent to the cleaning machine through the control device, and after the cleaning machine receives the cleaning instruction sent by the control device, the cleaning instruction is executed.
Alternatively, the general control command for the cleaning machine may be on-off control of the cleaning machine, moving direction control (e.g., controlling the cleaning machine to move in up, down, left, and right directions), and operation mode control (e.g., fixed point cleaning mode, automatic cleaning mode, deep cleaning mode, etc.). After observing the relative position between the cleaning machine and each stain through the cleaning map, a remote user can manually control the cleaning machine to move to the stain position and then select a fixed-point cleaning mode, and at the moment, the cleaning machine can perform reciprocating wiping on the corresponding stain position back and forth (such as up-down back and forth or left-right back and forth); or when the user observes that the window is dirty (such as the number of dirty positions is large), the cleaning machine can be controlled by the control equipment to enter an automatic cleaning mode, and then the cleaning machine can move along a default path (such as a Z-shaped path, an N-shaped path or a bow-shaped path) and can clean while moving until the whole working area is cleaned; or the user can control the cleaning machine to enter a deep cleaning mode, so that the cleaning machine can automatically clean the whole working area for multiple times (such as repeatedly cleaning for two times).
Optionally, after the user knows the stain distribution condition in the working area of the cleaning machine through the cleaning map displayed by the control device, the user can also trigger the stain position displayed in the cleaning map to generate a corresponding cleaning instruction, so that when the user sends the corresponding cleaning instruction to the cleaning machine through the control device, the cleaning machine can clean based on the stain position triggered by the user before, and thus, the user can conveniently remotely control the cleaning machine to execute some refined cleaning operations aiming at specific dirty scenes based on the cleaning map, and the use convenience of the cleaning machine is improved.
In addition, in order to facilitate the user to control the cleaning machine to stop or start operating, the user may control the cleaning machine to stop or start operating by touching an icon of the cleaning machine (which also represents the current position of the cleaning machine) displayed on the cleaning map. If the user triggers the cleaning machine icon when the cleaning machine is in operation, the cleaning machine can be controlled to stop; when the cleaning machine is stopped, a user triggers the cleaning machine to take pictures, and then the cleaning machine can be controlled to be powered on and started.
In an embodiment, on the basis of the above embodiment, the step of controlling the cleaning machine to clean the working area according to the cleaning instruction includes:
when the cleaning instruction is detected to be a first cleaning instruction, identifying a cleaning route planned on the cleaning map by the first cleaning instruction;
and controlling the cleaning machine to clean the working area along the cleaning route.
In this embodiment, the cleaning instruction generated based on the cleaning map may include a first cleaning instruction.
Optionally, referring to fig. 4, after knowing a stain distribution condition in a working area of the cleaning machine through a cleaning map displayed by an APP application on the control device, the user may trigger a plurality of stain positions based on the cleaning map (or trigger by using a conventional control key configured in the APP application), and when the control device detects that the plurality of stain positions are triggered based on the cleaning map, plan a corresponding cleaning route on the cleaning map according to a connection line between the plurality of stain positions, and generate the first cleaning instruction.
The mode that the user triggers the plurality of stain positions can be that the plurality of stain positions are triggered by connecting the plurality of point positions; or continuously clicking a plurality of stain positions within a certain time length so as to trigger the plurality of stain positions; alternatively, a map area may be selected (e.g., a circle drawn on the map) to trigger a plurality of stain locations within the map area.
The mode of planning the cleaning route by the control equipment can be that a plurality of spot positions are connected according to the sequence of triggering the plurality of spot positions by the user, and the current position of the cleaning machine is combined, so that the cleaning route for the cleaning machine to travel is generated; alternatively, the control device may plan the cleaning route according to the distance relationship between each spot position and the current position of the cleaning machine (e.g., based on the principle that the closer to the cleaning machine, the better the cleaning is, the spot position closest to the cleaning machine may be used as the first cleaning point on the cleaning route, and the next cleaning point is the spot position closest to the cleaning machine and outside the first cleaning point, and so on).
Optionally, after the control device generates the first cleaning instruction, the control device sends the first cleaning instruction to the cleaning machine to control the cleaning machine to execute a cleaning task corresponding to the first cleaning instruction. When the cleaning machine receives a cleaning instruction sent by the control device, and detects that the cleaning instruction is a first cleaning instruction, a cleaning route planned on the cleaning map by the first cleaning instruction is identified, and after the cleaning route is identified, the working area is cleaned along the cleaning route from the current position.
The cleaning machine can perform cleaning while traveling along the cleaning route, so that all dirty positions on the cleaning route can be covered and cleaned after the cleaning machine finishes the cleaning route. Or, in the process that the cleaning machine travels along the cleaning route, the cleaning machine may perform fixed-point cleaning on each spot position only after reaching the spot position on the cleaning route (for example, repeatedly wiping the spot position for several times).
Therefore, the user can draw the running track of the cleaning machine on the cleaning map conveniently, so that the cleaning machine runs according to the path and cleans a plurality of spots which the user wants to clean, and the user can control the cleaning machine to execute some refined cleaning operations through the control equipment conveniently.
In an embodiment, on the basis of the above embodiment, the step of controlling the cleaning machine to clean the working area according to the cleaning instruction includes:
when the cleaning instruction is detected to be a second cleaning instruction, determining a target stain position located on the cleaning map by the second cleaning instruction;
and controlling the cleaning machine to go to the target stain position to clean in a preset mode until the stain on the target stain position is removed.
In this embodiment, the cleaning instruction generated based on the cleaning map may include a second cleaning instruction.
Optionally, after the user knows the stain distribution condition in the working area of the cleaning machine through a cleaning map displayed by an APP application on the control device, any one of the stain positions (marked as a target stain position) may be triggered based on the cleaning map, and when the control device detects that the user triggers any one of the target stain positions based on the cleaning map, the second cleaning instruction is generated according to the target stain position and is sent to the cleaning machine, so as to control the cleaning machine to execute a cleaning task corresponding to the second cleaning instruction. For example, when the user performs a wiping action with a finger on a cleaning map displayed by the control device for a certain spot position, the control device may determine that the spot position is a target spot position that the user currently wants to clean.
Optionally, when the cleaning machine receives a cleaning instruction sent by the control device, and after detecting that the cleaning instruction is a second cleaning instruction, determining a target stain position located on the cleaning map by the second cleaning instruction. Then, the cleaning machine runs from the current position to the target stain position, and after the target stain position is reached, the target stain position is cleaned in a preset mode until the stains on the target stain position are removed.
When the cleaning machine moves forward to the target stain position, the optimal running path (for example, the connection line with the shortest distance between two points is used as the optimal path) can be determined according to the connection line between the current position and the target stain position, and the cleaning machine moves forward to the target stain position along the optimal path, so that the running efficiency of the cleaning machine is improved.
Optionally, the preset mode may be a fixed-point cleaning mode (e.g., repeated wiping for the target spot location), or may be some cleaning mode customized by a user (e.g., deep cleaning for the target spot location to clean the target spot location for multiple times).
Therefore, a user can conveniently and remotely control the cleaning machine to clean the working area of the cleaning machine at a fixed point.
In an embodiment, on the basis of the above embodiment, the step of controlling the cleaning machine to clean the working area according to the cleaning instruction includes:
when the cleaning instruction is detected to be a third cleaning instruction, planning a cleaning route according to all stain positions in the operation area;
and controlling the cleaning machine to travel along the cleaning route, and cleaning all stain positions on the cleaning route.
In this embodiment, the cleaning instruction generated based on the cleaning map may include a third cleaning instruction.
Optionally, in an APP application for displaying a cleaning map on the control device, a global cleaning option is provided (as represented by a full selection key or an auto cleaning key). After a user knows the stain distribution condition in the working area of the cleaning machine through a cleaning map displayed by an APP on the control device, when all stain positions are considered to be necessary to be cleaned, the cleaning machine can be controlled to clean all the stain positions through the control device by triggering the global cleaning option.
Optionally, when the control device detects that the user triggers a global cleaning option based on the cleaning map, the control device generates the third cleaning instruction and sends the third cleaning instruction to the cleaning machine to control the cleaning machine to execute a cleaning task corresponding to the third cleaning instruction. And when the cleaning machine receives a cleaning instruction sent by the control equipment and detects that the cleaning instruction is a third cleaning instruction, planning a cleaning route according to all the stain positions in the working area. The cleaning route planning method of the cleaning machine may be to plan the cleaning route according to a distance relationship between each spot position and the current position of the cleaning machine (e.g., based on a principle that cleaning is preferentially performed when the cleaning machine is closer to the cleaning machine, so that the spot position closest to the cleaning machine may be used as a first cleaning point on the cleaning route, and the next cleaning point is a spot position closest to the cleaning machine and located outside the first cleaning point, and so on), and the planned cleaning route may cover all the spot positions.
Optionally, after the cleaning machine generates the cleaning route according to all the dirty positions, the cleaning machine travels along the cleaning route from the current position, and performs a corresponding cleaning task in the traveling process, so as to clean all the dirty positions on the cleaning route. In the process that the cleaning machine travels along the cleaning route, after reaching each spot position on the cleaning route, performing fixed-point cleaning (for example, repeatedly wiping the spot position for several times) on the corresponding spot position until the spot on the corresponding spot position is cleaned.
Therefore, a user can conveniently and remotely control the cleaning machine to clean all stain positions through the control device, meanwhile, the cleaning machine can improve the efficiency of cleaning all the stain positions by planning a cleaning route, namely, the cleaning machine only needs to clean the cleaning route, and all the stain points can be cleaned without cleaning the whole operation area.
In an embodiment, referring to fig. 5, based on the above embodiment, the step of acquiring the area information of the working area where the cleaning machine is located includes:
step S11, acquiring area information of the work area while the cleaning machine is cleaning the entire work area.
In this embodiment, the terminal may control the cleaning machine to advance along a default path (such as a "Z" shape, an "N" shape, or a "bow" shape) in the operation area where the cleaning machine is located, and perform cleaning while advancing, so as to perform global cleaning on the entire operation area, and remove easily-cleaned stains in the operation area. Meanwhile, the cleaning machine can also acquire the region information of the working region in the process of cleaning the whole region, wherein the region information comprises the region range and the stain information of stubborn stains.
It should be understood that stubborn stains are stains that are not cleaned after a single cleaning pass.
Optionally, after the cleaning machine cleans the working area once, a cleaning map is established according to the obtained area information and the current position of the cleaning machine in the working area, so as to display the position of stubborn stains and related information in the cleaning map.
Therefore, when the cleaning machine sends the generated cleaning map to the control equipment for displaying, a user can conveniently know stubborn stains in the working area of the cleaning machine through the control equipment, and correspondingly refined cleaning operation is performed on the cleaning machine aiming at the stains according to the actual stain condition, so that the cleaning machine can remove the stubborn stains in the working area. For stains easy to clean, the process of acquiring the area information while cleaning by the cleaning machine is eliminated, so that the operation of remotely controlling the cleaning machine to eliminate the stains easy to clean through the control equipment by a user is saved.
In an embodiment, referring to fig. 6 or fig. 7, the cleaning machine includes a main body 100 and a moving mechanism 200, the moving mechanism 200 may include at least one walking turntable 210, the at least one walking turntable 210 is rotatably mounted on a side of the main body facing a surface to be cleaned, and the at least one walking turntable 210 rotates and/or tilts to drive the main body to move relative to the surface to be cleaned.
Optionally, the cleaning machine further comprises a cleaning turntable 300, and the cleaning turntable 300 is rotatably disposed on a side of the main body 100 facing the surface to be cleaned.
Optionally, the cleaning machine further includes a negative pressure device (not shown), the main body 100 and the cleaning turntable 300 form the negative pressure chamber with the surface to be cleaned, the negative pressure device is connected to the main body 100, and the negative pressure device operates to generate negative pressure in the negative pressure chamber.
Alternatively, the negative pressure means is located inside the main body 100 or outside the main body 100. When the negative pressure device is located outside the main body 100, the negative pressure device may be connected to the main body 100 through a pipe. When the negative pressure device works, a negative pressure is generated in a closed space formed between the main body 100, the cleaning turntable 300 and a surface to be cleaned. Under the negative pressure state, the cleaning machine is tightly adsorbed on the surface to be cleaned, so that the friction force required by the movement of the moving mechanism 200 can be generated, and further, the cleaning machine can stably move in the vertical or inclined cleaning scene of the surface to be cleaned through the moving mechanism 200.
Optionally, referring to fig. 6, the moving mechanism 200 includes at least two walking disks 210, the at least two walking disks 210 are rotatably mounted on a side of the main body 100 facing the surface to be cleaned, and the at least two walking disks 210 rotate to drive the main body 100 to move relative to the surface to be cleaned. The walking turntable 210 contacts with the surface to be cleaned, and drives the main body 100 to move by the friction force with the surface to be contacted when rotating.
Optionally, a material with a large friction coefficient, such as silica gel or rubber, is sleeved or adhered on the contact portion between each walking turntable 210 and the surface to be cleaned. In the moving mechanism 200, each of the travel dials 210 is driven by an independent power source.
Optionally, the moving mechanism 200 includes two walking turntables 210, which are a first walking turntable and a second walking turntable, respectively, and are driven by two power sources correspondingly; the first walking turntable rotates along a first direction, the second walking turntable rotates along a second direction, and the first direction is opposite to the second direction. Specifically, the first direction includes a clockwise direction or a counterclockwise direction, and the second direction includes a clockwise direction or a counterclockwise direction. Moreover, when the main body 100 needs to turn, the two walking dials 210 may rotate at different speeds, such as one of them rotates faster and the other rotates slower, so as to drive the main body 100 to rotate. Of course, when the cleaning machine needs to move between the surfaces to be cleaned, which form different included angles with the reference surface, the inclination angle of the walking turntable 210 relative to different surfaces to be cleaned can be changed, so that the walking turntable 210 can drive the main body 100 to be switched to another surface to be cleaned from the current surface to be cleaned.
In some embodiments, the cleaning machine can move and clean the surface to be cleaned in the working area while moving in the working area. Referring to fig. 6, the cleaning turntable 300 includes a rotating portion and a cleaning portion (not shown), the cleaning portion is disposed on a side surface of the rotating portion facing the surface to be cleaned, and the driving member is in transmission connection with the rotating portion.
When the cleaning machine works, the driving piece drives the rotating part to rotate, and the cleaning part rotates along with the rotating part to clean the surface to be cleaned. Specifically, a transmission structure can be arranged between the driving part and the rotating part, a power input end of the transmission structure is connected with the driving part, a power output end of the transmission structure is connected with the rotating part, and the driving part is in transmission connection with the rotating part through the arranged transmission structure. Optionally, the rotating part is a synchronous belt, and the cleaning part is a cleaning cloth, a disposable cleaning cloth or a cleaning sponge and the like which is adhered or sleeved on the synchronous belt.
As an alternative embodiment of the installation of the cleaning turntable 300, a plurality of supporting wheels are disposed on a surface of the main body 100 facing a surface to be cleaned, the plurality of supporting wheels are arranged in a circumferential direction, and the rotating portion is sleeved on the plurality of supporting wheels to achieve the installation. Further, at least one of the plurality of support wheels is designed as an active support wheel, and the others are designed as passive support wheels. The driving piece drives the driving support wheel to rotate so that the rotating part rotates. Of course, this alternative embodiment is merely exemplary, not limiting, and others may be selected.
In some embodiments, referring to fig. 7, the cleaning machine comprises at least two cleaning carousels 300 and at least two walking carousels 210, said cleaning carousels 300 being equal in number to said walking carousels 210, i.e. one cleaning carousel 300 for each walking carousel 210. On the main body 100, a driving member (not shown) is provided. The driving members are used for driving the walking turntables 210 and the cleaning turntables 300 respectively, under the driving of the driving members, the walking turntables 210 and the cleaning turntables 300 rotate at different speeds, and the rotation direction of each cleaning turntable 300 and the corresponding walking turntables 210 can be the same direction or opposite direction. For one walking turntable 210 and one cleaning turntable 300, the driving member may comprise one power source, and the walking turntable 210 and the cleaning turntable 300 are simultaneously powered by one power source; alternatively, the driving member may include two power sources, and the two power sources respectively provide power for the walking turntable 210 and the cleaning turntable 300. Corresponding transmission structures can be arranged corresponding to different driving layout forms so as to respectively realize the transmission of the walking turntable 210 and the cleaning turntable 300.
Optionally, when the cleaning machine works, the driving member drives the traveling turntable 210 and the cleaning turntable 300 to rotate respectively, at least two traveling turntables 210 rotate to drive the main body 100 to move on the surface to be cleaned, and the cleaning turntable 300 rotates to clean the surface to be cleaned.
In addition, a control method of the cleaning machine is also provided, which comprises the following steps:
the method comprises the steps that control equipment receives a cleaning map sent by a cleaning machine and displays the cleaning map, wherein the cleaning map is established based on area information of a working area where the cleaning machine is located and the current position of the cleaning machine in the working area; the region information includes a region range;
when a cleaning instruction generated based on the cleaning map is detected, the cleaning instruction is sent to the cleaning machine, so that the cleaning machine can clean the working area according to the cleaning instruction.
Optionally, the cleaning instruction comprises any one of a first cleaning instruction, a second cleaning instruction, and a third cleaning instruction;
when the control equipment detects that a first cleaning instruction is generated, the control equipment sends the first cleaning instruction to the cleaning machine;
when the cleaning machine receives the first cleaning instruction, identifying a cleaning route planned on the cleaning map by the first cleaning instruction, and cleaning the working area along the cleaning route; or
When the control equipment detects that a second cleaning instruction is generated, the control equipment sends the second cleaning instruction to the cleaning machine;
when the cleaning machine receives the second cleaning instruction, cleaning a target stain position in a preset mode until stains on the target stain position are removed; or
When detecting that a third cleaning instruction is generated, the control equipment sends the third cleaning instruction to the cleaning machine;
and when the cleaning machine receives the third cleaning instruction, planning a cleaning route according to all the stain positions in the working area, and moving along the cleaning route so as to clean all the stain positions on the cleaning route.
Referring to fig. 8, there is also provided in an embodiment a control device Z10 of the cleaning machine, including:
the cleaning system comprises an acquisition module Z11, a processing module and a control module, wherein the acquisition module Z11 is used for acquiring the area information of a working area where the cleaning machine is located, the area information comprises an area range and stain information, and the stain information at least comprises a stain position;
the map building module Z12 is used for building a cleaning map according to the area information and the current position of the cleaning machine in the working area;
a control module Z13 for controlling the cleaning machine to clean the work area according to the cleaning map.
Referring to fig. 9, the embodiment also provides a cleaning machine, and the internal structure of the cleaning machine can be as shown in fig. 9. The cleaning machine includes a processor, a memory, and a communication interface connected by a system bus. Wherein the processor is configured to provide computational and control capabilities. The storage of the cleaning machine comprises a nonvolatile storage medium and an internal storage. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the cleaning machine is used for storing a control program of the cleaning machine and can also be used for storing all data received during the operation of equipment, including map information, stain information, walking distance, walking time, walking angle and other data. The communication interface of the cleaning machine is used for being in communication connection with an external terminal, and comprises interaction of data and instructions. The input device of the cleaning machine is used for receiving signals input by external equipment. The computer program is executed by a processor to implement a control method of a cleaning machine as described in the above embodiments.
Those skilled in the art will appreciate that the structure shown in fig. 9 is a block diagram of only a part of the structure related to the scheme, and does not constitute a limitation of the control device to which the scheme is applied.
Referring to fig. 10, an embodiment further provides a control device, and the internal structure of the control device may be as shown in fig. 10. The control device includes a processor, a memory, and a communication interface connected by a system bus. Wherein the processor is configured to provide computational and control capabilities. The memory of the control device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the control device is used for storing the control program of the cleaning machine and can also be used for storing all data received during the operation of the device, including map information, stain information, walking distance, walking time, walking angle and other data. The communication interface of the control device is used for being in communication connection with an external terminal, and comprises interaction of data and instructions. The input device of the control equipment is used for receiving signals input by external equipment. The computer program is executed by a processor to implement a control method of a cleaning machine as described in the above embodiments.
It will be understood by those skilled in the art that the structure shown in fig. 10 is a block diagram of only a part of the structure associated with the scheme, and does not constitute a limitation of the control apparatus to which the scheme is applied.
Furthermore, a computer-readable storage medium is also proposed, which comprises a control program of a cleaning machine, which when executed by a processor implements the steps of the control method of the cleaning machine as described in the above embodiments. It is to be understood that the computer-readable storage medium in the present embodiment may be a volatile-readable storage medium or a non-volatile-readable storage medium.
In summary, in the control method of the cleaning machine, the control device of the cleaning machine, the control device and the computer readable storage medium provided in the embodiments, the cleaning map is established by using the cleaning machine based on the stain distribution condition of the working area, and the working area is cleaned based on the cleaning map, so that the efficiency of the cleaning machine in removing stains in the working area is improved, and the cleaning map is sent to the relevant control device, so that a user can remotely know the stain distribution condition of the working area of the cleaning machine through the control device without physically approaching the working area of the cleaning machine, the user can conveniently perform some refined cleaning operations for a specific stain scene based on the remote control of the cleaning machine by using the cleaning map, and the convenience in use of the cleaning machine is improved.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, databases, or other media provided or used in the embodiments may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), double-rate SDRAM (SSRSDRAM), Enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, apparatus, article, or method that includes the element.
The above-mentioned embodiments are merely preferred embodiments, not limited thereby, and all equivalent structures and equivalent flow transformations that may be applied to the present specification and drawings, or applied directly or indirectly to other related arts, are intended to be encompassed by the claims.
Claims (15)
1. A control method of a cleaning machine, characterized by comprising:
acquiring area information of an operation area where a cleaning machine is located, wherein the area information comprises an area range and stain information, and the stain information at least comprises a stain position;
establishing a cleaning map according to the area information and the current position of the cleaning machine in the operation area;
and controlling the cleaning machine to clean the working area according to the cleaning map.
2. The control method of a cleaning machine according to claim 1, wherein the step of controlling the cleaning machine to clean the working area according to the cleaning map includes:
determining a cleaning route according to the cleaning map;
and controlling the cleaning machine to clean the working area along the cleaning route.
3. The control method of a cleaning machine according to claim 1, wherein the step of controlling the cleaning machine to clean the working area according to the cleaning map includes:
sending the cleaning map to a control device for the control device to generate a cleaning instruction based on the cleaning map;
and when a cleaning instruction sent by the control equipment is received, the cleaning machine is controlled to clean the working area according to the cleaning instruction.
4. The control method of a cleaning machine according to claim 3, wherein the step of controlling the cleaning machine to clean the working area in accordance with the cleaning instruction includes:
when the cleaning instruction is detected to be a first cleaning instruction, identifying a cleaning route planned on the cleaning map by the first cleaning instruction;
and controlling the cleaning machine to clean the working area along the cleaning route.
5. The control method of a cleaning machine according to claim 3, wherein the step of controlling the cleaning machine to clean the working area in accordance with the cleaning instruction includes:
when the cleaning instruction is detected to be a second cleaning instruction, determining a target stain position located on the cleaning map by the second cleaning instruction;
and controlling the cleaning machine to go to the target stain position to clean in a preset mode until the stain on the target stain position is removed.
6. The control method of a cleaning machine according to claim 3, wherein the step of controlling the cleaning machine to clean the working area in accordance with the cleaning instruction includes:
when the cleaning instruction is detected to be a third cleaning instruction, planning a cleaning route according to all the stain positions in the operation area;
and controlling the cleaning machine to travel along the cleaning route, and cleaning all stain positions on the cleaning route.
7. The control method of a cleaning machine according to any one of claims 1 to 6, wherein the step of acquiring area information of a working area where the cleaning machine is located includes:
and acquiring the area information of the working area in the process of carrying out the whole area cleaning on the working area by the cleaning machine.
8. The control method of the cleaning machine according to claim 1, wherein the cleaning machine comprises a main body, and at least one walking turntable, the at least one walking turntable is rotatably mounted on one side of the main body facing the surface to be cleaned, and the at least one walking turntable rotates and/or tilts to drive the main body to move relative to the surface to be cleaned.
9. The control method of a cleaning machine according to claim 8, characterized in that the cleaning machine further comprises a cleaning turntable rotatably provided on a side of the main body facing a surface to be cleaned.
10. A control method of a cleaning machine, characterized by comprising:
the method comprises the steps that control equipment receives a cleaning map sent by a cleaning machine and displays the cleaning map, wherein the cleaning map is established based on area information of a working area where the cleaning machine is located and the current position of the cleaning machine in the working area; the region information includes a region range;
when a cleaning instruction generated based on the cleaning map is detected, the cleaning instruction is sent to the cleaning machine, so that the cleaning machine can clean the working area according to the cleaning instruction.
11. The control method of a cleaning machine according to claim 10, wherein the cleaning instruction includes any one of a first cleaning instruction, a second cleaning instruction, and a third cleaning instruction;
when the control equipment detects that a first cleaning instruction is generated, the control equipment sends the first cleaning instruction to the cleaning machine;
when the cleaning machine receives the first cleaning instruction, identifying a cleaning route planned on the cleaning map by the first cleaning instruction, and cleaning the working area along the cleaning route; or
When the control equipment detects that a second cleaning instruction is generated, the control equipment sends the second cleaning instruction to the cleaning machine;
when the cleaning machine receives the second cleaning instruction, cleaning a target stain position in a preset mode until stains on the target stain position are removed; or
When detecting that a third cleaning instruction is generated, the control equipment sends the third cleaning instruction to the cleaning machine;
and when the cleaning machine receives the third cleaning instruction, planning a cleaning route according to all the stain positions in the working area, and moving along the cleaning route so as to clean all the stain positions on the cleaning route.
12. A control device of a cleaning machine, characterized by comprising:
the cleaning system comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for acquiring the area information of a working area where the cleaning machine is located, the area information comprises an area range and stain information, and the stain information at least comprises a stain position;
the map building module is used for building a cleaning map according to the area information and the current position of the cleaning machine in the operation area;
and the control module is used for controlling the cleaning machine to clean the working area according to the cleaning map.
13. A cleaning machine, characterized in that the cleaning machine comprises a memory, a processor and a control program of the cleaning machine stored on the memory and executable on the processor, which control program, when executed by the processor, carries out the steps of the method of controlling a cleaning machine according to any one of claims 1 to 9.
14. A control device, characterized in that the control device comprises a memory, a processor and a control program of a cleaning machine stored on the memory and executable on the processor, the control program of the cleaning machine realizing the steps of the control method of the cleaning machine according to claim 10 or 11 when executed by the processor.
15. A computer-readable storage medium, characterized in that a control program of a cleaning machine is stored thereon, which when executed by a processor implements the steps of a control method of a cleaning machine according to any one of claims 1 to 11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210741207.9A CN114794993A (en) | 2022-06-28 | 2022-06-28 | Control method and device of cleaning machine, control equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210741207.9A CN114794993A (en) | 2022-06-28 | 2022-06-28 | Control method and device of cleaning machine, control equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114794993A true CN114794993A (en) | 2022-07-29 |
Family
ID=82523135
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210741207.9A Pending CN114794993A (en) | 2022-06-28 | 2022-06-28 | Control method and device of cleaning machine, control equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114794993A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115444323A (en) * | 2022-09-05 | 2022-12-09 | 广东浩海环保设备有限公司 | Energy-saving control system and method for carpet extractor |
| CN115846306A (en) * | 2022-12-29 | 2023-03-28 | 河北中瓷电子科技股份有限公司 | Automatic cleaning system, method and device for green ceramic chips and terminal equipment |
| CN117481546A (en) * | 2024-01-03 | 2024-02-02 | 深圳安培时代数字能源科技有限公司 | Window cleaning method and related device |
Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102727135A (en) * | 2011-03-30 | 2012-10-17 | 恩斯迈电子(深圳)有限公司 | Cleaning route guiding method combined with dirt detection mechanism |
| US20180344114A1 (en) * | 2017-06-05 | 2018-12-06 | Bissell Homecare, Inc. | Autonomous floor cleaning system |
| CN109381124A (en) * | 2017-08-11 | 2019-02-26 | 德国福维克控股公司 | The method for running the ground processing equipment to advance automatically |
| CN209059056U (en) * | 2018-07-31 | 2019-07-05 | 深圳市富创意科技实业有限公司 | New multi-purpose intelligent cleaning device |
| CN110251009A (en) * | 2019-07-25 | 2019-09-20 | 深圳市捷扬讯科电子有限公司 | A kind of the cleaning path management method and system of sweeping robot |
| CN111202472A (en) * | 2020-02-18 | 2020-05-29 | 深圳市愚公科技有限公司 | Terminal map construction method of sweeping robot, terminal equipment and sweeping system |
| CN112315383A (en) * | 2020-10-29 | 2021-02-05 | 上海高仙自动化科技发展有限公司 | Inspection cleaning method and device for robot, robot and storage medium |
| CN112773239A (en) * | 2019-11-01 | 2021-05-11 | 科沃斯家用机器人有限公司 | Traveling mechanism, surface cleaning device and traveling method of surface cleaning device |
| CN112890683A (en) * | 2021-01-13 | 2021-06-04 | 美智纵横科技有限责任公司 | Cleaning method, device, equipment and computer readable storage medium |
| CN113796771A (en) * | 2021-09-02 | 2021-12-17 | 科沃斯家用机器人有限公司 | Cleaning equipment, control method and movable equipment |
| CN216090280U (en) * | 2021-07-28 | 2022-03-22 | 罗积川 | Cleaning device |
| CN114431800A (en) * | 2022-01-04 | 2022-05-06 | 北京石头世纪科技股份有限公司 | Control method and device for cleaning robot compartment and electronic equipment |
| CN114431759A (en) * | 2022-01-30 | 2022-05-06 | 山西嘉世达机器人技术有限公司 | Moving method of cleaner |
| CN114451801A (en) * | 2022-01-30 | 2022-05-10 | 山西嘉世达机器人技术有限公司 | Cleaner, suction and wiping integrated machine and cleaning device |
| CN114468828A (en) * | 2022-01-29 | 2022-05-13 | 衡南艾迪智能科技中心 | Cleaning robot and motion control method thereof |
| CN114468843A (en) * | 2022-02-28 | 2022-05-13 | 烟台艾睿光电科技有限公司 | Cleaning device, cleaning system, cleaning control method and device thereof, and medium |
| CN114532886A (en) * | 2022-01-30 | 2022-05-27 | 山西嘉世达机器人技术有限公司 | Cleaning device |
| CN217218910U (en) * | 2022-03-02 | 2022-08-19 | 深圳市普森斯科技有限公司 | Cleaning device |
-
2022
- 2022-06-28 CN CN202210741207.9A patent/CN114794993A/en active Pending
Patent Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102727135A (en) * | 2011-03-30 | 2012-10-17 | 恩斯迈电子(深圳)有限公司 | Cleaning route guiding method combined with dirt detection mechanism |
| US20180344114A1 (en) * | 2017-06-05 | 2018-12-06 | Bissell Homecare, Inc. | Autonomous floor cleaning system |
| CN109381124A (en) * | 2017-08-11 | 2019-02-26 | 德国福维克控股公司 | The method for running the ground processing equipment to advance automatically |
| CN209059056U (en) * | 2018-07-31 | 2019-07-05 | 深圳市富创意科技实业有限公司 | New multi-purpose intelligent cleaning device |
| CN110251009A (en) * | 2019-07-25 | 2019-09-20 | 深圳市捷扬讯科电子有限公司 | A kind of the cleaning path management method and system of sweeping robot |
| CN112773239A (en) * | 2019-11-01 | 2021-05-11 | 科沃斯家用机器人有限公司 | Traveling mechanism, surface cleaning device and traveling method of surface cleaning device |
| CN111202472A (en) * | 2020-02-18 | 2020-05-29 | 深圳市愚公科技有限公司 | Terminal map construction method of sweeping robot, terminal equipment and sweeping system |
| CN112315383A (en) * | 2020-10-29 | 2021-02-05 | 上海高仙自动化科技发展有限公司 | Inspection cleaning method and device for robot, robot and storage medium |
| CN112890683A (en) * | 2021-01-13 | 2021-06-04 | 美智纵横科技有限责任公司 | Cleaning method, device, equipment and computer readable storage medium |
| CN216090280U (en) * | 2021-07-28 | 2022-03-22 | 罗积川 | Cleaning device |
| CN113796771A (en) * | 2021-09-02 | 2021-12-17 | 科沃斯家用机器人有限公司 | Cleaning equipment, control method and movable equipment |
| CN114431800A (en) * | 2022-01-04 | 2022-05-06 | 北京石头世纪科技股份有限公司 | Control method and device for cleaning robot compartment and electronic equipment |
| CN114468828A (en) * | 2022-01-29 | 2022-05-13 | 衡南艾迪智能科技中心 | Cleaning robot and motion control method thereof |
| CN114431759A (en) * | 2022-01-30 | 2022-05-06 | 山西嘉世达机器人技术有限公司 | Moving method of cleaner |
| CN114451801A (en) * | 2022-01-30 | 2022-05-10 | 山西嘉世达机器人技术有限公司 | Cleaner, suction and wiping integrated machine and cleaning device |
| CN114532886A (en) * | 2022-01-30 | 2022-05-27 | 山西嘉世达机器人技术有限公司 | Cleaning device |
| CN114468843A (en) * | 2022-02-28 | 2022-05-13 | 烟台艾睿光电科技有限公司 | Cleaning device, cleaning system, cleaning control method and device thereof, and medium |
| CN217218910U (en) * | 2022-03-02 | 2022-08-19 | 深圳市普森斯科技有限公司 | Cleaning device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115444323A (en) * | 2022-09-05 | 2022-12-09 | 广东浩海环保设备有限公司 | Energy-saving control system and method for carpet extractor |
| CN115846306A (en) * | 2022-12-29 | 2023-03-28 | 河北中瓷电子科技股份有限公司 | Automatic cleaning system, method and device for green ceramic chips and terminal equipment |
| CN117481546A (en) * | 2024-01-03 | 2024-02-02 | 深圳安培时代数字能源科技有限公司 | Window cleaning method and related device |
| CN117481546B (en) * | 2024-01-03 | 2024-03-29 | 深圳安培时代数字能源科技有限公司 | Window cleaning method and related device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114794993A (en) | Control method and device of cleaning machine, control equipment and storage medium | |
| KR102636745B1 (en) | Control methods, devices, equipment and storage media of mopping robots | |
| US9744670B2 (en) | Systems and methods for use of optical odometry sensors in a mobile robot | |
| ES2928877T3 (en) | System with at least two soil treatment devices | |
| JP5819498B1 (en) | Autonomous mobile body and autonomous mobile body system | |
| KR20190087355A (en) | Method for driving cleaning robot and cleaning robot which drives using regional human activity data | |
| KR102649384B1 (en) | Control methods, devices, equipment and storage media of mopping robots | |
| CN111449589B (en) | System for ground processing equipment and method for operating the system | |
| JP6390965B2 (en) | Self-propelled cleaner, control device, and automatic cleaning system | |
| CN109843139B (en) | Electric vacuum cleaner | |
| US20160008982A1 (en) | Method for automatically triggering a self-positioning process | |
| US20190227566A1 (en) | Self-propelled vacuum cleaner | |
| CN111714028A (en) | Method, device and equipment for escaping from restricted zone of cleaning equipment and readable storage medium | |
| JP2020146457A (en) | Floor processing device and system comprised of floor processing device and external terminal | |
| CN113693501A (en) | Cleaning equipment, cleaning path, cleaning map generation method and cleaning map generation system | |
| CN112754363A (en) | Cleaning control method, cleaning control device, cleaning apparatus, and storage medium | |
| CN114557633A (en) | Cleaning parameter configuration method, device, equipment and medium for automatic cleaning equipment | |
| US20190361462A1 (en) | Autonomous traveler and travel control method thereof | |
| CN110604520B (en) | Autonomous walking type cleaning machine and cleaning system | |
| JP2020119561A (en) | System having first floor treatment device and second floor treatment device and operation method for the system | |
| ES2926855T3 (en) | Procedure for operating a system with at least two automatically moving soil treatment devices and system for carrying out such a procedure | |
| CN114794959B (en) | Control method and device of cleaning machine, cleaning machine and storage medium | |
| CN115802924A (en) | Floor cleaning system | |
| CN111624989B (en) | Control method and self-mobile device | |
| WO2022097335A1 (en) | Autonomous travel path planning method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |