WO2021022639A1 - 一种应用于杀菌机器人的杀菌灯控制方法及装置 - Google Patents
一种应用于杀菌机器人的杀菌灯控制方法及装置 Download PDFInfo
- Publication number
- WO2021022639A1 WO2021022639A1 PCT/CN2019/107317 CN2019107317W WO2021022639A1 WO 2021022639 A1 WO2021022639 A1 WO 2021022639A1 CN 2019107317 W CN2019107317 W CN 2019107317W WO 2021022639 A1 WO2021022639 A1 WO 2021022639A1
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- WIPO (PCT)
- Prior art keywords
- sterilization
- sterilization robot
- robot
- mode
- handheld
- Prior art date
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- 230000001954 sterilising effect Effects 0.000 title claims abstract description 601
- 238000004659 sterilization and disinfection Methods 0.000 title claims abstract description 601
- 238000000034 method Methods 0.000 title claims abstract description 71
- 230000001960 triggered effect Effects 0.000 claims abstract description 24
- 238000003491 array Methods 0.000 claims abstract description 7
- 230000002070 germicidal effect Effects 0.000 claims description 154
- 230000002093 peripheral effect Effects 0.000 claims description 18
- 238000004590 computer program Methods 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 10
- 238000004140 cleaning Methods 0.000 abstract description 20
- 239000002699 waste material Substances 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 17
- CBENFWSGALASAD-UHFFFAOYSA-N Ozone Chemical compound [O-][O+]=O CBENFWSGALASAD-UHFFFAOYSA-N 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 229910052760 oxygen Inorganic materials 0.000 description 5
- 239000001301 oxygen Substances 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 241000894006 Bacteria Species 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001939 inductive effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003749 cleanliness Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/02—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using physical phenomena
- A61L2/08—Radiation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/02—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using physical phenomena
- A61L2/08—Radiation
- A61L2/10—Ultraviolet radiation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/24—Apparatus using programmed or automatic operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/26—Accessories or devices or components used for biocidal treatment
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/14—Means for controlling sterilisation processes, data processing, presentation and storage means, e.g. sensors, controllers, programs
Definitions
- the invention relates to the field of electrical appliances, in particular to a method and device for controlling a sterilization lamp of a sterilization robot.
- sterilization robots for household cleaning has become a daily cleaning method for many families.
- the sterilization robot can intelligently clean the ground automatically.
- the germicidal lamp can remove more bacteria that are invisible to the naked eye compared to cleaning with traditional tools.
- the sterilization robot mainly adopts obstacle avoidance modules and mobile modules to automatically dodge when encountering obstacles, and cooperates with the sterilization lamp to continuously move and sterilize on the ground, as long as the time is sufficient to cover the required clean area.
- the defect of the existing technical solution is that no matter how long the sterilization robot runs, there are some cleaning blind spots, such as the wall surface, the bottom surface of the desktop, etc. These places are places that cannot be covered by the sterilization work of the current sterilization robot anyway. Therefore, if only sterilization robots are used for cleaning for a long time, these cleaning blind spots will accumulate and breed more and more bacteria, which becomes a hidden hygiene hazard.
- This application provides a sterilization lamp control method and device applied to a sterilization robot, which can realize that the sterilization robot has two operation modes: a handheld mode and a non-handheld mode.
- the two operation modes can be used to perform the operation on the non-ground area and the ground area respectively. Clean, expand the type of area that the sterilization robot can clean, and improve the cleaning ability of the sterilization robot.
- the first aspect of the present application provides a sterilization lamp control method applied to a sterilization robot.
- the sterilization robot is configured with two operating modes, a handheld mode and a non-handheld mode, and a handheld mechanism is provided at the bottom of the sterilization robot.
- sterilization lamp arrays are respectively provided on the top and bottom of the sterilization robot;
- the above-mentioned germicidal lamp control method includes:
- the sterilization lamp array on the top of the sterilization robot is triggered to light up, wherein the hand-held operation condition includes: the operation mode of the sterilization robot is a handheld mode;
- the sterilization lamp array at the bottom of the sterilization robot is triggered to light up.
- a second aspect of the present application provides a sterilization lamp control method applied to a sterilization robot.
- the sterilization robot is configured with two operating modes, a handheld mode and a non-handheld mode.
- the bottom of the sterilization robot is provided with a handheld mechanism, and the sterilization robot is provided in the middle.
- the above-mentioned germicidal lamp control method includes:
- the sterilization lamp array When the sterilization robot satisfies the hand-held operation condition, trigger the sterilization lamp array to light up, wherein the hand-held operation condition includes: the operation mode of the sterilization robot is a handheld mode, and there is a cover on the top of the sterilization robot;
- the sterilization lamp array is triggered to light up.
- a third aspect of the present application provides a sterilization lamp control device applied to a sterilization robot.
- the sterilization robot is configured with two operating modes, a handheld mode and a non-handheld mode.
- the bottom of the sterilization robot is provided with a handheld mechanism, and the top of the sterilization robot is connected to There are germicidal lamp arrays at the bottom;
- the above-mentioned germicidal lamp control device also includes:
- the determining unit is used to determine the operation mode of the above-mentioned sterilization robot
- the control unit is used to trigger the sterilization lamp array on the top of the sterilization robot to light up when the sterilization robot meets the hand-held operating conditions; when the operation mode of the sterilization robot is the non-hand-held mode, trigger the sterilization lamp array points on the bottom of the sterilization robot
- the above-mentioned hand-held operation condition includes: the operation mode of the above-mentioned sterilization robot is a hand-held mode.
- the fourth aspect of the present application provides a sterilization lamp control device applied to a sterilization robot.
- the sterilization robot is configured with two operating modes, a handheld mode and a non-handheld mode.
- the bottom of the sterilization robot is provided with a handheld mechanism, and the center of the sterilization robot is provided Have germicidal lamp array;
- the above-mentioned germicidal lamp control device also includes:
- the determining unit is used to determine the operation mode of the above-mentioned sterilization robot
- the obstruction detection unit is used to detect whether there is an obstruction on the top of the sterilization robot
- the control unit is configured to trigger the lighting of the germicidal lamp array when the sterilization robot satisfies the hand-held operation condition; when the operation mode of the sterilization robot is the non-hand-held mode, trigger the lighting of the germicidal lamp array, wherein the hand-held operation condition Including: the operation mode of the sterilization robot is a handheld mode, and there is an obstruction on the top of the sterilization robot.
- a fifth aspect of the present application provides a sterilization robot, including a memory and a processor, the memory stores a computer program, the sterilization robot is configured with two operating modes, a handheld mode and a non-handheld mode, and the bottom of the sterilization robot is also provided with a handheld mechanism , And the sterilization robot is equipped with sterilization lamp arrays on the top and bottom respectively;
- a sixth aspect of the present application provides a sterilization robot, including a memory and a processor, the memory stores a computer program, the sterilization robot is configured with two operating modes, a handheld mode and a non-handheld mode, and the bottom of the sterilization robot is also provided with a handheld mechanism , And a sterilization lamp array is provided in the middle of the sterilization robot;
- the sterilization robot in this application is equipped with two operating modes, handheld mode and non-handheld mode, and a handheld mechanism is provided at the bottom of the sterilization robot.
- the sterilization lamp array point inside the sterilization robot is triggered bright. Since the sterilization robot is equipped with the above two operating modes, users can not only clean the ground area in the non-hand-held mode of the sterilization robot, but also implement non-ground surfaces such as walls and the bottom of the desktop in the handheld mode of the sterilization robot. Cleanliness of the area.
- Figure 1-a is a schematic diagram of the explosive structure of the sterilization robot based on this embodiment in an application scenario
- Figure 1-b is a side view of a sterilization robot based on the non-handheld mode of this embodiment in an application scenario
- Figure 1-c is a schematic diagram of a handheld cover based on this embodiment in an application scenario
- Figure 1-d is a side view of a sterilization robot based on the handheld mode of this embodiment in an application scenario
- Figure 2 is a flow chart of an embodiment of the germicidal lamp control method provided by the present application.
- FIG. 3 is a flowchart of another embodiment of the germicidal lamp control method provided by the present application.
- Figure 4 is a schematic structural diagram of an embodiment of a germicidal lamp control device provided by the present application.
- FIG. 5 is a schematic structural diagram of another embodiment of the germicidal lamp control device provided by the present application.
- Fig. 6 is a schematic structural diagram of an embodiment of a sterilization robot provided by the present application.
- This application provides a sterilization lamp control method applied to a sterilization robot.
- the sterilization robot is configured with two operating modes, a handheld mode and a non-handheld mode.
- the bottom of the sterilization robot is provided with a handheld mechanism, and the top of the sterilization robot An array of germicidal lamps is arranged separately from the bottom.
- Figure 1-a shows a schematic diagram of the explosion structure of the sterilization robot based on this embodiment in an application scenario
- Figure 1-b shows the side of the sterilization robot based on the non-handheld mode of this embodiment in an application scenario view.
- the handheld mechanism may include a handheld cover, and the handheld cover may be installed on the bottom of the sterilization robot.
- the hand-held cover can be as shown in Figure 1-c, wherein the strap 103 provided on the hand-held cover can facilitate the user to hold it. Further, the sterilization robot after the hand-held cover is installed
- the side view can be as shown in Figure 1-d.
- the strap can also be directly arranged at the bottom of the sterilization robot, that is, the aforementioned handheld mechanism includes a strap, and both ends of the strap are fixed to the bottom of the sterilization robot.
- control method of the germicidal lamp includes:
- Step 201 Determine the operation mode of the above-mentioned sterilization robot
- a sensor for detecting whether the sterilization robot is in a handheld state may be provided on the sterilization robot (for ease of description, the sensor will be described as a handheld sensor in the following).
- the hand-held sensor detects whether the sterilization robot is in a hand-held state. When the sterilization robot is in the hand-held state, it is determined that the operation mode of the sterilization robot is the hand-held mode. When the sterilization robot is not in the hand-held state, it is determined that The operation mode of the sterilization robot is non-handheld mode.
- the handheld sensor may be a magnetic field sensor (such as a Hall sensor).
- the handheld mechanism may include a first magnetic component and a second magnetic sensor.
- Step 201 includes: when the magnetic field sensor detects that the first magnetic component and the second magnetic component are adsorbed, determining that the operation mode of the sterilization robot is a handheld mode; when the magnetic field sensor detects that the first magnetic component and the second magnetic component When the second magnetic component is not adsorbed, it is determined that the operation mode of the sterilization robot is the non-handheld mode.
- the aforementioned handheld sensor may also be a distance measuring sensor, or a pressure sensor, or another type of sensor, which is not limited here.
- a switch module (such as a switch button) for switching the operation mode can also be provided on the sterilization robot, and the user can switch the operation mode of the sterilization robot by controlling the switch module.
- step 201 may include: determining the operation mode of the sterilization robot based on the switching signal input by the switch module.
- Step 202 When the sterilization robot meets the hand-held operation condition, trigger the sterilization lamp array on the top of the sterilization robot to light up;
- the aforementioned handheld operating conditions include: the operating mode of the aforementioned sterilization robot is a handheld mode;
- the above-mentioned handheld operating conditions also include: there is a cover on the top of the sterilization robot; and the above-mentioned sterilization lamp control method It also includes: detecting whether there is an obstruction on the top of the sterilization robot.
- a proximity sensor is provided on the top of the sterilization robot, and the detecting whether there is an obstruction on the top of the sterilization robot may include: detecting whether the sterilization robot has an obstruction based on the proximity sensor.
- the aforementioned proximity sensor may be an infrared proximity sensor, a capacitive proximity sensor, an inductive proximity sensor or a photoelectric proximity sensor, which is not limited here.
- a ranging sensor is provided on the top of the sterilization robot, and the detecting whether there is an obstruction on the top of the sterilization robot may include: detecting whether the sterilization robot has an obstruction based on the ranging sensor, and when based on the ranging sensor When an object is detected in the first distance from the top of the sterilization robot, it is determined that there is an obstruction on the top of the killing robot; when the object is not detected in the first distance from the top of the sterilization robot based on the range finding sensor, it is determined There is no obstruction on the top of the killing robot.
- the aforementioned first distance is a preset value.
- the sterilization lamp control method may further include: Trigger the sterilization lamp array at the bottom of the sterilization robot to go out.
- triggering the lighting of the sterilization lamp array on the top of the sterilization robot includes: when the sterilization lamp array on the top of the sterilization robot is extinguished, lighting the sterilization lamp array on the top of the sterilization robot; When the array has been lit, keep the germicidal lamp array on the top of the sterilization robot in the lit state.
- the triggering the extinguishment of the germicidal lamp array at the bottom of the sterilization robot includes: when the germicidal lamp array at the bottom of the sterilization robot is lit, extinguishing the germicidal lamp array at the bottom of the sterilization robot; when the germicidal lamp array at the bottom of the sterilization robot has been extinguished, maintaining The sterilization lamp array at the bottom of the sterilization robot is in an extinguished state.
- Step 203 When the operation mode of the sterilization robot is a non-handheld mode, trigger the sterilization lamp array at the bottom of the sterilization robot to light up;
- the sterilization lamp array at the bottom of the sterilization robot is triggered to light up.
- the above germicidal lamp control method further includes: detecting whether there is an obstruction on the top of the sterilization robot, and when the operation mode of the sterilization robot is non-hand-held mode and there is no obstruction on the top, triggering the germicidal lamp array on the top of the sterilization robot to go out; When the operation mode of the sterilization robot is a non-handheld mode and there is an obstruction on the top, the sterilization lamp array on the top of the sterilization robot is triggered to light up.
- the above-mentioned sterilization lamp control method further includes: in the non-hand-held mode of the sterilization robot, detecting whether the sterilization robot is in a suspended state; when it is detected that the sterilization robot is in the suspended state, triggering the sterilization lamp array at the bottom of the sterilization robot to go out .
- the floating state refers to the state where the tire of the sterilization robot leaves the contact surface.
- a distance measuring sensor is provided at the bottom of the sterilization robot.
- the detecting whether the sterilization robot is in a suspended state may include: in a non-handheld mode, detecting whether the sterilization robot is in a suspended state based on the distance measuring sensor.
- the second distance is a preset value
- the distance measuring sensor may be an infrared distance measuring sensor or an infrared sensor array composed of a plurality of infrared sensors.
- the tire of the sterilization robot is provided with a pressure-sensitive component; the bottom is provided with a ranging sensor.
- the detecting whether the sterilization robot is in a suspended state may include: detecting whether the sterilization robot is in a suspended state based on the pressure-sensitive component in a hands-free mode.
- other methods can also be used in the embodiments of this application to detect whether the sterilization robot is in a suspended state, which is not limited here.
- the above-mentioned sterilization robot further includes a peripheral interface, and the peripheral interface is used to connect an external sterilization lamp.
- the peripheral interface is used to connect an external sterilization lamp.
- users can connect an external germicidal lamp to the peripheral interface to enhance the sterilization effect of the sterilization robot.
- control method for the germicidal lamp further includes: triggering the external germicidal lamp to be turned on or off synchronously with the germicidal lamp array on the top of the sterilization robot; or, triggering The external germicidal lamp is turned on or off synchronously with the germicidal lamp array at the bottom of the sterilization robot.
- triggering the lighting of the germicidal lamp array at the bottom of the sterilization robot includes: when the germicidal lamp array at the bottom of the sterilization robot is extinguished, lighting the germicidal lamp array at the bottom of the sterilization robot; When the array has been lit, keep the germicidal lamp array at the bottom of the sterilization robot in the lit state.
- the triggering the extinguishment of the germicidal lamp array on the top of the sterilization robot includes: when the germicidal lamp array on the top of the sterilization robot is on, extinguishing the germicidal lamp array on the top of the sterilization robot; when the germicidal lamp array on the top of the sterilization robot has been extinguished, maintaining The sterilization lamp array on the top of the sterilization robot is in an off state.
- the above-mentioned germicidal lamp array is composed of at least one germicidal lamp.
- the germicidal lamp constituting the above germicidal lamp array can be a germicidal lamp that emits ultraviolet rays in the UV-C band (also known as short-wave sterilization ultraviolet rays) (ultraviolet rays with a peak at 185nm can turn oxygen in the air into ozone. There is no ozone at 254nm ultraviolet rays) or germicidal lamps that emit light with germicidal ability in other wavebands.
- UV-C band also known as short-wave sterilization ultraviolet rays
- ultraviolet rays with a peak at 185nm can turn oxygen in the air into ozone.
- There is no ozone at 254nm ultraviolet rays or germicidal lamps that emit light with germicidal ability in other wavebands.
- the above-mentioned sterilization robot is an electronic device with a movement function and a sterilization function, which is not limited here.
- the sterilization robot in the embodiment of the present application is configured with two operating modes, a handheld mode and a non-handheld mode, and a handheld mechanism is provided at the bottom of the sterilization robot.
- the sterilization robot can clean the ground area; when the handheld operating conditions are met, the sterilization robot can be used by the user to clean the non-ground areas such as the wall and the bottom of the desktop. Users can automatically switch the operating mode of the sterilization robot according to their own needs to clean different types of areas.
- the sterilization lamp control method applied to the sterilization robot provided in this application provides users with more operating modes. Use the sterilization robot , Expand the type of area that the sterilization robot can clean, improve the cleaning ability of the sterilization robot, and reduce the user's expenditure on purchasing additional cleaning tools.
- This application provides a sterilization lamp control method applied to a sterilization robot.
- the sterilization robot is configured with two operating modes, a handheld mode and a non-handheld mode.
- the bottom of the sterilization robot is provided with a handheld mechanism, and the center of the sterilization robot An array of germicidal lamps is provided.
- the hand-held mechanism may include a hand-held cover, and the hand-held cover may be installed on the bottom of the sterilization robot, wherein a strap is provided on the hand-held cover to facilitate the user to hold.
- the strap can also be directly arranged at the bottom of the sterilization robot, that is, the aforementioned handheld mechanism includes a strap, and both ends of the strap are fixed to the bottom of the sterilization robot.
- the germicidal lamp control method includes:
- Step 301 Determine the operation mode of the above-mentioned sterilization robot
- step 301 reference may be made to the description of step 201 in the embodiment shown in FIG. 2, which will not be repeated here.
- Step 302 detecting whether there is an obstruction on the top of the sterilization robot
- a proximity sensor is provided on the top of the sterilization robot, and the detecting whether there is an obstruction on the top of the sterilization robot may include: detecting whether the sterilization robot has an obstruction based on the proximity sensor.
- the aforementioned proximity sensor may be an infrared proximity sensor, a capacitive proximity sensor, an inductive proximity sensor or a photoelectric proximity sensor, which is not limited here.
- a ranging sensor is provided on the top of the sterilization robot, and the detecting whether there is an obstruction on the top of the sterilization robot may include: detecting whether the sterilization robot has an obstruction based on the ranging sensor, and when based on the ranging sensor When an object is detected in the first distance from the top of the sterilization robot, it is determined that there is an obstruction on the top of the killing robot; when the object is not detected in the first distance from the top of the sterilization robot based on the range finding sensor, it is determined There is no obstruction on the top of the killing robot.
- the aforementioned first distance is a preset value.
- Step 303 When the sterilization robot meets the hand-held operation condition, trigger the sterilization lamp array to light up;
- the aforementioned hand-held operation conditions include: the operation mode of the aforementioned sterilization robot is a hand-held mode, and there is an obstruction on the top of the aforementioned sterilization robot;
- the sterilization lamp array is triggered to light up.
- the triggering of the germicidal lamp array to light up includes: when the germicidal lamp array is extinguished, the germicidal lamp array is turned on; when the germicidal lamp array is already lit, the germicidal lamp array is kept in the lit state.
- Step 304 When the operating mode of the sterilization robot is a non-handheld mode, trigger the sterilization lamp array to light up;
- the sterilization lamp array is triggered to light up.
- the sterilization lamp control method further includes: in the non-hand-held mode of the sterilization robot, detecting whether the sterilization robot is in a floating state; when the sterilization robot is detected in the floating state, triggering the sterilization lamp array to go out.
- the floating state refers to the state where the tire of the sterilization robot leaves the contact surface.
- the method for detecting whether the sterilization robot is in a suspended state can refer to the corresponding detection method mentioned in the embodiment shown in FIG. 2, which will not be repeated here.
- the above-mentioned sterilization robot further includes a peripheral interface, and the peripheral interface is used to connect an external sterilization lamp.
- the peripheral interface is used to connect an external sterilization lamp.
- users can connect an external germicidal lamp to the peripheral interface to enhance the sterilization effect of the sterilization robot.
- control method for the germicidal lamp further includes: triggering the external germicidal lamp to turn on or off synchronously with the germicidal lamp array in the middle of the sterilization robot.
- the triggering of the germicidal lamp array to light up includes: when the germicidal lamp array is extinguished, the germicidal lamp array is turned on; when the germicidal lamp array is already lit, the germicidal lamp array is kept in the lit state.
- the triggering the extinguishment of the germicidal lamp array includes: when the germicidal lamp array is on, extinguishing the germicidal lamp array; when the germicidal lamp array has been extinguished, keeping the germicidal lamp array in an extinguished state.
- the above-mentioned germicidal lamp array is composed of at least one germicidal lamp.
- the germicidal lamp constituting the above germicidal lamp array can be a germicidal lamp that emits ultraviolet rays in the UV-C band (also known as short-wave sterilization ultraviolet rays) (ultraviolet rays with a peak at 185nm can turn oxygen in the air into ozone. There is no ozone in ultraviolet rays at 254nm) or a germicidal lamp that emits light with germicidal ability in other bands.
- UV-C band also known as short-wave sterilization ultraviolet rays
- ultraviolet rays with a peak at 185nm can turn oxygen in the air into ozone.
- There is no ozone in ultraviolet rays at 254nm or a germicidal lamp that emits light with germicidal ability in other bands.
- the above-mentioned sterilization robot is an electronic device with a movement function and a sterilization function, which is not limited here.
- the sterilization robot in the embodiment of the present application is configured with two operating modes, a handheld mode and a non-handheld mode, and a handheld mechanism is provided at the bottom of the sterilization robot.
- the sterilization robot can clean the ground area; when the handheld operating conditions are met, the sterilization robot can be used by the user to clean the non-ground areas such as the wall and the bottom of the desktop. Users can automatically switch the operating mode of the sterilization robot according to their own needs to clean different types of areas.
- the sterilization lamp control method applied to the sterilization robot provided in this application provides users with more operating modes. Use the sterilization robot , Expand the type of area that the sterilization robot can clean, improve the cleaning ability of the sterilization robot, and reduce the user's expenditure on purchasing additional cleaning tools.
- the embodiment of the present application also provides a sterilization lamp control device applied to a sterilization robot, which can be used to implement the sterilization lamp control method of the embodiment shown in FIG. 2.
- the sterilization robot is configured with a handheld mode and a non-handheld mode. There are two modes of operation. The bottom of the sterilization robot is provided with a handheld mechanism, and the top and bottom of the sterilization robot are respectively provided with sterilization lamp arrays.
- the germicidal lamp control device 400 in the embodiment of the present application includes a determination unit 401 and a control unit 402.
- the sterilization lamp array 403 provided on the sterilization robot includes a sterilization lamp array 4031 on the top of the sterilization robot and a sterilization lamp array 4032 on the bottom of the sterilization robot. Both have sterilization capability, and the sterilization lamp array 403 is connected to the control unit 402.
- the determining unit 401 is used to determine the operation mode of the above-mentioned sterilization robot.
- the control unit 402 is used to trigger the sterilization lamp array 4031 on the top of the sterilization robot to light up when the sterilization robot meets the hand-held operating conditions; when the determining unit 401 determines that the operation mode of the sterilization robot is non-hand-held mode, trigger the sterilization at the bottom of the sterilization robot
- the lamp array 4032 is lit, wherein the above-mentioned hand-held operation condition includes: the operation mode of the above-mentioned sterilization robot is the hand-held mode.
- control unit 402 is further configured to trigger the extinguishment of the germicidal lamp array 4032 at the bottom of the sterilization robot when the aforementioned sterilization robot meets the hand-held operating conditions.
- control unit 402 is further configured to: when the determining unit 401 determines that the operation mode of the sterilization robot is the non-handheld mode, trigger the sterilization lamp array 4031 on the top of the sterilization robot to go out.
- the germicidal lamp control device 400 may further include: a floating detection unit 405 for detecting whether the sterilization robot is in a floating state in the non-handheld mode of the sterilization robot.
- the control unit 402 is also used to: when it is detected that the sterilization robot is in a suspended state, trigger the sterilization lamp array 4032 at the bottom of the sterilization robot to go out.
- the determining unit 401 is connected to a handheld sensor (that is, a sensor used to detect whether the sterilization robot is in a handheld state) provided on the sterilization robot.
- the determining unit 401 is specifically configured to: detect whether the sterilization robot is in a hand-held state based on a hand-held sensor; when the sterilization robot is in the hand-held state, determine that the operation mode of the sterilization robot is the hand-held mode; when the sterilization robot is not in the hand-held state, determine The operation mode of the aforementioned sterilization robot is a non-handheld mode.
- the aforementioned handheld sensor may be a magnetic field sensor (such as a Hall sensor).
- the aforementioned handheld mechanism may include a first magnetic field sensor.
- a component (not shown in the figure) and a hand-held cover (not shown in the figure) provided with a second magnetic component, the first magnetic component and the second magnetic component are suction-fitted.
- the determining unit 401 is specifically configured to: when the magnetic field-based sensor 404 detects that the first magnetic component is adsorbed to the second magnetic component, determine that the operation mode of the sterilization robot is the handheld mode; when the magnetic field-based sensor 404 detects the first magnetic component When the second magnetic component is not adsorbed, it is determined that the operation mode of the sterilization robot is the non-handheld mode.
- the aforementioned handheld sensor may also be a distance measuring sensor, or a pressure sensor, or another type of sensor, which is not limited here.
- a switch module (such as a switch button) for switching the operation mode is provided on the sterilization robot, and the user can switch the operation mode of the sterilization robot by controlling the switch module.
- the determining unit 401 is connected to the switch module, and the determining unit 401 is specifically configured to determine the operation mode of the sterilization robot based on the switching signal input by the switch module.
- the aforementioned handheld operating conditions further include: there is an obstruction on the top of the sterilization robot; as shown in FIG. 4, the above-mentioned germicidal lamp control device further includes: a obstruction detection unit 406 for detecting whether there is an obstruction on the top of the sterilization robot.
- control unit 402 is further configured to trigger the sterilization lamp array 4031 on the top of the sterilization robot to go out when the operation mode of the sterilization robot is non-handheld mode and there is no obstruction on the top of the sterilization robot;
- the sterilization lamp array 4031 on the top of the sterilization robot is triggered to light up.
- the germicidal lamp control device 400 further includes: a peripheral interface 407 for connecting an external germicidal lamp 408, the peripheral interface 407 is connected to the control unit 402, and the control unit 402 can use the peripheral interface 407 triggers the external germicidal lamp 408 connected to the peripheral interface 407 to turn on or go out.
- the above-mentioned germicidal lamp array is composed of at least one germicidal lamp.
- the germicidal lamp constituting the above germicidal lamp array can be a germicidal lamp that emits ultraviolet rays in the UV-C band (also known as short-wave sterilization ultraviolet rays) (ultraviolet rays with a peak at 185nm can turn oxygen in the air into ozone. There is no ozone at 254nm ultraviolet rays) or germicidal lamps that emit light with germicidal ability in other wavebands.
- UV-C band also known as short-wave sterilization ultraviolet rays
- ultraviolet rays with a peak at 185nm can turn oxygen in the air into ozone.
- There is no ozone at 254nm ultraviolet rays or germicidal lamps that emit light with germicidal ability in other wavebands.
- the above-mentioned sterilization robot is an electronic device with a movement function and a sterilization function, which is not limited here.
- the sterilization lamp control device in the embodiment of the present application is integrated inside the sterilization robot, or it may be a device independent of the sterilization robot and capable of communicating with the sterilization robot, which is not limited here.
- the above-mentioned germicidal lamp control device can determine the operating mode of the sterilization robot and light up the germicidal lamp array at the corresponding position under different conditions.
- the sterilization robot in the non-hand-held mode, can clean the ground area; when the handheld operating conditions are met, the sterilization robot can be used by the user to clean the non-ground areas such as the wall surface and the bottom surface of the desktop. Users can independently switch the operating mode of the sterilization robot according to their own needs to clean different types of areas.
- the sterilization lamp control device applied to the sterilization robot provided in this application provides users with more operating modes. Use the sterilization robot , Expand the type of area that the sterilization robot can clean, improve the cleaning ability of the sterilization robot, and reduce the user's expenditure on purchasing additional cleaning tools.
- the embodiment of the present application also provides a sterilization lamp control device applied to a sterilization robot, which can be used to implement the sterilization lamp control method of the embodiment shown in FIG. 3.
- the sterilization robot is configured with a handheld mode and a non-handheld mode. There are two modes of operation. The bottom of the sterilization robot is provided with a handheld mechanism, and the sterilization robot is provided with a sterilization lamp array.
- the germicidal lamp control device 500 includes a determination unit 501, an obstruction detection unit 502, and a control unit 503;
- the sterilization lamp array of the sterilization robot is arranged in the middle of the sterilization robot, and the sterilization lamp array 504 is connected to the control unit 503.
- the determining unit 501 is used to determine the operation mode of the above-mentioned sterilization robot.
- the obstruction detection unit 502 is used to detect whether there is an obstruction on the top of the sterilization robot.
- the control unit 503 is used to trigger the germicidal lamp array 504 to light up when the sterilization robot meets the hand-held operating conditions; when the determining unit 501 determines that the operation mode of the sterilization robot is the non-hand-held mode, trigger the germicidal lamp array 504 to light up, where:
- the above-mentioned handheld operating conditions include: the operating mode of the above-mentioned sterilization robot is a handheld mode, and there is a cover on the top of the above-mentioned sterilization robot.
- the germicidal lamp control device further includes: a floating detection unit 505, configured to detect whether the sterilization robot is in a floating state in the non-handheld mode of the sterilization robot. On this basis, the control unit 503 is also used to trigger the sterilization lamp array 504 to go out when it is detected that the sterilization robot is in a suspended state.
- a floating detection unit 505 configured to detect whether the sterilization robot is in a floating state in the non-handheld mode of the sterilization robot.
- the control unit 503 is also used to trigger the sterilization lamp array 504 to go out when it is detected that the sterilization robot is in a suspended state.
- the germicidal lamp control device 500 further includes: a peripheral interface 506 for connecting an external germicidal lamp 507.
- the peripheral interface 506 is connected to the control unit 503, and the control unit 503 can trigger the external germicidal lamp 507 connected to the peripheral interface 506 to turn on or off through the peripheral interface 506.
- the determining unit 501 is connected to a handheld sensor (that is, a sensor used to detect whether the sterilization robot is in a handheld state) provided on the sterilization robot.
- the determining unit 501 is specifically configured to: detect whether the sterilization robot is in a hand-held state based on the handheld sensor; when the sterilization robot is in the hand-held state, determine that the operation mode of the sterilization robot is the handheld mode; and when the sterilization robot is not in the hand-held state, determine The operation mode of the aforementioned sterilization robot is a non-handheld mode.
- the aforementioned handheld sensor may be a magnetic field sensor (such as a Hall sensor).
- the aforementioned handheld mechanism may include a first magnetic field sensor.
- a component (not shown in the figure) and a hand-held cover (not shown in the figure) provided with a second magnetic component. The first magnetic component and the second magnetic component are suction-fitted.
- the determining unit 501 is specifically configured to: when the magnetic field-based sensor 508 detects that the first magnetic component and the second magnetic component are adsorbed, determine that the operation mode of the sterilization robot is the handheld mode; when the magnetic field-based sensor 508 detects the first magnetic component When the second magnetic component is not adsorbed, it is determined that the operation mode of the sterilization robot is the non-handheld mode.
- the aforementioned handheld sensor may also be a distance measuring sensor, or a pressure sensor, or another type of sensor, which is not limited here.
- a switch module (such as a switch button) for switching the operation mode is provided on the sterilization robot, and the user can switch the operation mode of the sterilization robot by controlling the switch module.
- the determining unit 501 is connected to the switch module, and the determining unit 501 is specifically configured to determine the operation mode of the sterilization robot based on the switching signal input by the switch module.
- the above-mentioned germicidal lamp array is composed of at least one germicidal lamp.
- the germicidal lamp constituting the above germicidal lamp array can be a germicidal lamp that emits ultraviolet rays in the UV-C band (also known as short-wave sterilization ultraviolet rays) (ultraviolet rays with a peak at 185nm can turn oxygen in the air into ozone. There is no ozone at 254nm ultraviolet rays) or germicidal lamps that emit light with germicidal ability in other wavebands.
- UV-C band also known as short-wave sterilization ultraviolet rays
- ultraviolet rays with a peak at 185nm can turn oxygen in the air into ozone.
- There is no ozone at 254nm ultraviolet rays or germicidal lamps that emit light with germicidal ability in other wavebands.
- the above-mentioned sterilization robot is an electronic device with a movement function and a sterilization function, which is not limited here.
- the sterilization lamp control device in the embodiment of the present application is integrated inside the sterilization robot, or it may be a device independent of the sterilization robot and capable of communicating with the sterilization robot, which is not limited here.
- the above germicidal lamp control device can determine the operating mode of the sterilization robot and turn on or off the germicidal lamp array under different conditions.
- the sterilization robot in the non-hand-held mode, can clean the ground area; when the handheld operating conditions are met, the sterilization robot can be used by the user to clean the non-ground areas such as the wall surface and the bottom surface of the desktop. Users can independently switch the operating mode of the sterilization robot according to their own needs to clean different types of areas.
- the sterilization lamp control device applied to the sterilization robot provided in this application provides users with more operating modes. Use the sterilization robot , Expand the type of area that the sterilization robot can clean, improve the cleaning ability of the sterilization robot, and reduce the user's expenditure on purchasing additional cleaning tools.
- An embodiment of the present application provides a sterilization robot, which is configured with two operating modes, a handheld mode and a non-handheld mode; as shown in FIG. 6, the sterilization robot in the embodiment of the present application further includes: a memory 601, a processor 602, Germicidal lamp array 603, and a handheld mechanism (not shown in the figure), in which: the memory 601 is used to store software programs and modules, and the processor 602 executes various functional applications and modules by running the software programs and modules stored in the memory 601
- the germicidal lamp array 603 includes two parts: the germicidal lamp array on the top of the sterilization robot and the germicidal lamp array on the bottom of the sterilization robot.
- the memory 601, the processor 602, and the germicidal lamp array 603 are connected through a bus 604.
- the processor 602 implements the following steps when running the foregoing computer program stored in the memory 601:
- the sterilization lamp array on the top of the sterilization robot is triggered to light up, wherein the hand-held operation condition includes: the operation mode of the sterilization robot is a handheld mode;
- the sterilization lamp array at the bottom of the sterilization robot is triggered to light up.
- the sterilization robot is configured with two operating modes, a handheld mode and a non-handheld mode, the bottom of the sterilization robot is provided with a handheld mechanism, and the top and bottom of the sterilization robot are respectively provided with a sterilization lamp array.
- the above-mentioned handheld operating condition further includes: there is a cover on the top of the above-mentioned sterilization robot; and the above-mentioned germicidal lamp
- the control method further includes: detecting whether there is an obstruction on the top of the sterilization robot.
- the method further includes: when the operation mode of the sterilization robot is a non-handheld mode and there is no obstruction on the top of the sterilization robot, triggering the sterilization lamp array on the top of the sterilization robot to go out; When the operating mode of the robot is the non-handheld mode and there is an obstruction on the top of the sterilization robot, the sterilization lamp array on the top of the sterilization robot is triggered to light up.
- the foregoing sterilization lamp control method further includes: triggering the foregoing sterilization when the sterilization robot satisfies the aforementioned handheld operating condition The germicidal lamp array at the bottom of the robot goes out.
- a fifth possible implementation manner based on the first or second or third possible implementation manners, in the non-handheld mode of the sterilization robot, it is detected whether the sterilization robot is in a suspended state; When the sterilization robot is in a suspended state, the sterilization lamp array at the bottom of the sterilization robot is triggered to go out.
- the germicidal lamp array at the bottom of the sterilization robot is triggered to light up.
- the sterilization robot further includes a magnetic field sensor
- the hand-held mechanism includes a first magnetic component and a second magnetic device.
- the above-mentioned detection of the operation mode of the above-mentioned sterilization robot includes:
- the operation mode of the sterilization robot is a handheld mode
- the operation mode of the sterilization robot is a hands-free mode.
- the aforementioned hand-held mechanism includes a strap, and both ends of the aforementioned strap are fixed to the bottom of the sterilization robot;
- the above-mentioned sterilization robot also includes:
- the above-mentioned detection of the operation mode of the above-mentioned sterilization robot includes:
- the operation mode of the sterilization robot is determined based on the switching signal input by the switching key.
- the memory 601 may include a read-only memory and a random access memory, and provides instructions and data to the processor 602. Part or all of the memory 601 may also include a non-volatile random access memory;
- the processor 602 may be a central processing unit (Central Processing Unit, CPU), the processor can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), ASIC (Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-Programmable Gate Array, FPGA) Or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
- the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.;
- the germicidal lamp array 603 is composed of at least one germicidal lamp.
- the germicidal lamps that make up the germicidal lamp array 603 can be germicidal lamps that emit ultraviolet rays in the UV-C band (also known as short-wave sterilization ultraviolet rays) (ultraviolet rays with a peak at 185 nm can turn oxygen in the air into ozone. There is no ozone at 254nm ultraviolet rays) or germicidal lamps that emit light with germicidal ability in other wavebands.
- ultraviolet rays in the UV-C band also known as short-wave sterilization ultraviolet rays
- ultraviolet rays with a peak at 185 nm can turn oxygen in the air into ozone.
- There is no ozone at 254nm ultraviolet rays or germicidal lamps that emit light with germicidal ability in other wavebands.
- the above-mentioned sterilization robot is an electronic device with a movement function and a sterilization function, which is not limited here.
- An embodiment of the application provides a sterilization robot, which is configured with two operating modes, a handheld mode and a non-handheld mode; the sterilization robot in the embodiment of the application further includes: a memory, a processor, a sterilization lamp array, and a handheld mechanism, Among them: the memory is used to store software programs and modules, the processor executes various functional applications and data processing by running the software programs and modules stored in the memory, and the sterilization lamp array is arranged in the middle of the sterilization robot.
- the memory, the processor and the germicidal lamp array are connected by a bus.
- the processor implements the following steps when running the aforementioned computer program stored in the memory:
- the sterilization lamp array When the sterilization robot satisfies the hand-held operation condition, trigger the sterilization lamp array to light up, wherein the hand-held operation condition includes: the operation mode of the sterilization robot is a handheld mode, and there is a cover on the top of the sterilization robot;
- the sterilization lamp array is triggered to light up.
- the sterilization robot is configured with two operating modes, a handheld mode and a non-handheld mode, a handheld mechanism is provided at the bottom of the sterilization robot, and a sterilization lamp array is provided in the middle of the sterilization robot.
- the foregoing germicidal lamp control method further includes: in the non-handheld mode of the foregoing sterilization robot, It is detected whether the sterilization robot is in a suspended state; when it is detected that the sterilization robot is in a suspended state, the germicidal lamp array is triggered to go out.
- the sterilization robot further includes an external device interface, and the external device interface is used to connect an external sterilization lamp.
- the sterilization robot further includes a magnetic field sensor
- the handheld mechanism includes a first magnetic component and a second magnetic device.
- the above-mentioned determination of the operation mode of the above-mentioned sterilization robot includes:
- the operation mode of the sterilization robot is a handheld mode
- the operation mode of the sterilization robot is a hands-free mode.
- the aforementioned hand-held mechanism includes a strap, and both ends of the aforementioned strap are fixed to the bottom of the sterilization robot;
- the above-mentioned sterilization robot also includes:
- the above determination of the operation mode of the sterilization robot includes:
- the operation mode of the sterilization robot is determined based on the switching signal input by the switching key.
- the structure of the sterilization robot in the embodiment of the present application can refer to the description in the embodiment shown in FIG. 5, which will not be repeated here.
- the disclosed device/terminal device and method may be implemented in other ways.
- the device/equipment embodiments described above are only illustrative.
- the division of the above-mentioned modules or units is only a logical function division. In actual implementation, it can be implemented in another way, such as multiple units or components. Can be combined or integrated into another system, or some features can be ignored or not implemented.
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Abstract
一种应用于杀菌机器人的杀菌灯控制方法及装置，涉及电器领域。上述杀菌机器人配置有手持模式和非手持模式两种运行模式，且杀菌机器人底部设置有手持机构，在杀菌机器人满足手持运行条件时，触发杀菌机器人内部的杀菌灯阵列（403、504、603）点亮。上述杀菌机器人配置有的两种运行模式可供用户针对不同类型区域进行清洁，扩展杀菌机器人可清洁区域的类型，提升杀菌机器人的清洁能力，减少用户为针对不同情况而额外购买清洁工具所造成的资源浪费。
Description
本申请要求于2019年08月02日提交中国专利局、申请号为201910713971.3、发明名称为“一种应用于杀菌机器人的杀菌灯控制方法及装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
本发明涉及电器领域，特别是涉及一种杀菌机器人的杀菌灯控制方法及装置。
随着科技的发展，使用杀菌机器人进行家居清洁已经成为许多家庭的日常清洁手段，杀菌机器人可以智能地自动进行地面的清洁。此外，杀菌灯杀菌比起使用传统工具进行清洁可去除更多肉眼不可见的细菌。
现有技术中，杀菌机器人主要采用避障模块和移动模块实现遇障碍自动闪避，配合杀菌灯在地面不断进行移动、杀菌，只要时间足够即可覆盖所需清洁区域。
现有技术方案的缺陷在于，杀菌机器人无论运行多久，均有一些清洁盲点存在，如墙面、桌面底面等，这些地方是当前杀菌机器人的杀菌工作无论如何也无法覆盖的地方。因此，如果长期只使用杀菌机器人进行清洁的话，那么这些清洁盲点会积累、滋生越来越多的细菌，成为卫生隐患。
发明内容
本申请提供一种应用于杀菌机器人的杀菌灯控制方法及装置，可实现使杀菌机器人具备手持模式和非手持模式两种运行模式，即可使用两种运行模式分别对非地面区域和地面区域进行清洁，扩展杀菌机器人可清洁区域的类型，提升杀菌机器人的清洁能力。
为了实现上述技术效果，本申请第一方面提供了一种应用于杀菌机器人的杀菌灯控制方法，上述杀菌机器人配置有手持模式和非手持模式两种运行模式，上述杀菌机器人底部设置有手持机构，且上述杀菌机器人顶部与底部分别设置有杀菌灯阵列；
上述杀菌灯控制方法包括：
确定上述杀菌机器人的运行模式；
当上述杀菌机器人满足手持运行条件时，触发上述杀菌机器人顶部的杀菌灯阵列点亮，其中，上述手持运行条件包括：上述杀菌机器人的运行模式为手持模式；
当上述杀菌机器人的运行模式为非手持模式时，触发上述杀菌机器人底部的杀菌灯阵列点亮。
本申请第二方面提供了一种应用于杀菌机器人的杀菌灯控制方法，上述杀菌机器人配置有手持模式和非手持模式两种运行模式，上述杀菌机器人底部设置有手持机构，且上述杀菌机器人中部设置有杀菌灯阵列；
上述杀菌灯控制方法包括：
确定上述杀菌机器人的运行模式；
检测上述杀菌机器人顶部是否存在遮挡物；
当上述杀菌机器人满足手持运行条件时，触发上述杀菌灯阵列点亮，其中，上述手持运行条件包括：上述杀菌机器人的运行模式为手持模式，以及上述杀菌机器人顶部存在遮挡物；
当上述杀菌机器人的运行模式为非手持模式时，触发上述杀菌灯阵列点亮。
本申请第三方面提供了一种应用于杀菌机器人的杀菌灯控制装置，上述杀菌机器人配置有手持模式和非手持模式两种运行模式，上述杀菌机器人底部设置有手持机构，且上述杀菌机器人顶部与底部分别设有杀菌灯阵列；
上述杀菌灯控制装置还包括：
确定单元，用于确定上述杀菌机器人的运行模式；
控制单元，用于当上述杀菌机器人满足手持运行条件时，触发上述杀菌机器人顶部的杀菌灯阵列点亮；当上述杀菌机器人的运行模式为非手持模式时，触发上述杀菌机器人底部的杀菌灯阵列点亮，其中，上述手持运行条件包括：上述杀菌机器人的运行模式为手持模式。
本申请第四方面提供了一种应用于杀菌机器人的杀菌灯控制装置，上述杀菌机器人配置有手持模式和非手持模式两种运行模式，上述杀菌机器人底部设置有手持机构，且上述杀菌机器人中部设有杀菌灯阵列；
上述杀菌灯控制装置还包括：
确定单元，用于确定上述杀菌机器人的运行模式；
遮挡检测单元，用于检测上述杀菌机器人顶部是否存在遮挡物；
控制单元，用于当上述杀菌机器人满足手持运行条件时，触发上述杀菌灯阵列点亮；当上述杀菌机器人的运行模式为非手持模式时，触发上述杀菌灯阵列点亮，其中，上述手持运行条件包括：上述杀菌机器人的运行模式为手持模式，以及上述杀菌机器人顶部存在遮挡物。
本申请第五方面提供了一种杀菌机器人，包括存储器和处理器，上述存储器存储有计算机程序，上述杀菌机器人配置有手持模式和非手持模式两种运行模式，上述杀菌机器人底部还设置有手持机构，且上述杀菌机器人顶部与底部分别设有杀菌灯阵列；
上述处理器执行上述计算机程序时实现上述第一方面提及的杀菌灯控制方法的步骤。
本申请第六方面提供了一种杀菌机器人，包括存储器和处理器，上述存储器存储有计算机程序，上述杀菌机器人配置有手持模式和非手持模式两种运行模式，上述杀菌机器人底部还设置有手持机构，且上述杀菌机器人中部设有杀菌灯阵列；
上述处理器执行上述计算机程序时实现上述第二方面提及的杀菌灯控制方法的步骤。
由上可见，本申请中的杀菌机器人配置有手持模式和非手持模式两种运行模式，且杀菌机器人底部设置有手持机构，在杀菌机器人满足手持运行条件时，触发杀菌机器人内部的杀菌灯阵列点亮。由于杀菌机器人配置有上述两种运行模式，因此，用户除了可以在杀菌机器人的非手持模式下实现地面区域的清洁之外，还可以在杀菌机器人的手持模式下实现墙面、桌面底面等非地面区域的清洁。从而可达到扩展杀菌机器人可清洁区域的类型，提升杀菌机器人的清洁能力的技术效果，给用户提供更多杀菌机器人运行模式的选择，方便用户针对不同情况使用不同运行模式下的杀菌机器人更有效地进行清洁，减少用户为针对不同情况而额外购买清洁工具所造成的资源浪费。
图1-a是在一种应用场景下基于本实施例的杀菌机器人的***结构示意图；
图1-b是在一种应用场景下基于本实施例的非手持模式的杀菌机器人的侧视图；
图1-c是在一种应用场景下基于本实施例的手持盖的示意图；
图1-d是在一种应用场景下基于本实施例的手持模式的杀菌机器人的侧视图；
图2是本申请提供的杀菌灯控制方法一个实施例流程图；
图3是本申请提供的杀菌灯控制方法另一个实施例流程图；
图4是本申请提供的杀菌灯控制装置一个实施例结构示意图；
图5是本申请提供的杀菌灯控制装置另一个实施例结构示意图；
图6是本申请提供的杀菌机器人的一个实施例结构示意图。
具体实施方式
以下描述中，为了说明而不是为了限定，提出了诸如特定***结构、技术之类的具体细节，以便透彻理解本发明实施例。然而，本领域的技术人员应当清楚，在没有这些具体细节的其他实施例中也可以实现本发明。在其它情况下，省略对众所周知的***、装置、电路以及方法的详细说明，以免不必要的细节妨碍本申请的描述。
应当理解，当在本说明书和所附权利要求书中使用时，术语“包括”指示所描述特征、整体、步骤、操作、元素和/或组件的存在，但并不排除一个或多个其它特征、整体、步骤、操作、元素、组件和/或其集合的存在或添加。
还应当理解，在本申请说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。如在本申请说明书和所附权利要求书中所使用的那样，除非上下文清楚地指明其它情况，否则单数形式的“一”、“一个”及“该”意在包括复数形式。
下面结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请的一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在下面的描述中阐述了很多具体细节以便于充分理解本申请，但是本申请还可以采用其它不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本申请内涵的情况下做类似推广，因此本申请不受下面公开的具体实施例的限制。
实施例一
本申请提供一种应用于杀菌机器人的杀菌灯控制方法，本申请实施例中，杀菌机器人配置有手持模式和非手持模式两种运行模式，上述杀菌机器人底部设置有手持机构，且上述杀菌机器人顶部与底部分别设置有杀菌灯阵列。如图1-a所示为一种应用场景下基于本实施例的杀菌机器人的***结构示意图，图1-b所示为一种应用场景下基于本实施例的非手持模式的杀菌机器人的侧视图。
结合图1-a和图1-b可见，杀菌机器人顶部的杀菌灯阵列101与杀菌机器人底部的杀菌灯阵列102分别设置于杀菌机器人内部的顶部与底部，二者在杀菌机器人内部的位置如图1-a所示，从外部侧面看，二者所在位置如图1-b所示。
在一种应用场景中，上述手持机构可以包括手持盖，上述手持盖可以被安装在上述杀菌机器人底部。以图1-b所示杀菌机器人为例，则手持盖可以如图1-c所示，其中，设置在手持盖上的系带103可方便用户手持，进一步，安装手持盖后的杀菌机器人的侧视图可以如图1-d所示。
在另一种应用场景中，也可以将系带直接设置在杀菌机器人底部，也即，上述手持机构包括系带，且系带两端与上述杀菌机器人底部固定。
如图2所示，该杀菌灯控制方法包括：
步骤201，确定上述杀菌机器人的运行模式；
在一种应用场景中，可以在上述杀菌机器人上设置用以检测上述杀菌机器人是否处于手持状态的传感器（为便于描述，后续将该传感器描述为手持传感器）。本申请实施例中，基于手持传感器检测上述杀菌机器人是否处于手持状态，当上述杀菌机器人处于手持状态时，确定上述杀菌机器人的运行模式为手持模式，当上述杀菌机器人未处于手持状态时，确定上述杀菌机器人的运行模式为非手持模式。
可选的，上述手持传感器可以是磁场传感器（例如霍尔传感器），在此场景下，在上述杀菌机器人还包括磁场传感器的场景下，上述手持机构可包括第一磁性组件以及设置有第二磁性组件的手持盖，其中，上述第一磁性组件与上述第二磁性组件吸附配合。步骤201包括：当基于上述磁场传感器检测到上述第一磁性组件与上述第二磁性组件吸附时，确定上述杀菌机器人的运行模式为手持模式；当基于上述磁场传感器检测到上述第一磁性组件与上述第二磁性组件非吸附时，确定上述杀菌机器人的运行模式为非手持模式。
具体的，上述手持传感器也可以为测距传感器，或者是压力传感器，或者是其它类型的传感器，此处不做限定。
在另一种应用场景中，也可以在上述杀菌机器人上设置用以切换上述运行模式的开关模块（例如切换按键），用户可以通过控制该开关模块切换上述杀菌机器人的运行模式。在此基础上，步骤201可包括：基于上述开关模块输入的切换信号确定上述杀菌机器人的运行模式。
步骤202，当上述杀菌机器人满足手持运行条件时，触发上述杀菌机器人顶部的杀菌灯阵列点亮；
其中，上述手持运行条件包括：上述杀菌机器人的运行模式为手持模式；
本申请实施例中，基于上述杀菌机器人是否满足手持运行条件，决定是否触发上述杀菌机器人顶部的杀菌灯阵列点亮。当上述杀菌机器人满足手持运行条件时，触发上述杀菌机器人顶部的杀菌灯阵列点亮。进一步，由于手持模式下杀菌机器人顶部的杀菌灯阵列没有必要长期保持点亮，因此，为了达到节省功耗的目的，上述手持运行条件还包括：上述杀菌机器人顶部存在遮挡物；上述杀菌灯控制方法还包括：检测上述杀菌机器人顶部是否存在遮挡物。
在一种应用场景中，上述杀菌机器人顶部设置有接近传感器，上述检测上述杀菌机器人顶部是否存在遮挡物可包括：基于上述接近传感器检测上述杀菌机器人是否存在遮挡物。
其中，上述接近传感器可以为红外接近传感器、电容式接近传感器、电感式接近传感器或光电式接近传感器，此处不做限定。
在另一种应用场景下，上述杀菌机器人顶部设置有测距传感器，上述检测杀菌机器人顶部是否存在遮挡物可包括：基于上述测距传感器检测上述杀菌机器人是否存在遮挡物，当基于上述测距传感器检测到在上述杀菌机器人顶部的第一距离内存在物体时，确定上述杀局机器人顶部存在遮挡物；当基于上述测距传感器未检测到在上述杀菌机器人顶部的第一距离内存在物体时，确定上述杀局机器人顶部不存在遮挡物。其中，上述第一距离为预设值。
当然，除上述两种应用场景外，基于本申请思想，本申请实施例中也可以采用其它方式检测杀菌机器人顶部是否存在遮挡物，此处不做限定。
进一步，由于手持模式下杀菌机器人底部的杀菌灯阵列作用不大，因此，为了达到节省功耗的目的，可选的，当上述杀菌机器人满足手持运行条件时，上述杀菌灯控制方法还可以包括：触发上述杀菌机器人底部的杀菌灯阵列熄灭。
需要说明的是，上述触发上述杀菌机器人顶部的杀菌灯阵列点亮包括：当上述杀菌机器人顶部的杀菌灯阵列熄灭时，点亮上述杀菌机器人顶部的杀菌灯阵列；当上述杀菌机器人顶部的杀菌灯阵列已经点亮时，保持上述杀菌机器人顶部的杀菌灯阵列处于点亮状态。
上述触发上述杀菌机器人底部的杀菌灯阵列熄灭包括：当上述杀菌机器人底部的杀菌灯阵列点亮时，熄灭上述杀菌机器人底部的杀菌灯阵列；当上述杀菌机器人底部的杀菌灯阵列已经熄灭时，保持上述杀菌机器人底部的杀菌灯阵列处于熄灭状态。
步骤203，当上述杀菌机器人的运行模式为非手持模式时，触发上述杀菌机器人底部的杀菌灯阵列点亮；
本申请实施例中，基于上述杀菌机器人的运行模式是否为非手持模式，决定是否触发上述杀菌机器人底部的杀菌灯阵列点亮。当确定上述杀菌机器人的运行模式为非手持模式时，触发上述杀菌机器人底部的杀菌灯阵列点亮。
进一步，上述杀菌灯控制方法还包括：检测杀菌机器人顶部是否存在遮挡物，当上述杀菌机器人的运行模式为非手持模式且顶部不存在遮挡物时，触发上述杀菌机器人顶部的杀菌灯阵列熄灭；当上述杀菌机器人的运行模式为非手持模式且顶部存在遮挡物时，触发上述杀菌机器人顶部的杀菌灯阵列点亮。
进一步，上述杀菌灯控制方法还包括：在上述杀菌机器人的非手持模式下，检测上述杀菌机器人是否处于悬空状态；当检测到上述杀菌机器人处于悬空状态时，触发上述杀菌机器人底部的杀菌灯阵列熄灭。本申请实施例中，悬空状态是指杀菌机器人的轮胎离开接触面的状态。
在一种应用场景中，上述杀菌机器人底部设置有测距传感器，上述检测上述杀菌机器人是否处于悬空状态可包括：在非手持模式下基于上述测距传感器检测上述杀菌机器人是否处于悬空状态，当在非手持模式下未检测到上述杀菌机器人底部的第二距离内存在物体时，确定上述杀菌机器人处于悬空状态，当在非手持模式下检测到上述杀菌机器人底部的第二距离内存在物体时，确定上述杀菌机器人处于非悬空状态。其中，上述第二距离为预设值，上述测距传感器可以是红外测距传感器或由多个红外传感器组成的红外传感器阵列。
在另一种应用场景下，上述杀菌机器人的轮胎处设置有压感部件；底部设置有测距传感器。上述检测上述杀菌机器人是否处于悬空状态可包括：在非手持模式下基于上述压感部件检测上述杀菌机器人是否处于悬空状态。当然，除上述两种应用场景外，基于本申请思想，本申请实施例中也可以采用其它方式检测上述杀菌机器人是否处于悬空状态，此处不做限定。
进一步，上述杀菌机器人还包括外设接口，该外设接口用于连接外置杀菌灯。在实际应用中，用户可以将外置杀菌灯与该外设接口连接，以便增强杀菌机器人的杀菌效果。
可选的，当存在与上述外设接口连接的外置杀菌灯时，上述杀菌灯控制方法还包括：触发上述外置杀菌灯与杀菌机器人顶部的杀菌灯阵列同步点亮或熄灭；或者，触发上述外置杀菌灯与杀菌机器人底部的杀菌灯阵列同步点亮或熄灭。
当然，在其它实施例中，也可以针对上述外置杀菌灯设置其它灯光控制逻辑，此处不做限定。
需要说明的是，上述触发上述杀菌机器人底部的杀菌灯阵列点亮包括：当上述杀菌机器人底部的杀菌灯阵列熄灭时，点亮上述杀菌机器人底部的杀菌灯阵列；当上述杀菌机器人底部的杀菌灯阵列已经点亮时，保持上述杀菌机器人底部的杀菌灯阵列处于点亮状态。
上述触发上述杀菌机器人顶部的杀菌灯阵列熄灭包括：当上述杀菌机器人顶部的杀菌灯阵列点亮时，熄灭上述杀菌机器人顶部的杀菌灯阵列；当上述杀菌机器人顶部的杀菌灯阵列已经熄灭时，保持上述杀菌机器人顶部的杀菌灯阵列处于熄灭状态。
在本申请实施例中，上述杀菌灯阵列由至少一个杀菌灯组成。
具体的，组成上述杀菌灯阵列的杀菌灯可以是发出UV-C波段内（又称为短波灭菌紫外线）的紫外线的杀菌灯（波峰在185nm的紫外线可将空气中的氧气变成臭氧，波峰在254nm的紫外线无臭氧）或者是发出其他波段的具有杀菌能力的光的杀菌灯。
具体的，上述杀菌机器人为具备移动功能与杀菌功能的电子设备，此处不做限定。
由上可见，本申请实施例中的杀菌机器人配置有手持模式和非手持模式两种运行模式，且杀菌机器人底部设置有手持机构。在非手持模式时，杀菌机器人可以进行地面区域的清洁；在满足手持运行条件时，杀菌机器人由用户手持使用，可以进行墙面、桌面底面等非地面区域的清洁。用户可根据自身的需要，自主切换杀菌机器人的运行模式，以针对不同类型区域进行清洁，综上，本申请提供的应用于杀菌机器人的杀菌灯控制方法给用户提供了更多运行模式使用杀菌机器人，扩展杀菌机器人可清洁区域的类型，提升杀菌机器人的清洁能力，减少了用户在购买额外清洁工具上的花费。
应当理解，上述实施例中各步骤的序号大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。
实施例二
本申请提供一种应用于杀菌机器人的杀菌灯控制方法，本申请实施例中，杀菌机器人配置有手持模式和非手持模式两种运行模式，上述杀菌机器人底部设置有手持机构，且上述杀菌机器人中部设置有杀菌灯阵列。
在一种应用场景中，上述手持机构可以包括手持盖，上述手持盖可以被安装在上述杀菌机器人底部，其中的，上述手持盖上设置有系带，方便用户手持。
在另一种应用场景中，也可以将系带直接设置在杀菌机器人底部，也即，上述手持机构包括系带，且系带两端与上述杀菌机器人底部固定。
如图3所示，该杀菌灯控制方法包括：
步骤301，确定上述杀菌机器人的运行模式；
具体的，步骤301可参照图2所示实施例中步骤201的描述，此处不再赘述。
步骤302，检测上述杀菌机器人顶部是否存在遮挡物；
在一种应用场景中，上述杀菌机器人顶部设置有接近传感器，上述检测上述杀菌机器人顶部是否存在遮挡物可包括：基于上述接近传感器检测上述杀菌机器人是否存在遮挡物。
其中，上述接近传感器可以为红外接近传感器、电容式接近传感器、电感式接近传感器或光电式接近传感器，此处不做限定。
在另一种应用场景下，上述杀菌机器人顶部设置有测距传感器，上述检测杀菌机器人顶部是否存在遮挡物可包括：基于上述测距传感器检测上述杀菌机器人是否存在遮挡物，当基于上述测距传感器检测到在上述杀菌机器人顶部的第一距离内存在物体时，确定上述杀局机器人顶部存在遮挡物；当基于上述测距传感器未检测到在上述杀菌机器人顶部的第一距离内存在物体时，确定上述杀局机器人顶部不存在遮挡物。其中，上述第一距离为预设值。
当然，除上述两种应用场景外，基于本申请思想，本申请实施例中也可以采用其它方式检测杀菌机器人顶部是否存在遮挡物，此处不做限定。
步骤303，当上述杀菌机器人满足手持运行条件时，触发上述杀菌灯阵列点亮；
其中，上述手持运行条件包括：上述杀菌机器人的运行模式为手持模式，以及上述杀菌机器人顶部存在遮挡物；
本申请实施例中，基于上述杀菌机器人是否满足手持运行条件，决定是否触发上述杀菌灯阵列点亮。当上述杀菌机器人满足手持运行条件时，触发上述杀菌灯阵列点亮。
需要说明的是，上述触发上述杀菌灯阵列点亮包括：当上述杀菌灯阵列熄灭时，点亮上述杀菌灯阵列；当上述杀菌灯阵列已经点亮时，保持上述杀菌灯阵列处于点亮状态。
步骤304，当上述杀菌机器人的运行模式为非手持模式时，触发上述杀菌灯阵列点亮；
本申请实施例中，基于上述杀菌机器人的运行模式是否为非手持模式，决定是否触发上述杀菌灯阵列点亮。当确定上述杀菌机器人的运行模式为非手持模式时，触发上述杀菌灯阵列点亮。
进一步，上述杀菌灯控制方法还包括：在上述杀菌机器人的非手持模式下，检测上述杀菌机器人是否处于悬空状态；当检测到上述杀菌机器人处于悬空状态时，触发上述杀菌灯阵列熄灭。本申请实施例中，悬空状态是指杀菌机器人的轮胎离开接触面的状态。具体的，检测杀菌机器人是否处于悬空状态的方式可以参照图2所示实施例中提及的相应检测方式，此处不再赘述。
进一步，上述杀菌机器人还包括外设接口，该外设接口用于连接外置杀菌灯。在实际应用中，用户可以将外置杀菌灯与该外设接口连接，以便增强杀菌机器人的杀菌效果。
可选的，当存在与上述外设接口连接的外置杀菌灯时，上述杀菌灯控制方法还包括：触发上述外置杀菌灯与杀菌机器人中部的杀菌灯阵列同步点亮或熄灭。
当然，在其它实施例中，也可以针对上述外置杀菌灯设置其它灯光控制逻辑，此处不做限定。
需要说明的是，上述触发上述杀菌灯阵列点亮包括：当上述杀菌灯阵列熄灭时，点亮上述杀菌灯阵列；当上述杀菌灯阵列已经点亮时，保持上述杀菌灯阵列处于点亮状态。
上述触发上述杀菌灯阵列熄灭包括：当上述杀菌灯阵列点亮时，熄灭上述杀菌灯阵列；当上述杀菌灯阵列已经熄灭时，保持上述杀菌灯阵列处于熄灭状态。
在本申请实施例中，上述杀菌灯阵列由至少一个杀菌灯组成。
具体的，组成上述杀菌灯阵列的杀菌灯可以是发出UV-C波段内（又称为短波灭菌紫外线）的紫外线的杀菌灯（波峰在185nm的紫外线可将空气中的氧气变成臭氧，波峰在254nm的紫外线无臭氧）或者是发出其他波段的具有杀菌能力的光的杀菌灯。
具体的，上述杀菌机器人为具备移动功能与杀菌功能的电子设备，此处不做限定。
由上可见，本申请实施例中的杀菌机器人配置有手持模式和非手持模式两种运行模式，且杀菌机器人底部设置有手持机构。在非手持模式时，杀菌机器人可以进行地面区域的清洁；在满足手持运行条件时，杀菌机器人由用户手持使用，可以进行墙面、桌面底面等非地面区域的清洁。用户可根据自身的需要，自主切换杀菌机器人的运行模式，以针对不同类型区域进行清洁，综上，本申请提供的应用于杀菌机器人的杀菌灯控制方法给用户提供了更多运行模式使用杀菌机器人，扩展杀菌机器人可清洁区域的类型，提升杀菌机器人的清洁能力，减少了用户在购买额外清洁工具上的花费。
应当理解，上述实施例中各步骤的序号大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。
实施例三
本申请实施例还提供了一种应用于杀菌机器人的杀菌灯控制装置，可用以实现图2所示实施例的杀菌灯控制方法，本申请实施例中，上述杀菌机器人配置有手持模式和非手持模式两种运行模式，上述杀菌机器人底部设置有手持机构，且上述杀菌机器人顶部与底部分别设有杀菌灯阵列。
具体的，如图4所示，本申请实施例中的杀菌灯控制装置400包括确定单元401和控制单元402。
如图4所示，本申请实施例中，杀菌机器人上设置的杀菌灯阵列403包括杀菌机器人顶部的杀菌灯阵列4031和杀菌机器人底部的杀菌灯阵列4032。二者均有杀菌能力，杀菌灯阵列403与控制单元402相连。
确定单元401用于确定上述杀菌机器人的运行模式。
控制单元402用于当上述杀菌机器人满足手持运行条件时，触发杀菌机器人顶部的杀菌灯阵列4031点亮；当确定单元401确定上述杀菌机器人的运行模式为非手持模式时，触发杀菌机器人底部的杀菌灯阵列4032点亮，其中，上述手持运行条件包括：上述杀菌机器人的运行模式为手持模式。
可选的，控制单元402还用于：当上述杀菌机器人满足手持运行条件时，触发杀菌机器人底部的杀菌灯阵列4032熄灭。
可选的，控制单元402还用于：当确定单元401确定上述杀菌机器人的运行模式为非手持模式时，触发杀菌机器人顶部的杀菌灯阵列4031熄灭。进一步，如图4所示，杀菌灯控制装置400还可以包括：悬空检测单元405，用于在上述杀菌机器人的非手持模式下，检测上述杀菌机器人是否处于悬空状态。在此基础上，控制单元402还用于：当检测到上述杀菌机器人处于悬空状态时，触发上述杀菌机器人底部的杀菌灯阵列4032熄灭。
在一种应用场景中，确定单元401与上述杀菌机器人上设置的手持传感器（即用以检测上述杀菌机器人是否处于手持状态的传感器）相连。确定单元401具体用于：基于手持传感器检测上述杀菌机器人是否处于手持状态，当上述杀菌机器人处于手持状态时，确定上述杀菌机器人的运行模式为手持模式，当上述杀菌机器人未处于手持状态时，确定上述杀菌机器人的运行模式为非手持模式。
可选的，上述手持传感器可以是磁场传感器（例如霍尔传感器），在此场景下，如图4所示，在上述杀菌机器人还包括磁场传感器404的场景下，上述手持机构可包括第一磁性组件（图中未示出）和设置有第二磁性组件的手持盖（图中未示出），上述第一磁性组件与上述第二磁性组件吸附配合。确定单元401具体用于：当基于磁场传感器404检测到上述第一磁性组件与上述第二磁性组件吸附时，确定杀菌机器人的运行模式为手持模式；当基于磁场传感器404检测到上述第一磁性组件与上述第二磁性组件非吸附时，确定杀菌机器人的运行模式为非手持模式。
具体的，上述手持传感器也可以为测距传感器，或者是压力传感器，或者是其他类型的传感器，此处不做限定。
在另一种应用场景中，在上述杀菌机器人上设置用以切换上述运行模式的开关模块（例如切换按键），用户可以通过控制该开关模块切换上述杀菌机器人的运行模式。确定单元401与该开关模块相连，确定单元401具体用于：基于上述开关模块输入的切换信号确定上述杀菌机器人的运行模式。
可选的，上述手持运行条件还包括：上述杀菌机器人顶部存在遮挡物；如图4所示，上述杀菌灯控制装置还包括：遮挡检测单元406，用于检测上述杀菌机器人顶部是否存在遮挡物。
可选的，控制单元402还用于：当上述杀菌机器人的运行模式为非手持模式且上述杀菌机器人顶部不存在遮挡物时，触发上述杀菌机器人顶部的杀菌灯阵列4031熄灭；当上述杀菌机器人的运行模式为非手持模式且上述杀菌机器人顶部存在遮挡物时，触发上述杀菌机器人顶部的杀菌灯阵列4031点亮。
可选的，如图4所示，杀菌灯控制装置400还包括：外设接口407，用于连接外置杀菌灯408，外设接口407与控制单元402相连，控制单元402可以通过外设接口407触发与外设接口407相连的外置杀菌灯408点亮或熄灭。
在本申请实施例中，上述杀菌灯阵列由至少一个杀菌灯组成。
具体的，组成上述杀菌灯阵列的杀菌灯可以是发出UV-C波段内（又称为短波灭菌紫外线）的紫外线的杀菌灯（波峰在185nm的紫外线可将空气中的氧气变成臭氧，波峰在254nm的紫外线无臭氧）或者是发出其他波段的具有杀菌能力的光的杀菌灯。
具体的，上述杀菌机器人为具备移动功能与杀菌功能的电子设备，此处不做限定。
需要说明的是，本申请实施例中的杀菌灯控制装置集成在杀菌机器人内部，或者，也可以是独立于杀菌机器人且可与杀菌机器人通讯的装置，此处不做限定。
由上可见，上述杀菌灯控制装置可以确定杀菌机器人的运行模式并在不同情况下点亮相应位置的杀菌灯阵列。其中，在非手持模式时，杀菌机器人可以进行地面区域的清洁；在满足手持运行条件时，杀菌机器人由用户手持使用，可以进行墙面、桌面底面等非地面区域的清洁。用户可根据自身的需要，自主切换杀菌机器人的运行模式，以针对不同类型区域进行清洁，综上，本申请提供的应用于杀菌机器人的杀菌灯控制装置给用户提供了更多运行模式使用杀菌机器人，扩展杀菌机器人可清洁区域的类型，提升杀菌机器人的清洁能力，减少了用户在购买额外清洁工具上的花费。
实施例四
本申请实施例还提供了一种应用于杀菌机器人的杀菌灯控制装置，可用以实现图3所示实施例的杀菌灯控制方法，本申请实施例中，上述杀菌机器人配置有手持模式和非手持模式两种运行模式，上述杀菌机器人底部设置有手持机构，且上述杀菌机器人设有杀菌灯阵列。
具体的，如图5所示，杀菌灯控制装置500包括确定单元501、遮挡检测单元502和控制单元503；
如图5所示，本申请实施例中，杀菌机器人的杀菌灯阵列设置于杀菌机器人中部，该杀菌灯阵列504与控制单元503相连。
确定单元501用于确定上述杀菌机器人的运行模式。
遮挡检测单元502用于检测上述杀菌机器人顶部是否存在遮挡物。
控制单元503用于当上述杀菌机器人满足手持运行条件时，触发杀菌灯阵列504点亮；当确定单元501确定上述杀菌机器人的运行模式为非手持模式时，触发杀菌灯阵列504点亮，其中，上述手持运行条件包括：上述杀菌机器人的运行模式为手持模式，以及上述杀菌机器人顶部存在遮挡物。
可选的，如图5所示，杀菌灯控制装置还包括：悬空检测单元505，用于在上述杀菌机器人的非手持模式下，检测上述杀菌机器人是否处于悬空状态。在此基础上，控制单元503还用于：当检测到上述杀菌机器人处于悬空状态时，触发杀菌灯阵列504熄灭。
可选的，如图5所示，杀菌灯控制装置500还包括：外设接口506，用于连接外置杀菌灯507。外设接口506与控制单元503相连，控制单元503可以通过外设接口506触发与外设接口506相连的外置杀菌灯507点亮或熄灭。
在一种应用场景中，确定单元501与上述杀菌机器人上设置的手持传感器（即用以检测上述杀菌机器人是否处于手持状态的传感器）相连。确定单元501具体用于：基于手持传感器检测上述杀菌机器人是否处于手持状态，当上述杀菌机器人处于手持状态时，确定上述杀菌机器人的运行模式为手持模式，当上述杀菌机器人未处于手持状态时，确定上述杀菌机器人的运行模式为非手持模式。
可选的，上述手持传感器可以是磁场传感器（例如霍尔传感器），在此场景下，如图5所示，在上述杀菌机器人还包括磁场传感器508的场景下，上述手持机构可包括第一磁性组件（图中未示出）和设置有第二磁性组件的手持盖（图中未示出），上述第一磁性组件与上述第二磁性组件吸附配合。确定单元501具体用于：当基于磁场传感器508检测到上述第一磁性组件与上述第二磁性组件吸附时，确定杀菌机器人的运行模式为手持模式；当基于磁场传感器508检测到上述第一磁性组件与上述第二磁性组件非吸附时，确定杀菌机器人的运行模式为非手持模式。
具体的，上述手持传感器也可以为测距传感器，或者是压力传感器，或者是其他类型的传感器，此处不做限定。
在另一种应用场景中，在上述杀菌机器人上设置用以切换上述运行模式的开关模块（例如切换按键），用户可以通过控制该开关模块切换上述杀菌机器人的运行模式。确定单元501与该开关模块相连，确定单元501具体用于：基于上述开关模块输入的切换信号确定上述杀菌机器人的运行模式。
在本申请实施例中，上述杀菌灯阵列由至少一个杀菌灯组成。
具体的，组成上述杀菌灯阵列的杀菌灯可以是发出UV-C波段内（又称为短波灭菌紫外线）的紫外线的杀菌灯（波峰在185nm的紫外线可将空气中的氧气变成臭氧，波峰在254nm的紫外线无臭氧）或者是发出其他波段的具有杀菌能力的光的杀菌灯。
具体的，上述杀菌机器人为具备移动功能与杀菌功能的电子设备，此处不做限定。
需要说明的是，本申请实施例中的杀菌灯控制装置集成在杀菌机器人内部，或者，也可以是独立于杀菌机器人且可与杀菌机器人通讯的装置，此处不做限定。
由上可见，上述杀菌灯控制装置可以确定杀菌机器人的运行模式并在不同情况下点亮或熄灭杀菌灯阵列。其中，在非手持模式时，杀菌机器人可以进行地面区域的清洁；在满足手持运行条件时，杀菌机器人由用户手持使用，可以进行墙面、桌面底面等非地面区域的清洁。用户可根据自身的需要，自主切换杀菌机器人的运行模式，以针对不同类型区域进行清洁，综上，本申请提供的应用于杀菌机器人的杀菌灯控制装置给用户提供了更多运行模式使用杀菌机器人，扩展杀菌机器人可清洁区域的类型，提升杀菌机器人的清洁能力，减少了用户在购买额外清洁工具上的花费。
实施例五
本申请实施例提供一种杀菌机器人，该杀菌机器人配置有手持模式和非手持模式两种运行模式；如图6所示，本申请实施例中的杀菌机器人还包括：存储器601、处理器602、杀菌灯阵列603，以及手持机构（图中未示出），其中：存储器601用于存储软件程序以及模块，处理器602通过运行存储在存储器601的软件程序以及模块，从而执行各种功能应用以及数据处理，杀菌灯阵列603包含杀菌机器人顶部的杀菌灯阵列和杀菌机器人底部的杀菌灯阵列两部分。存储器601、处理器602和杀菌灯阵列603通过总线604连接。
具体的，处理器602通过运行存储在存储器601的上述计算机程序时实现以下步骤：
确定上述杀菌机器人的运行模式；
当上述杀菌机器人满足手持运行条件时，触发上述杀菌机器人顶部的杀菌灯阵列点亮，其中，上述手持运行条件包括：上述杀菌机器人的运行模式为手持模式；
当上述杀菌机器人的运行模式为非手持模式时，触发上述杀菌机器人底部的杀菌灯阵列点亮。
本申请实施例中，上述杀菌机器人配置有手持模式和非手持模式两种运行模式，上述杀菌机器人底部设置有手持机构，且上述杀菌机器人顶部与底部分别设置有杀菌灯阵列。
假设上述为第一种可能的实施方式，则在基于上述第一种可能的实施方式的第二种可能的实施方式中，上述手持运行条件还包括：上述杀菌机器人顶部存在遮挡物；上述杀菌灯控制方法还包括：检测上述杀菌机器人顶部是否存在遮挡物。
在基于上述第二种可能的实施方式的第三种可能的实施方式中，
上述检测上述杀菌机器人顶部是否存在遮挡物之后还包括：当上述杀菌机器人的运行模式为非手持模式且上述杀菌机器人顶部不存在遮挡物时，触发上述杀菌机器人顶部的杀菌灯阵列熄灭；当上述杀菌机器人的运行模式为非手持模式且上述杀菌机器人顶部存在遮挡物时，触发上述杀菌机器人顶部的杀菌灯阵列点亮。
在基于上述第一种或第二种或第三种可能的实施方式的第四种可能的实施方式中，上述杀菌灯控制方法还包括：当上述杀菌机器人满足上述手持运行条件时，触发上述杀菌机器人底部的杀菌灯阵列熄灭。
在基于上述第一种或第二种或第三种可能的实施方式的第五种可能的实施方式中，在上述杀菌机器人的非手持模式下，检测上述杀菌机器人是否处于悬空状态；当检测到上述杀菌机器人处于悬空状态时，触发上述杀菌机器人底部的杀菌灯阵列熄灭。
者模式为非手持模式时，触发所述杀菌机器人底部的杀菌灯阵列点亮。
在基于上述第一种或第二种或第三种可能的实施方式的第六种可能的实施方式中，上述杀菌机器人还包括磁场传感器，上述手持机构包括第一磁性组件以及设置有第二磁性组件的手持盖，其中，上述第一磁性组件与上述第二磁性组件吸附配合；
上述检测上述杀菌机器人的运行模式包括：
当基于上述磁场传感器检测到上述第一磁性组件与上述第二磁性组件吸附时，确定上述杀菌机器人的运行模式为手持模式；
当基于上述磁场传感器检测到上述第一磁性组件与上述第二磁性组件非吸附时，确定上述杀菌机器人的运行模式为非手持模式。
在基于上述第一种或第二种或第三种可能的实施方式的第七种可能的实施方式中，上述手持机构包括系带，上述系带两端与上述杀菌机器人底部固定；
上述杀菌机器人还包括：
用于切换运行模式的切换按键；
上述检测上述杀菌机器人的运行模式包括：
基于上述切换按键输入的切换信号确定上述杀菌机器人的运行模式。
具体的，存储器601可以包括只读存储器和随机存取存储器，并向处理器602提供指令和数据。存储器601的一部分或全部还可以包括非易失性随机存取存储器；处理器602可以是中央处理单元(Central
Processing Unit，CPU)，该处理器还可以是其他通用处理器、数字信号处理器
(Digital Signal Processor，DSP)、专用集成电路 (Application
Specific Integrated Circuit，ASIC)、现成可编程门阵列
(Field-Programmable Gate Array，FPGA)
或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等；杀菌灯阵列603由至少一个杀菌灯组成。
具体的，组成杀菌灯阵列603的杀菌灯可以是发出UV-C波段内（又称为短波灭菌紫外线）的紫外线的杀菌灯（波峰在185nm的紫外线可将空气中的氧气变成臭氧，波峰在254nm的紫外线无臭氧）或者是发出其他波段的具有杀菌能力的光的杀菌灯。
具体的，上述杀菌机器人为具备移动功能与杀菌功能的电子设备，此处不做限定。
实施例六
本申请实施例提供一种杀菌机器人，该杀菌机器人配置有手持模式和非手持模式两种运行模式；本申请实施例中的杀菌机器人还包括：存储器、处理器、杀菌灯阵列，以及手持机构，其中：存储器用于存储软件程序以及模块，处理器通过运行存储在存储器的软件程序以及模块，从而执行各种功能应用以及数据处理，杀菌灯阵列设置于上述杀菌机器人中部。存储器、处理器和杀菌灯阵列通过总线连接。
具体的，处理器通过运行存储在存储器的上述计算机程序时实现以下步骤：
确定上述杀菌机器人的运行模式；
检测上述杀菌机器人顶部是否存在遮挡物；
当上述杀菌机器人满足手持运行条件时，触发上述杀菌灯阵列点亮，其中，上述手持运行条件包括：上述杀菌机器人的运行模式为手持模式，以及上述杀菌机器人顶部存在遮挡物；
当上述杀菌机器人的运行模式为非手持模式时，触发上述杀菌灯阵列点亮。
本申请实施例中，上述杀菌机器人配置有手持模式和非手持模式两种运行模式，上述杀菌机器人底部设置有手持机构，且上述杀菌机器人中部设置有杀菌灯阵列。
假设上述为第一种可能的实施方式，则在基于上述第一种可能的实施方式的第二种可能的实施方式中，上述杀菌灯控制方法还包括：在上述杀菌机器人的非手持模式下，检测上述杀菌机器人是否处于悬空状态；当检测到上述杀菌机器人处于悬空状态时，触发上述杀菌灯阵列熄灭。
在基于上述第一种可能的实施方式的第三种可能的实施方式中，上述杀菌机器人还包括外设接口，上述外设接口用于连接外置杀菌灯。
在基于上述第一种或第二种或第三种可能的实施方式的第四种可能的实施方式中，上述杀菌机器人还包括磁场传感器，上述手持机构包括第一磁性组件以及设置有第二磁性组件的手持盖，其中，上述第一磁性组件与上述第二磁性组件吸附配合；
上述确定上述杀菌机器人的运行模式包括：
当基于上述磁场传感器检测到上述第一磁性组件与上述第二磁性组件吸附时，确定上述杀菌机器人的运行模式为手持模式；
当基于上述磁场传感器检测到上述第一磁性组件与上述第二磁性组件非吸附时，确定上述杀菌机器人的运行模式为非手持模式。
在基于上述第一种或第二种或第三种可能的实施方式的第五种可能的实施方式中，上述手持机构包括系带，上述系带两端与上述杀菌机器人底部固定；
上述杀菌机器人还包括：
用于切换运行模式的切换按键；
上述确定上述杀菌机器人的运行模式包括：
基于上述切换按键输入的切换信号确定上述杀菌机器人的运行模式。
具体的，本申请实施例中的杀菌机器人的结构可以参照图5所示实施例中的描述，此处不再赘述。
对所公开的实施例的上述说明，使本领域专业技术人员能够实现或使用本发明。对这些实施例的多种修改对本领域的专业技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本发明的精神或范围的情况下，在其它实施例中实现。因此，本发明将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。
所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，仅以上述各功能单元、模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能单元、模块完成，即将上述装置的内部结构划分成不同的功能单元或模块，以完成以上描述的全部或者部分功能。实施例中的各功能单元、模块可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中，上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。另外，各功能单元、模块的具体名称也只是为了便于相互区分，并不用于限制本申请的保护范围。上述***中单元、模块的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
需要说明的是，上述实施例所提供的方法及其细节举例可结合至实施例提供的装置和设备中，相互参照，不再赘述。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各实例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟是以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同的方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
在本申请所提供的实施例中，应该理解到，所揭露的装置/终端设备和方法，可以通过其他的方式实现。例如，以上所描述的装置/设备实施例仅仅是示意性的，例如，上述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以由另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。
以上上述实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围，均应包含在本申请的保护范围之内。
Claims (17)
- 一种应用于杀菌机器人的杀菌灯控制方法，其特征在于，所述杀菌机器人配置有手持模式和非手持模式两种运行模式，所述杀菌机器人底部设置有手持机构，且所述杀菌机器人顶部与底部分别设置有杀菌灯阵列；所述杀菌灯控制方法包括：确定所述杀菌机器人的运行模式；当所述杀菌机器人满足手持运行条件时，触发所述杀菌机器人顶部的杀菌灯阵列点亮，其中，所述手持运行条件包括：所述杀菌机器人的运行模式为手持模式；当所述杀菌机器人的运行模式为非手持模式时，触发所述杀菌机器人底部的杀菌灯阵列点亮。
- 根据权利要求1所述的杀菌灯控制方法，其特征在于，所述手持运行条件还包括：所述杀菌机器人顶部存在遮挡物；所述杀菌灯控制方法还包括：检测所述杀菌机器人顶部是否存在遮挡物。
- 根据权利要求2所述的杀菌灯控制方法，其特征在于，所述检测所述杀菌机器人顶部是否存在遮挡物之后还包括：当所述杀菌机器人的运行模式为非手持模式且所述杀菌机器人顶部不存在遮挡物时，触发所述杀菌机器人顶部的杀菌灯阵列熄灭；当所述杀菌机器人的运行模式为非手持模式且所述杀菌机器人顶部存在遮挡物时，触发所述杀菌机器人顶部的杀菌灯阵列点亮。
- 根据权利要求1至3任一项所述的杀菌灯控制方法，其特征在于，所述杀菌灯控制方法还包括：当所述杀菌机器人满足所述手持运行条件时，触发所述杀菌机器人底部的杀菌灯阵列熄灭。
- 根据权利要求1至3任一项所述的杀菌灯控制方法，其特征在于，所述杀菌灯控制方法还包括：在所述杀菌机器人的非手持模式下，检测所述杀菌机器人是否处于悬空状态；当检测到所述杀菌机器人处于悬空状态时，触发所述杀菌机器人底部的杀菌灯阵列熄灭。
- 根据权利要求1至3任一项所述的杀菌灯控制方法，其特征在于，所述杀菌机器人还包括磁场传感器，所述手持机构包括第一磁性组件以及设置有第二磁性组件的手持盖，其中，所述第一磁性组件与所述第二磁性组件吸附配合；所述确定所述杀菌机器人的运行模式包括：当基于所述磁场传感器检测到所述第一磁性组件与所述第二磁性组件吸附时，确定所述杀菌机器人的运行模式为手持模式；当基于所述磁场传感器检测到所述第一磁性组件与所述第二磁性组件非吸附时，确定所述杀菌机器人的运行模式为非手持模式。
- 根据权利要求1至3任一项所述的杀菌灯控制方法，其特征在于，所述手持机构包括系带，所述系带两端与所述杀菌机器人底部固定；所述杀菌机器人还包括：用于切换运行模式的切换按键；所述确定所述杀菌机器人的运行模式包括：基于所述切换按键输入的切换信号确定所述杀菌机器人的运行模式。
- 根据权利要求1至3任一项所述的杀菌灯控制方法，其特征在于，所述杀菌机器人还包括外设接口，所述外设接口用于连接外置杀菌灯。
- 一种应用于杀菌机器人的杀菌灯控制方法，其特征在于，所述杀菌机器人配置有手持模式和非手持模式两种运行模式，所述杀菌机器人底部设置有手持机构，且所述杀菌机器人中部设置有杀菌灯阵列；所述杀菌灯控制方法包括：确定所述杀菌机器人的运行模式；检测所述杀菌机器人顶部是否存在遮挡物；当所述杀菌机器人满足手持运行条件时，触发所述杀菌灯阵列点亮，其中，所述手持运行条件包括：所述杀菌机器人的运行模式为手持模式，以及所述杀菌机器人顶部存在遮挡物；当所述杀菌机器人的运行模式为非手持模式时，触发所述杀菌灯阵列点亮。
- 根据权利要求9所述的杀菌灯控制方法，其特征在于，所述杀菌灯控制方法还包括：在所述杀菌机器人的非手持模式下，检测所述杀菌机器人是否处于悬空状态；当检测到所述杀菌机器人处于悬空状态时，触发所述杀菌灯阵列熄灭。
- 根据权利要求9所述的杀菌灯控制方法，其特征在于，所述杀菌机器人还包括外设接口，所述外设接口用于连接外置杀菌灯。
- 根据权利要求9至11任一项所述的杀菌灯控制方法，其特征在于，所述杀菌机器人还包括磁场传感器，所述手持机构包括第一磁性组件以及设置有第二磁性组件的手持盖，其中，所述第一磁性组件与所述第二磁性组件吸附配合；所述确定所述杀菌机器人的运行模式包括：当基于所述磁场传感器检测到所述第一磁性组件与所述第二磁性组件吸附时，确定所述杀菌机器人的运行模式为手持模式；当基于所述磁场传感器检测到所述第一磁性组件与所述第二磁性组件非吸附时，确定所述杀菌机器人的运行模式为非手持模式。
- 根据权利要求9至11任一项所述的杀菌灯控制方法，其特征在于，所述手持机构包括系带，所述系带两端与所述杀菌机器人底部固定；所述杀菌机器人还包括：用于切换运行模式的切换按键；所述确定所述杀菌机器人的运行模式包括：基于所述切换按键输入的切换信号确定所述杀菌机器人的运行模式。
- 一种应用于杀菌机器人的杀菌灯控制装置，其特征在于，所述杀菌机器人配置有手持模式和非手持模式两种运行模式，所述杀菌机器人底部设置有手持机构，且所述杀菌机器人顶部与底部分别设有杀菌灯阵列；所述杀菌灯控制装置还包括：确定单元，用于确定所述杀菌机器人的运行模式；控制单元，用于当所述杀菌机器人满足手持运行条件时，触发所述杀菌机器人顶部的杀菌灯阵列点亮；当所述杀菌机器人的运行模式为非手持模式时，触发所述杀菌机器人底部的杀菌灯阵列点亮，其中，所述手持运行条件包括：所述杀菌机器人的运行模式为手持模式。
- 一种应用于杀菌机器人的杀菌灯控制装置，其特征在于，所述杀菌机器人配置有手持模式和非手持模式两种运行模式，所述杀菌机器人底部设置有手持机构，且所述杀菌机器人中部设有杀菌灯阵列；所述杀菌灯控制装置还包括：确定单元，用于确定所述杀菌机器人的运行模式；遮挡检测单元，用于检测所述杀菌机器人顶部是否存在遮挡物；控制单元，用于当所述杀菌机器人满足手持运行条件时，触发所述杀菌灯阵列点亮；当所述杀菌机器人的运行模式为非手持模式时，触发所述杀菌灯阵列点亮，其中，所述手持运行条件包括：所述杀菌机器人的运行模式为手持模式，以及所述杀菌机器人顶部存在遮挡物。
- 一种杀菌机器人，包括存储器和处理器，所述存储器存储有计算机程序，其特征在于，所述杀菌机器人配置有手持模式和非手持模式两种运行模式，所述杀菌机器人底部还设置有手持机构，且所述杀菌机器人顶部与底部分别设有杀菌灯阵列；所述处理器执行所述计算机程序时实现权利要求1至8中任一项所述方法的步骤。
- 一种杀菌机器人，包括存储器和处理器，所述存储器存储有计算机程序，其特征在于，所述杀菌机器人配置有手持模式和非手持模式两种运行模式，所述杀菌机器人底部还设置有手持机构，且所述杀菌机器人中部设有杀菌灯阵列；所述处理器执行所述计算机程序时实现权利要求9至13中任一项所述方法的步骤。
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| PCT/CN2019/107317 WO2021022639A1 (zh) | 2019-08-02 | 2019-09-23 | 一种应用于杀菌机器人的杀菌灯控制方法及装置 |
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| CN (1) | CN110448705B (zh) |
| WO (1) | WO2021022639A1 (zh) |
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| CN110448705A (zh) | 2019-11-15 |
| CN110448705B (zh) | 2020-08-11 |
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