WO2022171159A1 - 自动清洁设备控制方法及装置、介质及电子设备 - Google Patents
自动清洁设备控制方法及装置、介质及电子设备 Download PDFInfo
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- WO2022171159A1 WO2022171159A1 PCT/CN2022/075777 CN2022075777W WO2022171159A1 WO 2022171159 A1 WO2022171159 A1 WO 2022171159A1 CN 2022075777 W CN2022075777 W CN 2022075777W WO 2022171159 A1 WO2022171159 A1 WO 2022171159A1
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Classifications
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- A—HUMAN NECESSITIES
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- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
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- 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
- A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
- A47L11/4055—Movement of the tools or the like perpendicular to the cleaning surface for lifting the tools to a non-working position
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- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
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- 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
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Definitions
- the present disclosure relates to the field of smart homes, and in particular, to an automatic cleaning device control method, an automatic cleaning device control device, a computer-readable storage medium, and an electronic device.
- the purpose of the present disclosure is to provide an automatic cleaning device control method, an automatic cleaning device control device, a computer-readable storage medium, and an electronic device, which can solve at least one of the above-mentioned technical problems.
- the specific plans are as follows:
- the present disclosure provides a method for controlling an automatic cleaning device, including:
- first data is obtained according to the current running wheel state data of the automatic cleaning device
- second data is obtained according to the current airframe state data of the automatic cleaning device
- the automatic cleaning device is controlled to enter an accelerated escape mode.
- determining whether the automatic cleaning device is trapped includes:
- the method further includes:
- the difference between the first data and the second data is greater than a first threshold and lasts for a first preset time, it is determined that the automatic cleaning device is trapped.
- the method further includes:
- obtaining the theoretical output power of the motor according to the current running wheel state data of the automatic cleaning device includes:
- the theoretical output power of the motor is determined according to the current traveling distance of the traveling wheel of the automatic cleaning device.
- the method further includes:
- the difference between the first data and the second data is less than a third threshold and lasts for a third preset time, and the main brush current of the automatic cleaning device exceeds the fourth threshold and lasts for a fourth preset time, Then it is determined that the automatic cleaning device is trapped.
- the acceleration and escape mode includes controlling the automatic cleaning device to accelerate immediately after decelerating.
- the method further includes:
- the accelerated escape mode is turned off when the automatic cleaning device is located on the medium prone to misjudgment.
- determining whether the automatic cleaning device is on a medium prone to misjudgment includes:
- obtaining the first data according to the current running wheel state data of the automatic cleaning device includes:
- the first data in the current running wheel state is acquired according to the running wheel sensor data of the automatic cleaning device.
- acquiring the second data according to the current airframe state data of the automatic cleaning device includes:
- the current airframe state data is acquired according to the state sensor on the automatic cleaning device, and then the second data is determined according to the current airframe state data.
- the state sensor includes a gyroscope, a motor power sensor, a cliff sensor or a touch sensor.
- an automatic cleaning equipment control device comprising:
- a data acquisition module configured to acquire first data according to the current running wheel state data of the automatic cleaning device, and obtain second data according to the current airframe state data of the automatic cleaning device when the automatic cleaning device is cleaning;
- a state determination module configured to determine whether the automatic cleaning device is trapped according to the first data and the second data
- a control escape module is configured to control the automatic cleaning device to enter an accelerated escape mode if the automatic cleaning device is trapped.
- the present disclosure provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the above-mentioned automatic cleaning device control method.
- the present disclosure provides an electronic device, comprising:
- a memory for storing executable instructions for the processor
- the processor is configured to execute the above-mentioned automatic cleaning device control method by executing the executable instructions.
- the automatic cleaning equipment control method provided by the exemplary embodiments of the present disclosure, during the cleaning process of the automatic cleaning equipment, if the first data obtained according to the current running wheel status data is different from the current airframe status data If the acquired second data is different, it can be determined that the automatic cleaning device is trapped; at this time, the automatic cleaning device can be helped to get out of the trap through the accelerated escape mode, so as to reduce the probability of the automatic cleaning device getting stuck.
- an automatic cleaning device cleaning method for cleaning a dual-zone cleaning mode including a first surface media area and a second surface media area including:
- the automatic cleaning device After the automatic cleaning device enters the dual-area cleaning mode, determining whether the second surface medium area exists according to a stored map in the automatic cleaning device;
- the automatic cleaning device is controlled to clean the first surface media area.
- determining whether the second surface media area exists based on a stored map in the automatic cleaning device includes:
- the automatic cleaning device is controlled to enter the position of the second surface medium area recorded in the stored map, and detect whether the second surface medium area exists.
- the second surface media area is deleted from the stored map to update the stored map.
- the method further comprises:
- the automatic cleaning device is controlled to continue cleaning the first surface medium areas until the first surface medium areas are cleaned.
- the method further includes:
- the cleaning robot In the process of cleaning the second surface medium area, if the second surface medium area is a cross-block area, the restriction of the block is ignored, and the cleaning robot is controlled to clean the entire second surface medium area.
- the method before the automatic cleaning device enters the dual-zone cleaning mode, the method further includes:
- the automatic cleaning device detects the second surface medium area in the process of cleaning along the wall, ignore the second surface medium area, and control the automatic cleaning device to continue cleaning along the wall until the cleaning along the wall end to exit the along-wall cleaning mode;
- the automatic cleaning device is controlled to enter the dual zone cleaning mode.
- the second surface media area is stored in the stored map.
- cleaning the second surface media region includes:
- the remainder of the second surface media area is cleaned.
- an area determination module configured to determine whether the second surface medium area exists according to a stored map in the automatic cleaning device after the automatic cleaning device enters the dual-region cleaning mode
- a first cleaning control module configured to clean the second surface medium area if the second surface medium area exists; after the second surface medium area is cleaned, mark it as a cleaned area, and determine whether it exists The next second surface medium area, if there is one, clean the next second surface medium area until all the second surface medium areas are completely cleaned;
- the second cleaning control module is used for controlling the automatic cleaning device to clean the first surface medium area.
- the present disclosure provides a computer-readable storage medium having stored thereon a computer program that, when executed by a processor, implements the automatic cleaning according to the fifth aspect or any of its exemplary embodiments Equipment cleaning methods.
- the present disclosure provides an electronic device, comprising:
- a memory for storing executable instructions for the processor
- the processor is configured to execute the automatic cleaning device cleaning method according to the fifth aspect or any of its exemplary embodiments by executing the executable instructions.
- the automatic cleaning device when the automatic cleaning device cleans the first surface medium region and the second surface medium region, the automatic cleaning device can be controlled to first clean the second surface medium region.
- the first surface medium area is cleaned, thereby reducing the number of times the automatic cleaning equipment controls the lifting and lowering of the wet cleaning module, improving the cleaning efficiency and prolonging the automatic cleaning equipment. service life.
- FIG. 1 is a perspective view of an automatic cleaning device according to an embodiment of the present disclosure
- FIG. 2 is a schematic diagram of a bottom structure of an automatic cleaning device according to an embodiment of the present disclosure
- FIG. 3 is an oblique view of a one-side drive wheel assembly according to an embodiment of the present disclosure
- FIG. 4 is a front view of a side drive wheel assembly of one embodiment of the present disclosure.
- FIG. 5 is an oblique view of a dust box according to an embodiment of the present disclosure.
- FIG. 6 is a perspective view of a fan according to an embodiment of the present disclosure.
- FIG. 7 is a schematic diagram of an open state of a dust box according to an embodiment of the present disclosure.
- FIG. 8 is a schematic diagram of a combined state of a dust box and a fan according to an embodiment of the present disclosure
- FIG. 9 is an exploded view of an automatic cleaning device according to an embodiment of the present disclosure.
- FIG. 10 is a structural diagram of an automatic cleaning equipment support platform according to an embodiment of the present disclosure.
- FIG. 11 is a structural diagram of a vibration member of an automatic cleaning device according to an embodiment of the present disclosure.
- FIG. 12 is a schematic diagram of a cleaning head driving mechanism based on a crank-slider mechanism according to another embodiment of the present disclosure
- FIG. 13 is a schematic diagram of a cleaning head driving mechanism based on a double crank mechanism according to another embodiment of the present disclosure
- FIG. 14 is a schematic diagram of a cleaning head driving mechanism based on a crank mechanism according to another embodiment of the present disclosure.
- 15 is a schematic diagram of a raised state of an automatic cleaning device according to an embodiment of the present disclosure.
- 16 is a schematic diagram of a sinking state of an automatic cleaning device according to an embodiment of the present disclosure.
- FIG. 17 is a schematic diagram of a raised state of a four-link lifting structure according to an embodiment of the present disclosure.
- FIG. 18 is a schematic diagram of the sinking state of the four-link lifting structure according to an embodiment of the present disclosure.
- FIG. 19 shows a flowchart of a method for controlling an automatic cleaning device according to an embodiment of the present disclosure
- Fig. 20 shows a flowchart of the operation steps of a method for controlling an automatic cleaning device according to an embodiment of the present disclosure
- Fig. 21 shows a block diagram of an automatic cleaning device control device according to an embodiment of the present disclosure
- FIG. 22 shows a schematic diagram of a module of an electronic device according to an embodiment of the present disclosure
- FIG. 23 shows a flowchart of a method for cleaning an automatic cleaning device according to an embodiment of the present disclosure
- FIG. 24 shows a schematic structural diagram of the initialization area after scanning the second surface medium area according to an embodiment of the present disclosure
- Figure 25 shows a schematic structural diagram of a merged region obtained based on the initialization region shown in Figure 24;
- Fig. 26 shows a block diagram of a cleaning device for automatic cleaning equipment according to an embodiment of the present disclosure
- FIG. 27 shows a schematic block diagram of an electronic device according to an embodiment of the present disclosure.
- first, second, third, etc. may be used to describe . . . in the embodiments of the present disclosure, these . . . should not be limited to these terms. These terms are only used to distinguish ...
- the first... may also be referred to as the second..., and similarly, the second... may also be referred to as the first... without departing from the scope of the embodiments of the present disclosure.
- the words “if”, “if” as used herein may be interpreted as “at” or “when” or “in response to determining” or “in response to detecting”.
- the phrases “if determined” or “if detected (the stated condition or event)” can be interpreted as “when determined” or “in response to determining” or “when detected (the stated condition or event),” depending on the context )” or “in response to detection (a stated condition or event)”.
- Figures 1 to 2 are schematic structural diagrams of an automatic cleaning device according to an exemplary embodiment.
- the automatic cleaning device may be a vacuum robot, or mopping/sweeping.
- the automatic cleaning equipment may include a mobile platform 100 , a sensing system 120 , a control system 130 , a driving system 140 , a cleaning module 150 , an energy system 160 and a human-computer interaction system 170 . in:
- the mobile platform 100 may be configured to automatically move along the target direction on the operating surface.
- the operating surface may be the surface to be cleaned by the automatic cleaning device.
- the automatic cleaning device can be a mopping robot, and the automatic cleaning device works on the ground, where the ground is the operating surface; the automatic cleaning device can also be a window cleaning robot, and the automatic cleaning device is in the building.
- the outer surface of the glass works, the glass is the operation surface; the automatic cleaning equipment can also be a pipe cleaning robot, and the automatic cleaning equipment works on the inner surface of the pipe, and the inner surface of the pipe is the operation surface.
- the following description in this application takes a floor mopping robot as an example for illustration.
- the mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform.
- the autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operational decisions according to unexpected environmental inputs; the non-autonomous mobile platform itself cannot make adaptive decisions according to unexpected environmental inputs. Operational decisions, but can execute a given procedure or operate according to a certain logic.
- the target direction may be determined autonomously by the automatic cleaning device; when the mobile platform 100 is a non-autonomous mobile platform, the target direction may be set by the system or manually.
- the mobile platform 100 includes a forward portion 111 and a rearward portion 110 .
- Perception system 120 includes position determination device 121 located above mobile platform 100, buffer 122 located at forward portion 111 of mobile platform 100, cliff sensors 123 and ultrasonic sensors (not shown), infrared sensors located at the bottom of mobile platform 100 (not shown in the figure), magnetometer (not shown in the figure), accelerometer (not shown in the figure), gyroscope (not shown in the figure), odometer (not shown in the figure) and other sensors
- the device provides various position information and motion state information of the machine to the control system 130 .
- the automatic cleaning device can travel on the ground by various combinations of movements relative to the following three mutually perpendicular axes defined by the mobile platform 100: lateral axis x, Front and rear axis y and center vertical axis z.
- the forward drive direction along the front-rear axis y is designated “forward” and the rearward drive direction along the front-rear axis y is designated “rear”.
- the transverse axis x extends substantially along the axis defined by the center point of the drive wheel assembly 141 between the right and left wheels of the automatic cleaning apparatus.
- the automatic cleaning device can rotate around the x-axis.
- the automatic cleaning device can be rotated about the z-axis. In the forward direction of the automatic cleaning device, when the automatic cleaning device is inclined to the right of the Y-axis, it is “turn right", and when the automatic cleaning device is inclined to the left of the y-axis, it is “turn left”.
- cliff sensors 123 are provided on the bottom of the mobile platform 100 and at the front and rear of the driving wheel assembly 141 , and the cliff sensors 123 are used to prevent the automatic cleaning device from falling when it retreats, so that the automatic cleaning device can be avoided. damaged.
- the aforementioned "front” refers to the same side with respect to the traveling direction of the automatic cleaning device, and the aforementioned “rear” refers to the opposite side with respect to the traveling direction of the automatic cleaning device.
- the location determination device 121 includes, but is not limited to, a camera and a laser ranging device (LDS Laser Direct Structuring).
- LDS Laser Direct Structuring LDS Laser Direct Structuring
- Each component in the perception system 120 can operate independently, or can operate together to achieve the purpose function more accurately.
- the surface to be cleaned is identified by the cliff sensor 123 and the ultrasonic sensor to determine the physical properties of the surface to be cleaned, including surface medium, cleanliness, etc., and can be combined with cameras, laser ranging devices, etc. for more accurate determination.
- the ultrasonic sensor can determine whether the surface to be cleaned is a carpet. If the ultrasonic sensor determines that the surface to be cleaned is a carpet material, the control system 130 controls the automatic cleaning device to perform carpet mode cleaning.
- the forward portion 111 of the mobile platform 100 is provided with a bumper 122.
- the bumper 122 detects the travel path of the automatic cleaning device via a sensor system, such as an infrared sensor.
- a sensor system such as an infrared sensor.
- the control system 130 is provided on a circuit board in the mobile platform 100, and includes a computing processor, such as a central processing unit, an application processor, an application processing unit that communicates with non-transitory memory, such as hard disk, flash memory, random access memory,
- the device is configured to receive the environmental information sensed by the plurality of sensors from the perception system 120, and use a positioning algorithm, such as SLAM, to map the real-time situation in the environment where the automatic cleaning device is located according to the obstacle information fed back by the laser ranging device. map, and autonomously determine a driving path according to the environmental information and the environmental map, and then control the driving system 140 to perform operations such as forward, backward, and/or steering according to the autonomously determined driving path. Further, the control system 130 may also decide whether to start the cleaning module 150 to perform the cleaning operation according to the environmental information and the environmental map.
- control system 130 can combine the distance information and speed information fed back by the buffer 122 , the cliff sensor 123 and the ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, odometer and other sensing devices to comprehensively judge that the sweeper is currently in What working state, such as crossing the threshold, on the carpet, on the cliff, stuck above or below, the dust box is full, picked up, etc., will also give specific next action strategies for different situations, so that automatic cleaning The work of the device is more in line with the owner's requirements, and there is a better user experience. Further, the control system can plan the most efficient and reasonable cleaning path and cleaning method based on the real-time map information drawn by SLAM, which greatly improves the cleaning efficiency of automatic cleaning equipment.
- the drive system 140 may execute drive commands to steer the automated cleaning apparatus across the ground based on specific distance and angular information, such as x, y, and theta components.
- 3 and 4 are a perspective view and a front view of a side drive wheel assembly 141 in an embodiment of the disclosure.
- the drive system 140 includes a drive wheel assembly 141, and the drive system 140 can control the left wheel and the right wheel at the same time.
- the drive system 140 preferably includes a left drive wheel assembly and a right drive wheel assembly, respectively.
- the left and right drive wheel assemblies are arranged symmetrically along the transverse axis defined by the mobile platform 100 .
- the drive wheel assembly includes a housing and a connecting frame, and a drive motor 146 is respectively disposed in the drive wheel assembly.
- the drive motor 146 is located outside the drive wheel assembly 141, and the axis of the drive motor 146 is located in the section of the drive wheel assembly.
- the drive wheel assembly 141 may also be connected to a circuit for measuring drive current and an odometer.
- the automatic cleaning equipment may include one or more steering assemblies 142, and the steering assemblies 142 may be driven wheels or driving wheels, and their structural forms Including but not limited to caster wheels, the steering assembly 142 may be located in front of the drive wheel assembly 141 .
- Drive motor 146 provides power for rotation of drive wheel assembly 141 and/or steering assembly 142 .
- the driving wheel assembly 141 can be detachably connected to the mobile platform 100 for easy disassembly and maintenance.
- the drive wheel may have an offset drop suspension system, movably fastened, eg, rotatably attached, to the automatic cleaning device moving platform 100, and grounded to a certain degree by elastic elements 143, such as tension springs or compression springs The force maintains the contact and traction with the ground, and at the same time, the cleaning module 150 of the automatic cleaning device also contacts the surface to be cleaned with a certain pressure.
- the energy system 160 includes rechargeable batteries, such as nickel-metal hydride batteries and lithium batteries.
- the rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery undervoltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are then connected with the single-chip microcomputer control circuit.
- the host is charged by connecting to the charging pile through the charging electrode arranged on the side or below of the fuselage.
- the human-computer interaction system 170 includes buttons on the host panel, and the buttons are used for user selection of functions; it may also include a display screen and/or indicator lights and/or horns, and the display screen, indicator lights and horns can show the user the current state of the machine or Feature selections; may also include mobile client programs.
- the mobile phone client can show the user a map of the environment where the equipment is located, as well as the location of the machine, which can provide users with more abundant and user-friendly function items.
- the cleaning module 150 may include the dry cleaning module 151 and/or the wet cleaning module 400 .
- the dry cleaning module 151 includes a roller brush, a dust box, a fan, and an air outlet.
- the roller brush with certain interference with the ground sweeps up the garbage on the ground and rolls it up to the front of the suction port between the roller brush and the dust box, and then is sucked into the dust box by the suction gas generated by the fan and passing through the dust box.
- the dust removal ability of the sweeper can be characterized by the dust pickup efficiency DPU (Dust pickup efficiency).
- the wind utilization rate of the formed air duct is affected by the type and power of the fan, which is a complex system design problem. Compared with ordinary plug-in vacuum cleaners, the improvement of dust removal capacity is more meaningful for cleaning automatic cleaning equipment with limited energy.
- the dry cleaning module may also include a side brush 157 having an axis of rotation angled relative to the ground for moving debris into the rolling brush area of the cleaning module 150 .
- FIG. 5 is a schematic diagram of the structure of the dust box 152 in the dry cleaning module
- FIG. 6 is a schematic diagram of the structure of the fan 156 in the dry cleaning module
- FIG. 7 is a schematic diagram of the opened state of the dust box 152
- FIG. 8 It is a schematic diagram of the assembled state of the dust box and the fan.
- the roller brush that has a certain interference with the ground sweeps up the garbage on the ground and rolls it up to the front of the dust suction port 154 between the roller brush and the dust box 152, and then is generated by the structure of the fan 156 and passes through the dust box 152.
- the suction gas The dust box 152 is inhaled, and the garbage is isolated by the filter screen 153 on the side of the dust box 152 close to the dust suction port 154.
- the filter screen 153 completely isolates the dust suction port from the air outlet, and the filtered air enters the fan 156 through the air outlet 155.
- the dust suction port 154 of the dust box 152 is located in front of the machine, the air outlet 155 is located at the side of the dust box 152, and the air suction port of the fan 156 is opposite to the air outlet of the dust box.
- the front panel of the dust box 152 can be opened for cleaning the garbage in the dust box 152 .
- the filter screen 153 and the box body of the dust box 152 are detachably connected to facilitate the removal and cleaning of the filter screen.
- the wet cleaning module 400 is configured to clean at least a part of the operation surface in a wet cleaning manner; wherein, the wet cleaning module 400 includes: a cleaning head 410, A driving unit 420, wherein the cleaning head 410 is used to clean at least a part of the operation surface, and the driving unit 420 is used to drive the cleaning head 410 to reciprocate along a target surface, and the target surface is a part of the operation surface .
- the cleaning head 410 reciprocates along the surface to be cleaned, and the contact surface between the cleaning head 410 and the surface to be cleaned is provided with a cleaning cloth or a cleaning plate, which generates high-frequency friction with the surface to be cleaned through the reciprocating motion, thereby removing the surface to be cleaned. stains.
- the reciprocating motion may be repeated motion along any one or more directions within the operation surface, or may be vibration perpendicular to the operation surface, which is not strictly limited.
- the driving unit 420 includes: a driving platform 421 connected to the bottom surface of the moving platform 100 for providing driving force; a supporting platform 422 detachably connected to the driving platform 421 for supporting The cleaning head 410 can be lifted and lowered under the driving of the driving platform 421 .
- An elevating module is arranged between the cleaning module 150 and the mobile platform 100, so that the cleaning module 150 can better contact the surface to be cleaned, or different cleaning strategies are adopted for the surface to be cleaned of different materials.
- the dry cleaning module 151 can be connected to the mobile platform 100 through a passive lifting module. When the cleaning equipment encounters an obstacle, the dry cleaning module 151 can more easily overcome the obstacle through the lifting module.
- the wet cleaning module 400 can be connected to the mobile platform 100 through an active lifting module. When the wet cleaning module 400 does not work temporarily, or encounters a surface to be cleaned that cannot be cleaned by the wet cleaning module 400 At the time, the wet cleaning module 400 is lifted up by the active lifting module and separated from the surface to be cleaned, so as to realize the change of the cleaning means.
- the driving platform 421 includes: a motor 4211, which is arranged on the side of the driving platform 421 close to the moving platform 100, and outputs power through the motor output shaft; a driving wheel 4212, which is connected with the The motor output shaft is connected, and the driving wheel 4212 is an asymmetrical structure; the vibration member 4213 is arranged on the opposite side of the driving platform 421 to the motor 4211, and is connected with the driving wheel 4212. 4212 realizes reciprocating motion under asymmetrical rotation.
- the drive platform 421 may further include a drive wheel and a gear mechanism.
- the gear mechanism 235 may connect the motor 4211 and the driving wheel 4212 .
- the motor 4211 can directly drive the driving wheel 4212 to perform a rotary motion, or indirectly drive the driving wheel 4212 to perform a rotary motion through a gear mechanism.
- the gear mechanism may be one gear, or may be a gear set composed of multiple gears.
- the motor 4211 transmits the power to the cleaning head 410, the driving platform 421, the supporting platform 422, the water supply mechanism, the water tank and the like at the same time through the power transmission device.
- the energy system 160 provides power and energy for the motor 4211 and is controlled by the control system 130 as a whole.
- the power transmission device may be a gear drive, a chain drive, a belt drive, or a worm gear or the like.
- the motor 4211 includes a forward output mode and a reverse output mode. In the forward output mode, the motor 4211 rotates in the forward direction. In the reverse output mode, the motor 4211 rotates in the reverse direction. In the forward output mode of the motor 4211, the motor 4211 passes through the power transmission device.
- the cleaning head 410 and the water supply mechanism in the wet cleaning assembly 400 can be simultaneously driven to move synchronously.
- the driving platform 421 further includes: a connecting rod 4214, extending along the edge of the driving platform 421, connecting the driving wheel 4212 and the vibration member 4213, so that the vibration member 4213 extends to a preset position, wherein , the extension direction of the vibration member 4213 is perpendicular to the connecting rod 4214 .
- the motor 4211 is connected with the driving wheel 4212 , the vibration member 4213 , the connecting rod 4214 and the vibration buffer device 4215 through the power transmission device.
- the motor 4211 starts to rotate forward, the motor 4211 drives the connecting rod 4214 to reciprocate along the surface of the drive platform 421 through the drive wheel 4212, and the vibration buffer device 4215 drives the vibration member 4213 along the drive platform 421.
- the surface reciprocates, the vibrating member 4213 reciprocates along the surface of the support platform 422 with the cleaning substrate 4221, and the cleaning substrate 4221 reciprocates along the surface to be cleaned with the active area 412.
- the clean water pump makes clean water flow out from the clean water tank, and sprinkles clean water on the cleaning head 410 through the water outlet device 4217, and the cleaning head 410 cleans the surface to be cleaned by reciprocating motion.
- the cleaning intensity/efficiency of the automatic cleaning equipment can also be automatically and dynamically adjusted according to the working environment of the automatic cleaning equipment.
- the automatic cleaning equipment can realize dynamic adjustment according to the physical information of the surface to be cleaned detected by the sensing system 120 .
- the sensing system 120 can detect the flatness of the surface to be cleaned, the material of the surface to be cleaned, whether there is oil and dust, etc., and transmit the information to the control system 130 of the automatic cleaning device.
- the control system 130 can instruct the automatic cleaning equipment to automatically and dynamically adjust the rotational speed of the motor and the transmission ratio of the power transmission device according to the working environment of the automatic cleaning equipment, thereby adjusting the preset reciprocating period of the reciprocating motion of the cleaning head 410 .
- the preset reciprocating period can be automatically and dynamically adjusted to be longer, and the water volume of the water pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning device is on a less flat ground During operation, the preset reciprocating period can be automatically and dynamically adjusted to be shorter, and the water volume of the pump can be automatically and dynamically adjusted to be larger. This is because flat surfaces are easier to clean than less flat surfaces, so cleaning uneven surfaces requires faster reciprocation (ie, higher frequency) of cleaning head 410 and a larger volume of water.
- the preset reciprocating period can be automatically and dynamically adjusted to be longer, and the water volume of the pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning device 100 is working on the ground, the The preset reciprocating period can be automatically and dynamically adjusted to be shorter, and the water volume of the pump can be automatically and dynamically adjusted to be larger.
- the cleaning head 410 needs to perform fewer reciprocating movements, and the water pump can provide a relatively small amount of water to clean the desktop. clean.
- the supporting platform 422 includes a cleaning substrate 4221 , which is freely movable on the supporting platform 422 , and the cleaning substrate 4221 reciprocates under the vibration of the vibration member 4213 .
- the cleaning substrate 4221 includes: an assembly notch (not shown), which is arranged at a position in contact with the vibration member 4213 , when the support platform 422 is connected to the drive platform 421 , the vibration The member 4213 is assembled in the assembly notch, so that the cleaning substrate 4221 can reciprocate synchronously with the vibration member 4213 .
- FIG. 12 illustrates another cleaning head drive mechanism 800 based on a crank-slider mechanism according to various embodiments of the present application.
- the drive mechanism 800 may be applied to the drive platform 421 .
- the driving mechanism 800 includes a driving wheel 4212, a vibration member 4213, a cleaning substrate 4221, a chute 4222 (a first chute) and a chute 4223 (a second chute).
- the chutes 4222 and 4223 are opened on the support platform 422 . Both ends of the cleaning substrate 4221 include sliders 525 (first sliders) and sliders 528 (second sliders), respectively.
- the sliders 525 and 528 are respectively a protrusion at both ends of the cleaning substrate 4221 .
- the sliding block 525 is inserted in the sliding groove 4222 and can slide along the sliding groove 4222 ;
- the sliding block 4223 is inserted in the sliding groove 4223 and can slide along the sliding groove 4223 .
- the chute 4222 and the chute 4223 are on the same line. In some embodiments, the chute 4222 and the chute 4223 are not on the same line. In some embodiments, the chute 4222 and the chute 4223 extend in the same direction.
- the extending direction of the sliding groove 4222 and the sliding groove 4223 is the same as the extending direction of the cleaning substrate 4221 . In some embodiments, the extending directions of the sliding grooves 4222 and the sliding grooves 4223 are different from the extending directions of the cleaning substrate 4221 . In some embodiments, the extending directions of the chute 4222 and the chute 4223 are different. For example, as shown in FIG. 12 , the extension direction of the chute 4222 is the same as the extension direction of the cleaning substrate 4221 , and the extension direction of the chute 4223 and the extension direction of the chute 4222 are at a certain angle.
- the vibrating member 4213 includes a rotating end 512 and a sliding end 514 .
- the rotating end 512 is connected with the driving wheel 4212 through a first pivot shaft 516
- the sliding end 514 is connected with the cleaning substrate 4221 through a second pivot shaft 518 .
- the rotation center of the driving wheel 4212 is point O
- the pivot center of the first pivot shaft 516 is point A.
- Point O and point A do not coincide, and the distance between them is the preset distance d.
- the point A When the driving wheel 4212 rotates, the point A performs a circular rotary motion accordingly.
- the rotary end 512 performs a circular rotary motion following the point A; the sliding end 514 drives the cleaning substrate 4221 to perform sliding motion through the second pivot shaft 518 .
- the slider 525 for cleaning the substrate 4221 reciprocates linearly along the chute 4222 ; the slider 528 performs a reciprocating linear motion along the chute 4223 .
- the moving speed of the moving platform 210 is V0, and the moving direction is the target direction.
- the overall displacement of the cleaning substrate 4221 is substantially perpendicular to the target direction.
- the overall displacement of the cleaning substrate 4221 includes both being perpendicular to the target direction and parallel to the target direction. component in the target direction.
- a vibration buffering device 4215 is included, which is arranged on the connecting rod 4214 and is used to reduce vibration in a specific direction. In this embodiment, it is used to reduce vibration in the direction of the moving component perpendicular to the target direction of the automatic cleaning device.
- FIG. 13 shows another cleaning head driving mechanism 600 based on a double crank mechanism according to various embodiments of the present application.
- the drive mechanism 600 may be applied to the drive platform 421 .
- the driving mechanism 600 includes a driving wheel 4212 (a first driving wheel), a driving wheel 4212' (a second driving wheel), and a cleaning substrate 4221.
- the cleaning substrate 4221 has two ends. The first end is connected to the drive wheel 4212 through a pivot shaft 624 (first pivot shaft); the second end is connected to the drive wheel 4212' through a pivot shaft 626 (second pivot shaft).
- the rotation center of the driving wheel 4212 is point O
- the pivot center of the pivot shaft 624 is point A. Point O and point A do not coincide, and the distance between them is the preset distance d.
- the center of rotation of the drive wheel 236 is the point O'
- the center of rotation of the pivot shaft 626 is the point A'. Point O' and point A' do not coincide, and the distance between them is the preset distance d.
- points A, A', O, and O' lie on the same plane. Therefore, the driving wheel 4212, the driving wheel 4212' and the cleaning substrate 4221 may form a double crank mechanism (or parallelogram mechanism), wherein the cleaning substrate 4221 acts as a coupling lever and the driving wheels 4212 and 4212' act as two cranks.
- a vibration buffering device 4215 is included, which is arranged on the connecting rod 4214 and is used to reduce vibration in a specific direction. In this embodiment, it is used to reduce vibration in the direction of the moving component perpendicular to the target direction of the automatic cleaning device.
- FIG. 14 shows a drive mechanism 700 based on a crank-slider mechanism according to various embodiments of the present application.
- the drive mechanism 700 may be applied to the drive platform 421 .
- the driving mechanism 700 includes a driving wheel 4212 , a cleaning substrate 4221 and a chute 4222 .
- the chute 4222 is opened on the support platform 422 .
- the cleaning substrate 4221 includes a swivel end 4227 and a sliding end 4226 .
- the swivel end 4227 is connected to the drive wheel 4212 by the pivot shaft 4228.
- the pivot center of the driving wheel 4212 is point O
- the pivot center of the pivot shaft 4228 at the pivot end is point A. Point O and point A do not coincide, and the distance between them is the preset distance d.
- Sliding end 4226 includes slider 4225.
- the slider 4225 is a protrusion on the sliding end 4226 .
- the slider 4225 is inserted into the chute 4222 and can slide along the chute 4222 . Therefore, the driving wheel 4221, the cleaning base plate 4221, the slider 4225 and the chute 4222 constitute a crank-slider mechanism.
- the driving wheel 4212 rotates, point A performs a circular rotary motion.
- the rotary end 4227 of the cleaning substrate 4221 performs a circular rotary motion following the point A; and the slider 4225 slides in the chute 4222 to perform a reciprocating linear motion.
- the cleaning substrate 4221 starts to reciprocate.
- the direction of the chute 4222 is approximately perpendicular to the target direction of the moving speed of the mobile platform, thus, the linear movement of the sliding end 4226 includes a component perpendicular to the target direction, and the circular swivel movement of the swivel end 4227 simultaneously Includes components perpendicular to the target direction and parallel to the target direction.
- the moving speed of the mobile platform is V0, and the moving direction is the target direction; and the chute 4222 is approximately perpendicular to the target direction.
- the reciprocating motion of the cleaning substrate 4221 as a whole has both a movement component parallel to the target direction of the automatic cleaning device and a movement component perpendicular to the target direction of the automatic cleaning device.
- a vibration buffering device 4215 is included, which is arranged on the connecting rod 4214 and is used to reduce vibration in a specific direction. In this embodiment, it is used to reduce vibration in the direction of the moving component perpendicular to the target direction of the automatic cleaning device.
- the support platform 422 further includes: an elastic disassembly button 4229, which is disposed on at least one side of the support platform 422, and is used to detachably connect the support platform 422 to the claw 4216 of the drive platform 421. .
- At least one assembling area 4224 is disposed on the supporting platform 422 for assembling the cleaning head 410 .
- the mounting area 4224 may be formed of an adhesive material with an adhesive layer.
- the cleaning head 410 includes: an active area 412 , which is connected to the cleaning substrate 4221 and reciprocates along the cleaning surface under the driving of the cleaning substrate 4221 .
- the active area 412 is disposed at a substantially central position of the cleaning head 410 .
- An adhesive layer is provided on the side where the active area 412 is connected to the cleaning substrate 4221 , and the active area 412 and the cleaning substrate 4221 are connected through the adhesive layer.
- the cleaning head 410 further includes: a fixing area 411 connected to the bottom of the support platform 422 through the at least one assembly area 4224 , and the fixing area 411 cleans the at least a portion of the operating surface.
- the cleaning head 410 further includes: a flexible connecting portion 413 disposed between the fixed area 411 and the active area 412 for connecting the fixed area 411 and the active area 412 .
- the cleaning head 410 further includes: a sliding latch 414 extending along the edge of the cleaning head 410 and detachably installed at the latching position 4225 of the support platform 422 .
- the cleaning head 410 can be made of a certain elastic material, and the cleaning head 410 is fixed on the surface of the support platform 422 through an adhesive layer, thereby realizing reciprocating motion. When the cleaning head 410 is in operation, the cleaning head 410 is always in contact with the surface to be cleaned.
- the water supply mechanism includes a water outlet device 4217, and the water outlet device 4217 can be directly or indirectly connected with the cleaning liquid outlet of the water tank (not shown), that is, the liquid outlet of the clean water tank, wherein the cleaning liquid can pass through the cleaning liquid of the water tank.
- the outlet flows to the water outlet device 4217, and can be evenly coated on the surface to be cleaned by the water outlet device.
- a connecting piece (not shown in the figure) may be provided on the water outlet device, and the water outlet device is connected to the cleaning liquid outlet of the water tank through the connecting piece.
- the water outlet device is provided with a distribution port.
- the distribution port can be a continuous opening or a combination of several broken small openings.
- the distribution port can be provided with several nozzles.
- the cleaning liquid flows to the distribution port through the cleaning liquid outlet of the water tank and the connecting piece of the water outlet device, and is evenly coated on the operating surface through the distribution port.
- the water supply mechanism may further include a clean water pump 4219 and/or a clean water pump pipe 4218 , and the clean water pump 4219 may communicate with the clean liquid outlet of the water tank directly or through the clean water pump pipe 4218 .
- the clean water pump 4219 may be connected to the connection of the water outlet, and may be configured to draw the cleaning fluid from the water tank to the water outlet.
- the clean water pump can be a gear pump, a vane pump, a plunger pump, a peristaltic pump, and the like.
- the water supply mechanism draws out the cleaning liquid in the clean water tank through the clean water pump 4219 and the clean water pump pipe 4218, and transports it to the water outlet device. to wet the cleaning head and the surface to be cleaned. Stains on the wetted surface to be cleaned can be cleaned more easily.
- the power/flow rate of the clean water pump can be adjusted.
- the cleaning head can reciprocate, so that the surface to be cleaned can be repeatedly cleaned, so that in the movement trajectory of the automatic cleaning equipment, one pass through a certain area can achieve multiple
- the cleaning effect is greatly enhanced, especially for areas with more stains, the cleaning effect is obvious.
- the present disclosure provides a liftable automatic cleaning device, including: a moving platform 100 configured to automatically move on an operation surface; a wet cleaning module 400 movably connected through a four-link lifting structure 500 On the mobile platform 100, it is configured to clean at least a part of the operation surface by a wet cleaning method; wherein, the four-link lifting structure 500 is a parallelogram structure, which is used to make the wet cleaning module 400 in the Switching between a rising state and a sinking state, the rising state is when the wet cleaning module 400 leaves the operation surface, as shown in FIG. 15 ; the sinking state is when the wet cleaning module 400 is attached to the Operation surface, as shown in Figure 16.
- the four-link lifting structure 500 includes: a first connecting end 501 for providing main power to switch the wet cleaning module 400 between a rising state and a sinking state; a second connection end 501
- the connecting end 502 is disposed opposite to the first connecting end 501 and rotates under the action of the main power.
- the first connection end 501 and the second connection end 502 are located on two sides of the wet cleaning module 400 respectively, and the wet cleaning module 400 is raised or lowered by stably providing a lifting force.
- the first connecting end 501 includes a first bracket 5011, which is fixedly connected to the bottom of the mobile platform 100; the first bracket 5011 is roughly in the shape of a “ji”, and the first bracket 5011 includes: a cross beam 50111, a first vertical
- the beams 50114 and the second longitudinal beams 50115 and the tail ends of the first longitudinal beams 50114 and the second longitudinal beams 50115 are respectively connected to the mobile platform 100 by bolts, so as to provide supporting force when the wet cleaning module 400 is lifted and lowered.
- the first connecting end 501 further includes a first connecting rod pair 5012 , one end of the first connecting rod pair 5012 is rotatably connected to the first bracket 5011 , and the other end is rotatably connected to the wet cleaning module 400 .
- the first connecting rod pair 5012 can be a hollow structure, which can reduce the overall weight of the lifting end.
- the first connecting rod pair 5012 includes a first connecting rod 50121 and a second connecting rod 50122 that are arranged in parallel, and the first ends of the first connecting rod 50121 and the second connecting rod 50122 can be connected through movable studs. It is rotatably connected to the first longitudinal beam 50114, and the second ends of the first connecting rod 50121 and the second connecting rod 50122 are rotatably connected to the wet cleaning module 400 through movable studs.
- both ends of the first connecting rod 50121 and the second connecting rod 50122 are respectively provided with through holes with a diameter larger than that of the movable stud, so that the movable stud can rotate freely in the through hole, and the movable stud passes through the through hole
- the rear is fixedly connected to the first longitudinal beam 50114 .
- the lifting structure 500 further includes a pulling cable 42194, which is used to provide a pulling power to rotate the first connecting rod pair 5012 within a preset angle.
- the cable 42194 includes a cable motor terminal 50131, which is connected to the drive unit 420, such as a gear winding connected to the motor output shaft, and realizes telescopic movement under the rotation of the motor.
- the cable bracket terminal 50132 is connected to the first bracket 5011, and the motor makes the second ends of the first connecting rod 50121 and the second connecting rod 50122 rise or sink through the cable 42194.
- the first bracket 5011 further includes: a chute 50112 extending along the surface of the cross beam 50111, and a snap hole 50113 extending through the cross beam 50111 and disposed at the extended end of the chute 50112 for accommodating and Snap the cable bracket terminal 50132, the cable 42194 is connected to the first ends of the first connecting rod 50121 and the second connecting rod 50122 through the sliding groove 50112 and the clamping hole 50113, and the sliding groove 50112 can restrict The moving direction of the cable ensures the stability of the lifting and lowering of the module, and the width of the chute should match the thickness of the cable.
- the second connecting end 502 includes: a second bracket 5021, which is fixedly connected to the bottom of the mobile platform 100; a second connecting rod pair 5022, one end of which is rotatably connected to the second bracket 5021, The other end is rotatably connected to the wet cleaning module 400 ; the second connecting rod pair 5022 rotates with the rotation of the first connecting rod pair 5012 .
- the second connecting rod pair 5022 can be a hollow structure, which can reduce the overall weight of the lifting end.
- the second connecting rod pair 5022 includes a third connecting rod 50221 and a fourth connecting rod 50222 arranged in parallel, and the first ends of the third connecting rod 50221 and the fourth connecting rod 50222 are rotatable through movable studs
- the second end of the third connecting rod 50221 and the fourth connecting rod 50222 are rotatably connected to the wet cleaning module 400 through movable studs.
- both ends of the third connecting rod 50221 and the fourth connecting rod 50222 are respectively provided with through holes with a diameter larger than that of the movable stud, so that the movable stud can rotate freely in the through hole, and the movable stud passes through the through hole
- the rear is fixedly connected to the second bracket 5021 and the wet cleaning module 400 .
- the first connecting end 501 When the first connecting end 501 is rotated under the driving of the motor 4211, the first ends of the third connecting rod 50221 and the fourth connecting rod 50222 rotate around the movable stud at the first end at the same time, and the third connecting rod 50221 The second end of the fourth connecting rod 50222 rotates around the movable stud at the second end at the same time, so that the wet cleaning module 400 is raised.
- the first connecting end 501 releases the tension
- the third connecting rod 50221 and the fourth connecting rod 50222 rotate in the opposite direction around the movable stud at the same time, and descend under the action of gravity, so that the wet cleaning module 400 sinks.
- the wet cleaning module can be raised and lowered relative to the mobile platform, and when the mopping task is performed, the wet cleaning module is lowered to make the wet cleaning module In contact with the ground, when the mopping task is completed, lift the wet cleaning module to separate the wet cleaning module from the ground, so as to avoid the increased resistance due to the existence of the cleaning module when the cleaning equipment moves freely on the surface to be cleaned. .
- the lifting module can clean the wet cleaning module according to different surfaces to be cleaned. For surfaces such as floor tiles, put the wet cleaning module down for cleaning, so as to achieve a more comprehensive cleaning effect.
- the resistance of automatic cleaning equipment is generally small when cleaning smooth ground, but when cleaning carpets, especially high-pile carpets, or mats, clothing, etc., the chassis of the automatic cleaning equipment is easily in contact with the long hairs on the carpet, so It will increase the resistance of the automatic cleaning equipment to travel.
- the automatic cleaning equipment including the wet cleaning module also has a water tank. When the water tank is filled with water, it will undoubtedly increase the resistance of the automatic cleaning equipment to travel. Under the action of these resistances, the automatic cleaning equipment is very easy to get stuck and unable to move.
- FIG. 19 a flowchart of a method for controlling an automatic cleaning device provided by an exemplary embodiment of the present disclosure is shown, which may specifically include the following steps:
- Step S2010 when the automatic cleaning device is cleaning, obtain the first data according to the current running wheel state data of the automatic cleaning device, and obtain the second data according to the current body state data of the automatic cleaning device;
- Step S2020 according to the first data and the second data, determine whether the automatic cleaning device is trapped
- Step S2030 if the automatic cleaning device is trapped, control the automatic cleaning device to enter an accelerated escape mode.
- the automatic cleaning device In the method for controlling an automatic cleaning device provided by an exemplary embodiment of the present disclosure, during the cleaning process of the automatic cleaning device, if the first data obtained according to the current running wheel state data is different from the second data obtained according to the current airframe state data, Then it can be judged that the automatic cleaning device is trapped; at this time, the automatic cleaning device can be helped to get out of the trap through the accelerated escape mode, so as to reduce the probability of the automatic cleaning device getting stuck.
- the automatic cleaning device control method is not only used in the scenario where the automatic cleaning device cleans surface medium areas such as long-pile carpets, but also in the scenario where the automatic cleaning device crosses a threshold, a small step, or is stuck by an obstacle. All scenarios in which the automatic cleaning device control method provided by the exemplary embodiments of the present disclosure can be rescued from troubles fall within the protection scope of the exemplary embodiments of the present disclosure.
- the running wheels of the automatic cleaning equipment will generally be idling.
- the first data is usually different from the second data obtained according to the current airframe state data. Therefore, whether the automatic cleaning device is trapped can be determined according to the difference between the first data and the second data.
- the first state when the automatic cleaning device is in a rotating state, the theoretical angular velocity of the traveling wheel is obtained as the first data according to the current state data of the traveling wheel of the automatic cleaning device; generally, the automatic cleaning device is trapped but not stopped. , the traveling wheel will be in an idling state.
- the traveling wheel sensor will obtain the traveling wheel sensor data such as the rotating speed of the traveling wheel, and the angular velocity of the traveling wheel can be determined according to the rotating speed of the traveling wheel.
- the rotational speed is n rev/min
- the angular velocity ⁇ n*2 ⁇ /60 radians/second. Since the angular velocity here is obtained when the running wheel is idling, it is not the angular velocity in the real situation, so it is called the theoretical angular velocity.
- the actual angular velocity of the traveling wheel can also be obtained as the second data according to the current airframe state data of the automatic cleaning device.
- the airframe state data is generally obtained by the state sensor on the airframe. Therefore, the state of the automatic cleaning device can be obtained according to the state of the automatic cleaning device.
- the sensor data obtains the second data in the current airframe state; for example, the angular velocity actually generated by the walking wheel can be calculated according to the current airframe state data measured by the gyroscope on the automatic cleaning device.
- the state sensor includes a variety of sensors for measuring state data, such as a gyroscope, a motor power sensor, a cliff sensor or a touch sensor.
- the first and second data obtained above are the same, but on a medium that is easy to slip, such as a long-pile carpet, the first data is usually greater than the second data due to the resistance of the medium. data.
- the acceleration and escape mode may include controlling the automatic cleaning device to accelerate immediately after decelerating. In the case of instant acceleration after deceleration, the static friction force of the automatic cleaning equipment on the medium will be converted into sliding friction force.
- the sliding friction force is less than the maximum static friction force, when the automatic cleaning equipment is in the sliding friction force, even if the At the same acceleration in the case of static friction, the automatic cleaning equipment is also easier to get out of trouble, that is, it comes out of the current idling state, which can increase the probability of the automatic cleaning equipment getting out of trouble and reduce the occurrence of the automatic cleaning equipment being trapped.
- the above-mentioned processes of detection, data calculation, and instant acceleration after deceleration are all automatically completed by the automatic cleaning equipment, so that the probability of failure of the automatic cleaning equipment can be reduced, and the automation degree of the automatic cleaning equipment can be improved. , which can improve the user experience.
- the size of the first threshold and the first preset time can be set according to the actual situation.
- the first threshold can be 2-10 radians/second, and the first preset time can be 3-6 seconds, etc.
- the present disclosure The exemplary embodiment is not particularly limited thereto.
- the second state when the automatic cleaning device slips and is trapped when it is in a straight forward state, the theoretical output power of the motor is obtained as the first data according to the current running wheel state data of the automatic cleaning device; On the carpet with high resistance, if the automatic cleaning equipment walks a certain distance, the output power required is generally less than the actual output power of the motor of the automatic cleaning equipment. That is to say, the output power of the motor calculated according to the current walking distance of the walking wheel obtained by the walking wheel sensor belongs to the theoretical output power of the motor, which will be smaller than the actual output power of the motor obtained according to the current airframe state data of the automatic cleaning device. That is, the first data will be smaller than the second data.
- the automatic cleaning device if the difference between the first data and the second data is smaller than the second threshold for a second preset time, it is determined that the automatic cleaning device is trapped. At this time, the automatic cleaning device needs to be controlled to enter an accelerated escape mode to help the automatic cleaning device escape from the current trapped state.
- the specific situation of the accelerated escape mode has been described in detail in the above-mentioned embodiments, and will not be repeated here.
- the second threshold is the power value, and the size of the second threshold and the second preset time can be set according to the actual situation.
- the second threshold can be 5-10W, and the first preset time can be 3- 6 seconds, etc., which are not particularly limited in the exemplary embodiment of the present disclosure.
- the third state when the automatic cleaning device encounters an obstacle and is in a backward state, in the case where the automatic cleaning device is trapped in the backward direction, for example, when it is trapped by the long hair of a long-pile carpet and slips;
- the theoretical output power of the motor can be obtained according to the current running wheel state data of the automatic cleaning device as the first data; the actual output power of the motor can be obtained according to the current airframe state data of the automatic cleaning device as the first data.
- Second data And the first data will be smaller than the second data.
- the automatic cleaning device When the automatic cleaning device encounters an obstacle and retreats, the automatic cleaning device usually needs to continuously accelerate and retreat to avoid being stuck. That is to say, whether the automatic cleaning device has been There may be misjudgments.
- the judgment of the main brush current of the automatic cleaning device is also included, and on a medium such as a high-pile carpet, automatic cleaning
- the rotation of the main brush of the equipment will also be greatly resisted, resulting in an increase in the current. Therefore, by adding the judgment of the main brush current, the accuracy of the judgment of whether the automatic cleaning equipment is trapped during the backward state can be increased, and the probability of misjudgment can be reduced.
- the main brush current of the automatic cleaning device exceeds the fourth threshold and lasts for the fourth preset time, it is determined that the automatic cleaning device is trapped.
- the third threshold is the power value, and the size of the third threshold and the third preset time can be set according to the actual situation, for example, the third threshold can be 7-15W, and the first preset time can be 3- 6 seconds etc.
- the fourth threshold is the current value, the size of the fourth threshold and the fourth preset time can be set according to the actual situation, and the fourth preset time can be equal to the third preset time, or can be greater than the third preset time, the present disclosure
- the exemplary embodiment is not particularly limited thereto.
- the probability that the automatic cleaning device enters the accelerated escape mode is reduced.
- Exemplary embodiments of the present disclosure also add a step of eliminating false positives to reduce the automatic cleaning device simply being caught by foreign objects on the low-pile carpet, or under other circumstances, when the automatic cleaning device accelerates immediately after deceleration The probability of a dangerous situation arising from rushing a long distance.
- being trapped by the medium refers to the situation in which the automatic cleaning equipment is trapped by the medium such as the high-pile carpet and slips.
- the result of the instant acceleration after deceleration can be calculated according to the accelerometer on the automatic cleaning device, for example, the change peak value of the accelerometer on the automatic cleaning device can be calculated.
- the peak value of the change exceeds the threshold value, indicating that the acceleration of the automatic cleaning equipment is large and the fluctuation is large.
- the side reflects that the medium resistance of the automatic cleaning equipment is small, and it is not necessarily a medium such as a long-pile carpet. At this time, the automatic cleaning equipment can be determined.
- the size of the threshold value may be specifically set according to the performance of the automatic cleaning device, which is not particularly limited in the exemplary embodiment of the present disclosure.
- Step S2101 the automatic cleaning device enters a cleaning state;
- the first data is obtained from the state data of the running wheels, and at the same time, the step S2103 is entered, and the second data is obtained according to the current airframe state data of the automatic cleaning equipment; then, the step S2104 is entered, that is, the judgment condition 1, according to the first data and the second data, It is determined whether the automatic cleaning device is trapped; if it is, that is, it is trapped, go to step S2105, and control the automatic cleaning device to enter an accelerated escape mode to escape from the trap.
- step S2106 can also be entered, that is, judgment condition 2, to judge whether it is a misjudgment caused by non-medium trapping, and if so, go to step S2107 to turn off the accelerated escape mode.
- the method for controlling an automatic cleaning device provided by an exemplary embodiment of the present disclosure, during the cleaning process of the automatic cleaning device, not only determines whether the automatic cleaning device is trapped by the medium in which it is located, but also eliminates misjudgment caused by non-medium. This improves the accuracy of judgment; and by setting different judgment criteria in different states, it can further increase the accuracy of whether it is trapped, improve the efficiency of automatic cleaning equipment to get out of trouble, and avoid misjudgment caused by non-media. danger and prolong the service life of automatic cleaning equipment.
- the automatic cleaning device also includes other functions that help realize the overall operation, which will not be repeated in this exemplary embodiment.
- an automatic cleaning device control device is also provided.
- the automatic cleaning device control device 2200 may include: a data acquisition module 2201 , a state determination module 2202 , and a control device for getting out of trouble Module 2203, where:
- the data acquisition module 2201 is configured to acquire first data according to the current running wheel status data of the automatic cleaning equipment, and acquire second data according to the current airframe status data of the automatic cleaning equipment when the automatic cleaning equipment is cleaning;
- a state determination module 2202 configured to determine whether the automatic cleaning device is trapped according to the first data and the second data
- the control escape module 2203 is configured to control the automatic cleaning device to enter an accelerated escape mode if the automatic cleaning device is trapped.
- an electronic device capable of implementing the above method is also provided.
- aspects of the present disclosure may be implemented as a system, method or program product. Therefore, various aspects of the present disclosure can be embodied in the following forms: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, which may be collectively referred to herein as implementations "circuit", “module” or "system”.
- FIG. 22 An electronic device 2300 according to this embodiment of the present disclosure is described below with reference to FIG. 22 .
- the electronic device 2300 shown in FIG. 22 is only an example, and should not impose any limitation on the functions and scope of use of the embodiments of the present disclosure.
- electronic device 2300 takes the form of a general-purpose computing device.
- Components of the electronic device 2300 may include, but are not limited to: the above at least one processing unit 2310, the above at least one storage unit 2320, a bus 2330 connecting different system components (including the storage unit 2320 and the processing unit 2310), and a display unit 2340.
- the storage unit 2320 stores program codes, which can be executed by the processing unit 2310, so that the processing unit 2310 executes the various examples according to the present disclosure described in the above-mentioned “Exemplary Methods” section of this specification steps of sexual implementation.
- the processing unit 2310 can perform step S2010 as shown in FIG. 19 , when the automatic cleaning device is cleaning, obtain the first data according to the current running wheel status data of the automatic cleaning device, and according to the current body of the automatic cleaning device The second data is obtained from the status data; step S2020, according to the first data and the second data, determine whether the automatic cleaning device is trapped; step S2030, if the automatic cleaning device is trapped, control the automatic cleaning device to enter an accelerated escape mode.
- the storage unit 2320 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 23201 and/or a cache storage unit 23202, and may further include a read only storage unit (ROM) 23203.
- RAM random access storage unit
- ROM read only storage unit
- the storage unit 2320 may also include a program/utility 23204 having a set (at least one) of program modules 23205 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, An implementation of a network environment may be included in each or some combination of these examples.
- the bus 2330 may be representative of one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local area using any of a variety of bus structures bus.
- the electronic device 2300 may also communicate with one or more external devices 2370 (eg, keyboards, pointing devices, Bluetooth devices, etc.), with one or more devices that enable a user to interact with the electronic device 2300, and/or with Any device (eg, router, modem, etc.) that enables the electronic device 2300 to communicate with one or more other computing devices. Such communication may take place through input/output (I/O) interface 2350 . Also, the electronic device 2300 may communicate with one or more networks (eg, a local area network (LAN), a wide area network (WAN), and/or a public network such as the Internet) through a network adapter 2360 . As shown, network adapter 2360 communicates with other modules of electronic device 2300 via bus 2330. It should be appreciated that, although not shown, other hardware and/or software modules may be used in conjunction with electronic device 2300, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives and data backup storage systems.
- the automatic cleaning equipment needs to control the lifting and lowering of the wet cleaning module according to different surface media during the cleaning process. For example, when cleaning the carpet surface, the wet cleaning module needs to be lifted; When it reaches the floor surface, the wet cleaning module needs to be lowered. If it is reciprocating cleaning according to the "zigzag" shape, the automatic cleaning equipment needs to frequently control the lifting and lowering of the wet cleaning module, which leads to the time-consuming cleaning process and shortens the automatic cleaning equipment. service life.
- FIG. 23 a flowchart of an automatic cleaning device cleaning method provided by an exemplary embodiment of the present disclosure is shown, and the automatic cleaning device cleaning method is used for cleaning a double surface medium area including a first surface medium area and a second surface medium area.
- Area cleaning mode which can include the following steps:
- Step S2410 after the automatic cleaning device enters the dual-area cleaning mode, according to the stored map in the automatic cleaning device, determine whether there is a second surface medium area;
- Step S2420 if there is a second surface medium area, clean the second surface medium area
- Step S2430 after the cleaning of the second surface medium area is completed, mark the area as cleaned, and determine whether there is a next second surface medium area, and if so, clean the next second surface medium area until all the second surface medium area All areas are cleaned;
- Step S2440 controlling the automatic cleaning device to clean the first surface medium area.
- the automatic cleaning device when the automatic cleaning device cleans the first surface medium region and the second surface medium region, the automatic cleaning device can be controlled to clean the second surface medium region first, and then the second surface medium region can be controlled to be cleaned by the automatic cleaning device. After the surface medium area is completely cleaned, the first surface medium area is cleaned, thereby reducing the number of times the automatic cleaning equipment controls the lifting and lowering of the wet cleaning module, improving the cleaning efficiency and prolonging the service life of the automatic cleaning equipment.
- the first surface medium here is one or more of floor surface media such as wooden floors, ceramic tiles, and cement surfaces; the second surface medium is one of floor surface media such as carpets that is different from the first surface medium. or more.
- the automatic cleaning device After the automatic cleaning device enters the room, it will first enter the wall-to-wall cleaning mode. In the wall-to-wall cleaning mode, the automatic cleaning device can obtain a room map. If the automatic cleaning device contains a stored map, the room map needs to be compared with the stored map. If the matching degree between the two is high, for example, the matching ratio is more than 90%, the stored map will be used as the basis. Room cleaning.
- the degree of matching is insufficient, for example, the proportion of matching is below 90%, the room map needs to be redrawn and the second surface medium area within the room needs to be drawn.
- the method for drawing the second surface medium area may include: using the second surface medium area identification device to scan the boundary of the second surface medium area, for example, using the carpet identification device 103 to scan the boundary of the carpet area. Boundary scan. After scanning, the initialization area 2500 as shown in FIG. 24 can be produced according to the scanned boundary, and the initialization area 2500 is recorded in the automatic cleaning equipment.
- boundary coordinates of the initialization area 2500 may be merged, for example, adjacent boundary coordinates may be merged into one coordinate to obtain a merged area 2600 that is smoother than the boundary of the initialization area as shown in FIG. 25 as the second surface Media area map updates a stored map, or generates a new room map.
- the automatic cleaning device when the automatic cleaning device is controlled to enter the cleaning mode along the wall, if the automatic cleaning device detects the second surface medium area during the cleaning process along the wall, the second surface medium area is ignored first, and the automatic cleaning device is controlled to continue. Clean Along Wall, Exit Clean Along Wall Mode until the end of Clean Along Wall.
- the automatic cleaning device can also mark the detected second surface medium area, and judge whether the second surface medium area exists in the stored map, if not, then the second surface medium area Surface media areas are stored in a stored map for reference when cleaning.
- the automatic cleaning device is controlled to enter the dual-zone cleaning mode. After the automatic cleaning device enters the dual-area cleaning mode, it can be determined whether there is a second surface medium area in the stored map according to the stored map in the automatic cleaning device, and if there is a second surface medium area, the automatic cleaning device is controlled to enter the The location of the second surface medium area recorded in the map is stored, and it is detected whether the second surface medium area still exists, and if so, the automatic cleaning device is controlled to clean the second surface medium area. If not present, the second surface media area is deleted from the stored map to update the stored map.
- the automatic cleaning device in the process of cleaning the second surface medium region by the automatic cleaning device, can be controlled to first clean the boundary region of the second surface medium region in the second surface medium region, that is, the boundary of the second surface medium region. Inside, to delineate the area of the second surface medium area; after the boundary area is cleaned, control the automatic cleaning equipment to clean the rest of the second surface medium area within the delineated area of the second surface medium area.
- the automatic cleaning device when the automatic cleaning device cleans the remaining areas of the medium area of the second surface, the automatic cleaning device can be controlled to clean in a "zigzag" manner of straight-turn-straight-turn-turn.
- other cleaning methods may also be set according to actual conditions, which are not particularly limited in the exemplary embodiments of the present disclosure.
- the cleaned second surface medium area can be marked as a cleaned area, and it can be judged whether There is a next second surface medium area, if there is, the next second surface medium area is cleaned, until all the second surface medium areas in the room are cleaned, the automatic cleaning device can be controlled to clean the first surface medium area.
- an uncleaned second surface medium area may be detected.
- the automatic cleaning device is controlled to clean the uncleaned second surface medium area. and store the uncleaned second surface media area in the stored map for use in the next cleaning. After all the uncleaned second surface medium areas are cleaned, the automatic cleaning device is controlled to continue cleaning the first surface medium areas until the first surface medium areas are cleaned.
- the automatic cleaning device in the process of cleaning the first surface medium area, can control the automatic cleaning device to clean in a “zigzag” manner of straight-turn-straight-turn according to the first surface medium area delineated by the cleaning along the wall .
- other cleaning methods may also be set according to actual conditions, which are not particularly limited in the exemplary embodiments of the present disclosure.
- a coloring algorithm may be used to mark the cleaned area, or other methods may be used to mark the cleaned area, which is not particularly limited by the exemplary embodiment of the present disclosure.
- the spanning block may include spanning different rooms, that is, the second surface medium area occupies part of the area of at least two rooms, then the restriction of the two rooms can be ignored, and the cleaning robot is controlled first to remove the entire second surface medium After the area is cleaned, the second surface medium area is marked as a cleaned area, and the second surface medium area will not be cleaned during the cleaning process of the following two houses.
- the second surface medium area such as a carpet
- the wet cleaning module by preferentially cleaning the second surface medium area, for example, the second surface medium area such as a carpet can be cleaned when the wet cleaning module is lifted; after that, Then lower the wet cleaning module to clean the first surface medium area, that is, only need to control the wet cleaning module to switch between lifting and lowering once to complete the entire cleaning process, avoiding frequent switching, thereby improving. It improves the cleaning efficiency and prolongs the service life of the automatic cleaning equipment.
- the automatic cleaning device also includes other functions that help realize the overall operation, which will not be repeated in this exemplary embodiment.
- an automatic cleaning device cleaning device is also provided, which is arranged in the automatic cleaning device and is used for cleaning in a dual-zone cleaning mode including a first surface medium region and a second surface medium region.
- the automatic cleaning device cleaning device 2700 may include: an area determination module 2701, a first cleaning control module 2702 and a second cleaning control module 2703, wherein:
- an area determination module 2701 configured to determine whether there is a second surface medium area according to a stored map in the automatic cleaning device after the automatic cleaning device enters the dual-region cleaning mode;
- the first cleaning control module 2702 is used to clean the second surface medium area if there is a second surface medium area; after the second surface medium area is cleaned, mark it as a cleaned area, and determine whether there is a next second surface Media area, if exists, clean the next second surface media area until all second surface media areas are cleaned;
- the second cleaning control module 2703 is used to control the automatic cleaning device to clean the first surface medium area.
- an electronic device capable of implementing the above method is also provided.
- aspects of the present disclosure may be implemented as a system, method or program product. Therefore, various aspects of the present disclosure can be embodied in the following forms: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, which may be collectively referred to herein as implementations "circuit", “module” or "system”.
- FIG. 27 An electronic device 2800 according to this embodiment of the present disclosure is described below with reference to FIG. 27 .
- the electronic device 2800 shown in FIG. 27 is only an example, and should not impose any limitations on the functions and scope of use of the embodiments of the present disclosure.
- electronic device 2800 takes the form of a general purpose computing device.
- Components of the electronic device 2800 may include, but are not limited to: the above-mentioned at least one processing unit 2810 , the above-mentioned at least one storage unit 2820 , a bus 2830 connecting different system components (including the storage unit 2820 and the processing unit 2810 ), and a display unit 2840 .
- the storage unit 2820 stores program codes, which can be executed by the processing unit 2810, so that the processing unit 2810 executes various examples according to the present disclosure described in the above-mentioned "Exemplary Methods" section of this specification steps of sexual implementation.
- the processing unit 2810 may perform step S2410 as shown in FIG.
- step S2420 after the automatic cleaning device enters the dual-area cleaning mode, according to the stored map in the automatic cleaning device, determine whether there is a second surface medium area; step S2420, if there is a second surface medium area, clean the second surface medium area; step S2430, after the second surface medium area is cleaned, mark it as a cleaned area, and determine whether there is a next second surface medium area, if If there is, clean the next second surface medium area until all the second surface medium areas are cleaned; step S2440, control the automatic cleaning device to clean the first surface medium area.
- the storage unit 2820 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 28201 and/or a cache storage unit 28202, and may further include a read only storage unit (ROM) 28203.
- RAM random access storage unit
- ROM read only storage unit
- the storage unit 2820 may also include a program/utility 28204 having a set (at least one) of program modules 28205 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, An implementation of a network environment may be included in each or some combination of these examples.
- the bus 2830 may be representative of one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local area using any of a variety of bus structures bus.
- the electronic device 2800 may also communicate with one or more external devices 2870 (eg, keyboards, pointing devices, Bluetooth devices, etc.), with one or more devices that enable a user to interact with the electronic device 2800, and/or with Any device (eg, router, modem, etc.) that enables the electronic device 2800 to communicate with one or more other computing devices. Such communication may occur through input/output (I/O) interface 2850. Also, the electronic device 2800 can communicate with one or more networks (eg, a local area network (LAN), a wide area network (WAN), and/or a public network such as the Internet) through a network adapter 2860 . As shown, network adapter 2860 communicates with other modules of electronic device 2800 via bus 2830. It should be understood that, although not shown, other hardware and/or software modules may be used in conjunction with electronic device 2800, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives and data backup storage systems.
- the exemplary embodiments described herein may be implemented by software, or may be implemented by software combined with necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure may be embodied in the form of software products, and the software products may be stored in a non-volatile storage medium (which may be CD-ROM, U disk, mobile hard disk, etc.) or on the network , including several instructions to cause a computing device (which may be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to an embodiment of the present disclosure.
- a computing device which may be a personal computer, a server, a terminal device, or a network device, etc.
- a computer-readable storage medium on which a program product capable of implementing the above-described method of the present specification is stored.
- various aspects of the present disclosure may also be implemented in the form of a program product comprising program code for causing the program product to run on a terminal device when the program product is run on a terminal device.
- the terminal device performs the steps according to various exemplary embodiments of the present disclosure described in the above-mentioned "Example Method" section of this specification.
- a program product for implementing the above method according to an embodiment of the present disclosure may adopt a portable compact disc read only memory (CD-ROM) and include program codes, and may run on a terminal device, such as a personal computer.
- CD-ROM compact disc read only memory
- the program product of the present disclosure is not limited thereto, and in this document, a readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
- the program product may employ any combination of one or more readable media.
- the readable medium may be a readable signal medium or a readable storage medium.
- the readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples (non-exhaustive list) of readable storage media include: electrical connections with one or more wires, portable disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.
- a computer readable signal medium may include a propagated data signal in baseband or as part of a carrier wave with readable program code embodied thereon. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
- a readable signal medium can also be any readable medium, other than a readable storage medium, that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
- Program code embodied on a readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
- Program code for performing the operations of the present disclosure may be written in any combination of one or more programming languages, including object-oriented programming languages—such as Java, C++, etc., as well as conventional procedural Programming Language - such as the "C" language or similar programming language.
- the program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server execute on.
- the remote computing device may be connected to the user computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (eg, using an Internet service provider business via an Internet connection).
- LAN local area network
- WAN wide area network
- an external computing device eg, using an Internet service provider business via an Internet connection
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Abstract
Description
Claims (15)
- 一种自动清洁设备控制方法,其特征在于,包括:在自动清洁设备进行清洁时,根据所述自动清洁设备的当前行走轮状态数据获取第一数据,根据所述自动清洁设备的当前机身状态数据获取第二数据;根据所述第一数据和所述第二数据,确定所述自动清洁设备是否被困;如果所述自动清洁设备被困,则控制所述自动清洁设备进入加速脱困模式。
- 根据权利要求1所述的自动清洁设备控制方法,其特征在于,根据所述第一数据和所述第二数据,确定所述自动清洁设备是否被困包括:根据所述第一数据和所述第二数据的差值,确定所述自动清洁设备是否被困。
- 根据权利要求1或2所述的自动清洁设备控制方法,其特征在于,所述方法还包括:在所述自动清洁设备处于旋转状态时,根据所述自动清洁设备的当前行走轮状态数据获取行走轮的理论角速度作为所述第一数据;根据所述自动清洁设备的当前机身状态数据获取所述行走轮的实际角速度作为所述第二数据;若所述第一数据与所述第二数据的差值大于第一阈值,且持续第一预设时间,则确定所述自动清洁设备被困。
- 根据权利要求1或2所述的自动清洁设备控制方法,其特征在于,所述方法还包括:在所述自动清洁设备处于直线前进状态时,根据所述自动清洁设备的当前行走轮状态数据获取电机的理论输出功率作为所述第一数据;根据所述自动清洁设备的当前机身状态数据获取所述电机的实际输出功率作为所述第二数据;若所述第一数据与所述第二数据的差值小于第二阈值,且持续第二预设时间,则确定所述自动清洁设备被困。
- 根据权利要求4所述的自动清洁设备控制方法,其特征在于,根据所述自动清洁设备的当前行走轮状态数据获取电机理论输出功率包括:根据所述自动清洁设备的行走轮当前的行走距离,确定所述电机理论输出功率。
- 根据权利要求1或2所述的自动清洁设备控制方法,其特征在于,所述方法还包括:在所述自动清洁设备遇到障碍物处于后退状态时,根据所述自动清洁设备的当前行走轮状态数据获取电机的理论输出功率作为所述第一数据;根据所述自动清洁设备的当前机身状态数据获取所述电机的实际输出功率作为所述第二数据;若所述第一数据与所述第二数据的差值小于第三阈值并持续第三预设时间,且所述自动清洁设备的主刷电流超过第四阈值并持续第四预设时间时,则确定所述自动清洁设备被困。
- 根据权利要求1或2所述的自动清洁设备控制方法,其特征在于,所述加速脱困模式包括控制所述自动清洁设备减速后瞬间加速。
- 根据权利要求7所述的自动清洁设备控制方法,其特征在于,所述方法还包括:根据所述减速后瞬间加速的结果,确定所述自动清洁设备是否处于易产生误判的介质上;如果确定所述自动清洁设备处于所述易产生误判的介质上,则在所述自动清洁设备处于所述易产生误判的介质上时,关闭所述加速脱困模式。
- 根据权利要求8所述的自动清洁设备控制方法,其特征在于,根据所述减速后瞬间加速的结果,确定所述自动清洁设备是否处于易产生误判的介质上包括:在所述减速后瞬间加速后,若所述自动清洁设备上的加速度计的变化峰值超过阀值,则确定所述自动清洁设备处于易产生误判的介质上。
- 根据权利要求1或2所述的自动清洁设备控制方法,其特征在于,根据所述自动清洁设备的当前行走轮状态数据获取第一数据包括:根据所述自动清洁设备的行走轮传感器数据获取当前行走轮状态下的所述第一数据。
- 根据权利要求1或2所述的自动清洁设备控制方法,其特征在于,根据所述自动清洁设备的当前机身状态数据获取第二数据包括:根据所述自动清洁设备上的状态传感器获取当前机身状态数据,再根据所述当前机身状态数据确定所述第二数据。
- 根据权利要求11所述的自动清洁设备控制方法,其特征在于,所述状态传感器包括陀螺仪、电机功率传感器、悬崖传感器或触碰传感器。
- 一种自动清洁设备控制装置,其特征在于,包括:数据获取模块,用于在自动清洁设备进行清洁时,根据所述自动清洁设备的当前行走轮状态数据获取第一数据,根据所述自动清洁设备的当前机身状态数据获取第二数据;状态确定模块,用于根据所述第一数据和所述第二数据,确定所述自动清洁设备是否被困;控制脱困模块,用于如果所述自动清洁设备被困,则控制所述自动清洁设备进入加速脱困模式。
- 一种计算机可读存储介质,其上存储有计算机程序,其特征在于,所述计算机程序被处理器执行时实现权利要求1-12任一项所述的自动清洁设备控制方法。
- 一种电子设备,其特征在于,包括:处理器;以及存储器,用于存储所述处理器的可执行指令;其中,所述处理器配置为经由执行所述可执行指令来执行权利要求1-12任一项所述的自动清洁设备控制方法。
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