WO2022257551A1

WO2022257551A1 - Cleaning device and light effect control method

Info

Publication number: WO2022257551A1
Application number: PCT/CN2022/082852
Authority: WO
Inventors: 杜琼; 程英杰; 肖福建; 张辉; 丛一鸣; 李依璇
Original assignee: 北京石头创新科技有限公司
Priority date: 2021-06-09
Filing date: 2022-03-24
Publication date: 2022-12-15
Also published as: CN113693502A; TW202247809A

Abstract

A cleaning device and a light effect control method. The light effect control method for a cleaning device comprises: determining a state mode of a cleaning device; and controlling, on the basis of the state mode of the cleaning device, a presentation lamp of the cleaning device to present a light effect corresponding to the state mode, wherein the cleaning device at least has a sweeping state mode and a mopping state mode, and the light effects corresponding to either of the two state modes are different. The state mode of a cleaning device is determined first, and then a light effect corresponding to the state mode is presented. In addition, the light effects corresponding to either of the two state modes are different, such that different working states or warning states of the cleaning device can be presented by means of the different light effects.

Description

一种清洁设备及灯效控制方法A cleaning device and lighting effect control method

相关申请的交叉引用Cross References to Related Applications

本申请要求于2021年6月9日递交的中国专利申请第202110641816.2号的优先权，在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。This application claims the priority of the Chinese patent application No. 202110641816.2 submitted on June 9, 2021, and the content disclosed in the above Chinese patent application is quoted in its entirety as a part of this application.

技术领域technical field

本公开涉及清洁设备灯效控制技术领域，特别涉及一种清洁设备及灯效控制方法。The present disclosure relates to the technical field of lamp effect control for cleaning equipment, and in particular to a cleaning device and a method for controlling lamp effect.

背景技术Background technique

随着扫地机器人功能的增多，例如，拖地、缺水提醒等功能，扫地机器人具备了多种状态模式，但是，由于部分场景下扫地机器人语音或动作给予用户指示不明显，所以，需要研发一种能够针对不同状态模式，来展示相对应灯效的清洁设备及灯效控制方法。With the increase of the functions of the sweeping robot, such as mopping the floor and water shortage reminder, the sweeping robot has a variety of state modes. However, because the voice or action of the sweeping robot is not obvious to the user in some scenarios, it is necessary to develop a A cleaning device and a lighting effect control method capable of displaying corresponding lighting effects according to different state modes.

需要说明的是，在上述背景技术部分公开的信息仅用于加强对本公开的背景的理解，因此可以包括不构成对本领域普通技术人员已知的现有技术的信息。It should be noted that the information disclosed in the above background section is only for enhancing the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to those of ordinary skill in the art.

发明内容Contents of the invention

(一)发明目的(1) Purpose of the invention

本公开的目的是提供一种能够针对不同状态模式，来展示相对应灯效的清洁设备及灯效控制方法。The purpose of the present disclosure is to provide a cleaning device and a lighting effect control method capable of displaying corresponding lighting effects for different state modes.

(二)技术方案(2) Technical solution

为解决上述问题，本公开实施例的第一方面提供了一种清洁设备的灯效控制方法，包括：确定清洁设备的状态模式；基于清洁设备的状态模式控制清洁设备的展示灯展示与状态模式对应的灯效；清洁设备至少包括扫地状态模式和扫拖状态模式，任意两种状态模式对应的灯效不同。In order to solve the above problems, the first aspect of the embodiments of the present disclosure provides a lighting effect control method for cleaning equipment, including: determining the status mode of the cleaning equipment; controlling the display light display and status mode of the cleaning equipment based on the status mode of the cleaning equipment Corresponding lighting effects; the cleaning equipment includes at least a sweeping state mode and a sweeping and mopping state mode, and the corresponding lighting effects of any two state modes are different.

进一步地，确定清洁设备的状态模式，包括：基于清洁设备的扫地模组处于工作状态，且清洁设备的拖地模组处于空闲状态，确定清洁设备为扫地状态模式；或，基于扫地模组和拖地模组均处于工作状态，确定清洁设备为扫拖状态模式。Further, determining the state mode of the cleaning equipment includes: based on the sweeping module of the cleaning equipment being in a working state and the mopping module of the cleaning equipment being in an idle state, determining that the cleaning equipment is in the sweeping state mode; or, based on the sweeping module and The mopping modules are all in working state, and it is determined that the cleaning device is in the sweeping and mopping state mode.

进一步地，清洁设备还包括预热状态模式、充电开始的状态模式、缺水状态模式、开机过程状态模式中的一种或多种；所述确定清洁设备的状态模式，包括：基于清洁设备从充电桩移出或者从充电桩移动至清扫的起始点的过程中，确定清洁设备处于预热状态模式。Further, the cleaning device also includes one or more of the preheating state mode, the charging start state mode, the water shortage state mode, and the power-on process state mode; the determination of the state mode of the cleaning device includes: based on the cleaning device from During the process of moving the charging pile out or moving from the charging pile to the starting point of cleaning, it is determined that the cleaning device is in the preheating state mode.

进一步地，基于清洁设备的状态模式控制清洁设备的展示灯展示与状态模式对应的灯效，包括：基于清洁设备的预热状态模式控制清洁设备的展示灯交替地展示出第一颜色和第二颜色；优选的，第一颜色为蓝色，第二颜色为白色。Further, based on the state mode of the cleaning device, controlling the display light of the cleaning device to display a light effect corresponding to the state mode includes: controlling the display light of the cleaning device to alternately display the first color and the second color based on the preheating state mode of the cleaning device. Color; preferably, the first color is blue, and the second color is white.

进一步地，基于清洁设备的状态模式控制清洁设备的展示灯展示与状态模式对应的灯效，包括：基于清洁设备的充电开始的状态模式控制清洁设备的展示灯展示并闪烁预设次数的第三颜色；优选的，第三颜色为绿色。Further, based on the state mode of the cleaning device, controlling the display light of the cleaning device to display a light effect corresponding to the state mode includes: controlling the display light of the cleaning device to display and flash the third preset number of times based on the state mode of the cleaning device charging start. Color; preferably, the third color is green.

进一步地，基于清洁设备的状态模式控制清洁设备的展示灯展示与状态模式对应的灯效，包括：基于清洁设备的开机过程状态模式控制清洁设备的展示灯随音乐交替地且均呼吸式地展示第四颜色和第五颜色；优选的，第四颜色为蓝色，第五颜色为白色。Further, based on the state mode of the cleaning device, controlling the display light of the cleaning device to display the light effect corresponding to the state mode includes: controlling the display light of the cleaning device to display alternately and breathingly with music based on the state mode of the cleaning device's boot process The fourth color and the fifth color; preferably, the fourth color is blue, and the fifth color is white.

进一步地，清洁设备包括多组灯组；基于清洁设备的状态模式控制清洁设备的展示灯展示与状态模式对应的灯效，包括：基于清洁设备的状态模式的不同，控制清洁设备的展示灯展示与状态模式对应的不同颜色的动态效果。Further, the cleaning equipment includes multiple groups of lights; controlling the display lights of the cleaning equipment to display lighting effects corresponding to the status modes based on the status modes of the cleaning equipment, including: controlling the display lights of the cleaning equipment based on the different status modes of the cleaning equipment Dynamic effects of different colors corresponding to state modes.

进一步地，基于清洁设备的状态模式的不同，控制清洁设备的展示灯展示与状态模式对应的不同颜色的动态效果，包括：基于清洁设备的扫地状态模式控制清洁设备的展示灯展示白色的动态效果；或者，基于清洁设备的扫拖状态模式控制清洁设备的展示灯展示蓝色的动态效果；或者，基于清洁设备的缺水状态模式控制清洁设备的展示灯展示橙色的动态效果。Further, based on the different state modes of the cleaning equipment, controlling the display lights of the cleaning equipment to display dynamic effects of different colors corresponding to the state modes includes: controlling the display lights of the cleaning equipment to display white dynamic effects based on the sweeping state mode of the cleaning equipment ; Or, control the display light of the cleaning device to display a blue dynamic effect based on the sweeping and dragging state mode of the cleaning device; or, control the display light of the cleaning device to display an orange dynamic effect based on the water shortage state mode of the cleaning device.

本公开实施例的第二方面提供了一种清洁设备，包括展示灯和与展示灯连接的控制单元；控制单元，用于确定清洁设备的状态模式，并基于状态模式向展示灯发送控制信号；展示灯，用于根据控制信号展示与状态模式对应的灯效；其中，清洁设备至少包括扫地状态模式和拖地状态模式，任意两种状态模式对应的灯效不同。The second aspect of the embodiments of the present disclosure provides a cleaning device, including a display lamp and a control unit connected to the display lamp; the control unit is used to determine the status mode of the cleaning device, and send a control signal to the display lamp based on the status mode; The display lamp is used to display the lighting effect corresponding to the state mode according to the control signal; wherein, the cleaning equipment includes at least a sweeping state mode and a mopping state mode, and the lighting effects corresponding to any two state modes are different.

进一步地，清洁设备还包括分别与控制单元连接的扫地模组和拖地模组；控制单元，用于基于清洁设备的扫地模组处于工作状态，且清洁设备的拖地模组处于空闲状态，确定清洁设备为扫地状态模式；或者，控制单元，基于扫地模组和拖地模组均处于工作状态，确定清洁设备为扫拖状态模式。Further, the cleaning device also includes a sweeping module and a mopping module respectively connected to the control unit; the control unit is used for the sweeping module of the cleaning device to be in a working state, and the mopping module of the cleaning device to be in an idle state, It is determined that the cleaning device is in the sweeping state mode; or, the control unit determines that the cleaning device is in the sweeping state mode based on the fact that both the sweeping module and the mopping module are in the working state.

进一步地，展示灯包括多个灯组，多个灯组沿弧线分布，每个灯组可发出不同颜色的光束。Further, the display lamp includes a plurality of lamp groups distributed along arcs, and each lamp group can emit light beams of different colors.

(三)有益效果(3) Beneficial effects

本公开的上述技术方案具有如下有益的技术效果：The above technical solution of the present disclosure has the following beneficial technical effects:

通过先确定清洁设备处于何种状态模式，再展示该状态模式对应的灯效，另外，通过任意两种状态模式对应的灯效不同，可以实现通过不同的灯效来展示清洁设备不同的工作状态或警示状态。By first determining which state mode the cleaning device is in, and then displaying the corresponding lighting effect of the state mode, in addition, through the different lighting effects corresponding to any two state modes, it is possible to display different working states of the cleaning device through different lighting effects or alert status.

附图说明Description of drawings

图1是本公开一实施例中清洁设备的灯效控制方法的流程示意图；FIG. 1 is a schematic flowchart of a method for controlling lighting effects of a cleaning device in an embodiment of the present disclosure;

图2是本公开一实施例中清洁设备的结构示意图；Fig. 2 is a schematic structural view of cleaning equipment in an embodiment of the present disclosure;

图3是本公开一实施例中清洁设备的结构示意图；Fig. 3 is a schematic structural diagram of cleaning equipment in an embodiment of the present disclosure;

图4是本公开一实施例中清洁设备的结构示意图。Fig. 4 is a schematic structural diagram of a cleaning device in an embodiment of the present disclosure.

附图标记：Reference signs:

100：移动平台；101：前向部分；102：后向部分；110：感知***；120：驱动***；130：能源***；140：人机交互***；150：扫地模组；160：拖地模组；161：清洁头；1611：固定区域；1612：活动区域。100: mobile platform; 101: forward part; 102: backward part; 110: perception system; 120: drive system; 130: energy system; 140: human-computer interaction system; 150: sweeping module; 160: mopping model Group; 161: cleaning head; 1611: fixed area; 1612: active area.

具体实施方式Detailed ways

为了使本公开的目的、技术方案和优点更加清楚，下面将结合附图对本公开作进一步地详细描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本公开保护的范围。In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below in conjunction with the accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the present disclosure, not all of them. Based on the embodiments in the present disclosure, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present disclosure.

在本公开实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本公开。在本公开实施例和所附权利要求书中所使用的单数形式的“一种”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义，“多种”一般包含至少两种。Terms used in the embodiments of the present disclosure are for the purpose of describing specific embodiments only, and are not intended to limit the present disclosure. The singular forms "a" and "the" used in the embodiments of this disclosure and the appended claims are also intended to include plural forms, unless the context clearly indicates otherwise, and "multiple" generally includes at least two .

应当理解，本文中使用的术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。It should be understood that the term "and/or" used herein is only an association relationship describing associated objects, which means that there may be three relationships, for example, A and/or B, which may mean that A exists alone, and A and B exist simultaneously. B, there are three situations of B alone. In addition, the character "/" in this article generally indicates that the contextual objects are an "or" relationship.

应当理解，尽管在本公开实施例中可能采用术语第一、第二、第三等来描述，但不应限于这些术语。这些术语仅用来将关联对象区分开。例如，在不脱离本公开实施例范围的情况下，第一也可以被称为第二，类似地，第二也可以被称为第一。It should be understood that although the terms first, second, third, etc. may be used for description in the embodiments of the present disclosure, they should not be limited to these terms. These terms are only used to distinguish related objects. For example, without departing from the scope of the embodiments of the present disclosure, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的商品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种商品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个”限定的要素，并不排除包括所述要素的商品或者装置中还存在另外的相同要素。It should also be noted that the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that an article or arrangement comprising a list of elements includes not only those elements but also includes items not expressly listed. other elements of the product, or elements inherent in the product or device. Without further limitations, an element defined by the phrase "comprising a" does not exclude the presence of additional identical elements in an article or device comprising said element.

图1是本公开一实施例中清洁设备的灯效控制方法的流程示意图。FIG. 1 is a schematic flowchart of a method for controlling lighting effects of a cleaning device in an embodiment of the present disclosure.

在本公开第一实施例中，如图1所示，提供了一种清洁设备的灯效控制方法，主要包括：确定清洁设备的状态模式；基于清洁设备的状态模式控制清洁设备的展示灯展示与状态模式对应的灯效；清洁设备至少包括扫地状态模式和扫拖状态模式，任意两种状态模式对应的灯效不同。In the first embodiment of the present disclosure, as shown in FIG. 1 , there is provided a lighting effect control method for cleaning equipment, which mainly includes: determining the status mode of the cleaning equipment; controlling the display light display of the cleaning equipment based on the status mode of the cleaning equipment The lighting effect corresponding to the status mode; the cleaning equipment includes at least the sweeping status mode and the sweeping status mode, and the corresponding lighting effects of any two status modes are different.

具体地，清洁设备的控制***可以通过清洁设备零部件的运行状态或运行数据来确定清洁设备整体的状态模式，控制***根据确定的清洁设备的状态模式向展示灯输出与状态模式对应的灯效控制指令，以控制展示灯展示出对应的灯效，向用户明显地指示出清洁设备对应的状态模式。为了便于用户清楚地知道清洁设备处于何种状态模式，每种的状态模式的灯效都是唯一的，即所有灯效不重复。Specifically, the control system of the cleaning equipment can determine the overall state mode of the cleaning equipment through the operating status or operating data of the parts of the cleaning equipment. The control instruction is used to control the display lamp to display the corresponding light effect, and clearly indicate the corresponding status mode of the cleaning equipment to the user. In order to facilitate the user to clearly know which status mode the cleaning device is in, the lighting effect of each status mode is unique, that is, all lighting effects are not repeated.

在一些实施例中，灯效包括呼吸灯效、闪烁灯效和动态效果灯效。In some embodiments, the lighting effects include breathing lighting effects, flashing lighting effects and dynamic lighting effects.

在一些实施例中，确定清洁设备的状态模式，主要包括：基于清洁设备的扫地模组150处于工作状态，且清洁设备的拖地模组160处于空闲状态，确定清洁设备为扫地状态模式；或，基于扫地模组150和拖地模组160均处于工作状态，确定清洁设备为扫拖状态模式。In some embodiments, determining the state mode of the cleaning device mainly includes: determining that the cleaning device is in the sweeping state mode based on the sweeping module 150 of the cleaning device being in a working state and the mopping module 160 of the cleaning device being in an idle state; or , based on the fact that both the sweeping module 150 and the mopping module 160 are in the working state, it is determined that the cleaning device is in the sweeping and mopping state mode.

具体地，清洁设备的清洁模组包括扫地模组150(干式清洁模组)和拖地模组160(湿式清洁模组)。Specifically, the cleaning module of the cleaning device includes a sweeping module 150 (dry cleaning module) and a mopping module 160 (wet cleaning module).

扫地模组150包括与待清洁表面具有一定干涉的滚刷，该滚刷远离待清洁表面，即扫地模组150悬空于待清洁表面，此时扫地模组150为空闲状态，需要由空闲状态切换成工作状态时，下降扫地模组150，使扫地模组150的滚刷与待清洁表面产生干涉。The sweeping module 150 includes a roller brush that interferes with the surface to be cleaned to a certain extent. The roller brush is far away from the surface to be cleaned, that is, the sweeping module 150 is suspended above the surface to be cleaned. At this time, the sweeping module 150 is in an idle state and needs to be switched from the idle state. When it is in the working state, the sweeping module 150 is lowered so that the roller brush of the sweeping module 150 interferes with the surface to be cleaned.

拖地模组160包括清洁头161，该清洁头161远离待清洁表面，即拖地模组160悬空于待清洁表面，此时拖地模组160为空闲状态，需要由空闲状态切换成工作状态时，下降拖地模组160，使拖地模组160的清洁头161工作(例如清洁头161滚动工作)；另外，拖地模组160的清洁头161与待清洁表面接触，但是，拖地模组160的清洁头161未工作(例如清洁头161未滚动工作)，此时拖地模组160也为空闲状态。The mopping module 160 includes a cleaning head 161, which is far away from the surface to be cleaned, that is, the mopping module 160 is suspended above the surface to be cleaned. At this time, the mopping module 160 is in an idle state and needs to be switched from the idle state to the working state At the same time, the floor mopping module 160 is lowered to make the cleaning head 161 of the mopping module 160 work (such as the cleaning head 161 rolling work); in addition, the cleaning head 161 of the mopping module 160 contacts the surface to be cleaned, but the mopping The cleaning head 161 of the module 160 is not working (for example, the cleaning head 161 is not rolling), and the mopping module 160 is also in an idle state at this time.

清洁设备的控制***获取扫地模组150和拖地模组160的运行状态，确定清洁设备的是否处于扫地状态模式或扫拖状态模式。The control system of the cleaning device obtains the running status of the sweeping module 150 and the mopping module 160, and determines whether the cleaning device is in the sweeping state mode or the sweeping and mopping state mode.

在一些实施例中，清洁设备还包括预热状态模式、充电开始的状态模式、缺水状态模式、开机过程状态模式中的一种或多种；确定清洁设备的状态模式，包括：基于清洁设备从充电桩移出或者从充电桩移动至清扫的起始点的过程中，确定清洁设备处于预热状态模式。In some embodiments, the cleaning device also includes one or more of the preheating state mode, the charging start state mode, the water shortage state mode, and the power-on process state mode; determining the state mode of the cleaning device includes: During the process of moving away from the charging pile or moving from the charging pile to the starting point of cleaning, it is determined that the cleaning device is in the preheating state mode.

具体地，清洁设备启动后，控制***控制清洁设备从充电桩移出，控制装置基于感知***110获取的环境数据和预存于控制***的环境地图控制清洁设备去往清扫的起始点，清洁设备从充电桩离开至清扫的起始点的移动过程为预热阶段，从离开充电桩至任一工作状态模式之间的过渡状态为预热状态模式，清洁设备为预热状态模式时，扫地模组150和拖地模组160均为空闲状态；缺水状态模式为控制***获取到清洁设备的水箱缺水信号，从获取水箱缺水至补充水的过程状态为缺水状态模式；从关机状态的清洁设备切换为开机状态的清洁设备过程为开机过程状态模式。Specifically, after the cleaning equipment is started, the control system controls the cleaning equipment to move out of the charging pile, and the control device controls the cleaning equipment to go to the starting point of cleaning based on the environmental data acquired by the sensing system 110 and the environmental map pre-stored in the control system. The moving process from the pile to the starting point of cleaning is the preheating stage, and the transition state from leaving the charging pile to any working state mode is the preheating state mode. When the cleaning equipment is in the preheating state mode, the sweeping module 150 and The mopping module 160 is in an idle state; the water shortage state mode is that the control system obtains the water shortage signal of the water tank of the cleaning equipment, and the process state from obtaining water shortage in the water tank to replenishing water is the water shortage state mode; from the shutdown state of the cleaning equipment The cleaning process of switching to the power-on state is the power-on process state mode.

在一些实施例中，基于清洁设备的状态模式控制清洁设备的展示灯展示与状态模式对应的灯效包括：基于清洁设备的预热状态模式控制清洁设备的展示灯交替地展示出第一颜色和第二颜色。In some embodiments, controlling the display light of the cleaning device to display a light effect corresponding to the state mode based on the state mode of the cleaning device includes: controlling the display light of the cleaning device to alternately display the first color and the first color based on the preheating state mode of the cleaning device. second color.

具体地，控制***确定清洁设备为预热状态模式时，向展示灯发送预热状态模式的灯效控制指令，展示灯接收到预热状态模式的灯效控制指令后，交替地展示出第一颜色和第二颜色。优选的，第一颜色为蓝色，第二颜色为白色。展示灯接收到预热状态模式的灯效控制指令后，交替地展示出蓝色和白色。Specifically, when the control system determines that the cleaning device is in the preheating state mode, it sends a lighting effect control command in the preheating state mode to the display lamp, and the display lamp alternately displays the first color and secondary color. Preferably, the first color is blue, and the second color is white. After receiving the lighting effect control command of the preheating state mode, the display lamp will alternately display blue and white.

在一些实施例中，基于清洁设备的状态模式控制清洁设备的展示灯展示与状态模式对应的灯效，包括：基于清洁设备的充电开始的状态模式控制清洁设备的展示灯展示并闪烁预设次数的第三颜色。In some embodiments, controlling the display light of the cleaning device to display a light effect corresponding to the state mode based on the state mode of the cleaning device includes: controlling the display light of the cleaning device to display and flash a preset number of times based on the state mode of the cleaning device starting to charge the third color.

具体地，控制***确定清洁设备为充电开始的状态模式，向展示灯发送充电开始的状态模式的灯效控制指令，展示灯接收到充电开始的状态模式的灯效控制指令后，展示并闪烁预设次数的第三颜色。优选的，第三颜色为绿色。展示灯接收到充电开始的状态模式的灯效控制指令后，展示并闪烁两次绿色。Specifically, the control system determines that the cleaning device is in the state mode of charging start, and sends a light effect control command of the state mode of charge start to the display lamp, and after receiving the light effect control command of the state mode of charge start, the display light displays and flashes the warning light. Sets the third color for the number of times. Preferably, the third color is green. After receiving the light effect control command of the charging start state mode, the display light will display and flash green twice.

在一些实施例中，基于清洁设备的状态模式控制清洁设备的展示灯展示与状态模式对应的灯效包括：基于清洁设备的开机过程状态模式控制清洁设备的展示灯随音乐交替地且均呼吸式地展示第四颜色和第五颜色。In some embodiments, controlling the display light of the cleaning device to display light effects corresponding to the state mode based on the state mode of the cleaning device includes: controlling the display light of the cleaning device to alternately and evenly breathe with music based on the state mode of the cleaning device's startup process display the fourth and fifth colors.

具体地，控制***确定清洁设备为开机过程状态模式，向展示灯发送开机过程状态模式的灯效控制指令，展示灯接收到开机过程状态模式的灯效控制指令后，随音乐交替地且均呼吸式地展示第四颜色和第五颜色。优选的，第四颜色为蓝色，第五颜色为白色。展示灯接收到开机过程状态模式的灯效控制指令后，随音乐交替地且均呼吸式地展示蓝色和白色。Specifically, the control system determines that the cleaning device is in the power-on process state mode, and sends the lighting effect control command of the power-on process state mode to the display lamp. After receiving the light effect control command of the power-on process state mode, the display light breathes alternately and uniformly with the music The 4th and 5th colors are displayed formally. Preferably, the fourth color is blue, and the fifth color is white. After receiving the lighting effect control instruction of the status mode of the power-on process, the display lamp will display blue and white alternately and in a breathing manner along with the music.

在一些实施例中，清洁设备包括多组灯组；基于清洁设备的状态模式控制清洁设备的展示灯展示与状态模式对应的灯效，包括：基于清洁设备的状态模式的不同，控制清洁设备的展示灯展示与状态模式对应的不同颜色的动态效果。In some embodiments, the cleaning device includes multiple groups of lights; controlling the display lights of the cleaning device to display light effects corresponding to the status mode based on the status mode of the cleaning device includes: controlling the display lights of the cleaning device based on the different status modes of the cleaning device The display lights show the dynamic effects of different colors corresponding to the status modes.

具体地，灯组包括展示灯和展示灯控制装置，展示灯控制装置基于控制***提供的不同状态模式对应的不同灯效控制指令，控制展示灯展示对应的灯效。Specifically, the lamp group includes a display lamp and a display lamp control device. The display lamp control device controls the display lamp to display corresponding lighting effects based on different lighting effect control instructions corresponding to different state modes provided by the control system.

在一些实施例中，基于清洁设备的状态模式的不同，控制清洁设备的展示灯展示与状态模式对应的不同颜色的动态效果，包括：基于清洁设备的扫地状态模式控制清洁设备的展示灯展示白色的动态效果；或者，基于清洁设备的扫拖状态模式控制清洁设备的展示灯展示蓝色的动态效果；或者，基于清洁设备的缺水状态模式控制清洁设备的展示灯展示橙色的动态效果。In some embodiments, based on the different status modes of the cleaning equipment, controlling the display lights of the cleaning equipment to display dynamic effects of different colors corresponding to the status modes includes: controlling the display lights of the cleaning equipment to display white based on the sweeping status mode of the cleaning equipment Or, control the display light of the cleaning device to display a blue dynamic effect based on the sweeping and dragging state mode of the cleaning device; or, control the display light of the cleaning device to display an orange dynamic effect based on the water shortage state mode of the cleaning device.

具体地，缺水状态模式对应的橙色动态效果优先级高于除了开机、关机状态模式对应的展示灯动态效果和开始清扫状态模式对应的展示灯动态效果以外的所有状态模式对应的展示灯动态效果优先级。例如，如果在扫拖状态模式下检测到水箱缺水，清洁设备会立即停止全部动作，清洁设备会停留原地并在灯带上的表现形式为橙色动态效果。动态效果包括多个灯组的展示灯由左至右闪现，或者由右至左闪现，或者循环点亮，或者颜色定时切换等，即通过多个展示灯开关或者颜色变化实现灯带动态展示的效果。Specifically, the orange dynamic effect corresponding to the water shortage state mode has a higher priority than the display light dynamic effect corresponding to all state modes except the display light dynamic effect corresponding to the power-on and power-off state modes and the display light dynamic effect corresponding to the cleaning state mode. priority. For example, if it is detected that the water tank is short of water in the sweeping and mopping state mode, the cleaning device will immediately stop all actions, the cleaning device will stay in place, and the performance on the light strip will be an orange dynamic effect. Dynamic effects include display lights of multiple light groups flashing from left to right, or flashing from right to left, or cycle lighting, or color timing switching, etc., that is, through multiple display light switches or color changes to achieve dynamic display of light strips Effect.

图2是本公开一实施例中清洁设备的结构示意图。Fig. 2 is a schematic structural diagram of a cleaning device in an embodiment of the present disclosure.

本公开第二实施例中，如图2所示，提供了一种清洁设备，主要包括展示灯和与展示灯连接的控制***；控制***用于确定清洁设备的状态模式，并基于状态模式向展示灯发送控制信号；展示灯用于根据控制信号展示与状态模式对应的灯效；其中，清洁设备至少包括扫地状态模式和拖地状态模式，任意两种状态模式对应的灯效不同。In the second embodiment of the present disclosure, as shown in FIG. 2 , a cleaning device is provided, which mainly includes a display light and a control system connected to the display light; the control system is used to determine the status mode of the cleaning device, and send The display light sends a control signal; the display light is used to display the light effect corresponding to the state mode according to the control signal; wherein, the cleaning equipment includes at least a sweeping state mode and a mopping state mode, and the light effects corresponding to any two state modes are different.

图3是本公开一实施例中清洁设备的结构示意图。Fig. 3 is a schematic structural diagram of a cleaning device in an embodiment of the present disclosure.

具体地，本实施例中，清洁设备可以是真空吸地机器人、也可以是拖地/扫地机器人、也可以是爬窗机器人等等。纯粹是为了展示的需要，本申请中下面的描述以同时具有扫地和拖地功能的清洁机器人为例进行说明。如图3所示，清洁设备可以包含移动平台100、感知***110、控制***、驱动***120、清洁模组、能源***130和人机交互***140。Specifically, in this embodiment, the cleaning device may be a vacuum cleaner robot, a floor mopping/sweeping robot, or a window climbing robot and the like. Purely for the sake of demonstration, the following description in this application takes a cleaning robot with both sweeping and mopping functions as an example for illustration. As shown in FIG. 3 , the cleaning device may include a mobile platform 100 , a perception system 110 , a control system, a driving system 120 , a cleaning module, an energy system 130 and a human-computer interaction system 140 .

控制***可以通过获取移动平台100、感知***110、驱动***120、清洁模组、能源***130和人机交互***140的运行状态或运行数据来确定清洁设备整体的状态模式，控制***根据确定的清洁设备的状态模式向展示灯输出与状态模式对应的灯效控制指令，以控制展示灯展示出对应的灯效，向用户明显地指示出清洁设备对应的状态模式。为了便于用户清楚地知道清洁设备处于何种状态模式，每种状态模式的灯效都是唯一的，即所有灯效为不重复。The control system can determine the overall state mode of the cleaning equipment by acquiring the operating status or operating data of the mobile platform 100, the sensing system 110, the driving system 120, the cleaning module, the energy system 130, and the human-computer interaction system 140. The status mode of the cleaning device outputs a lighting effect control command corresponding to the status mode to the display lamp, so as to control the display lamp to display the corresponding lighting effect, and clearly indicate the corresponding status mode of the cleaning device to the user. In order to facilitate the user to clearly know which state mode the cleaning device is in, the lighting effect of each state mode is unique, that is, all lighting effects are not repeated.

在一些实施例中，移动平台100可以是自主移动平台，也可以是非自主移动平台。自主移动平台是指移动平台100本身可以根据预料之外的环境输入自动地及适应性地做出操作决策；非自主移动平台本身不能根据预料之外的环境输入适应性地做出操作决策，但可以执行既定的程序或者按照一定的逻辑运行。相应地，当移动平台100为自主移动平台时，目标方向可以是自动清洁设备自主决定的；当移动平台100为非自主移动平台时，目标方向可以是***或人工设置的。其中，移动平台100可以包括前向部分101和后向部分102。In some embodiments, the mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform. An autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operational decisions based on unexpected environmental inputs; a non-autonomous mobile platform itself cannot adaptively make operational decisions based on unexpected environmental inputs, but It can execute a predetermined program or run according to a certain logic. Correspondingly, when the mobile platform 100 is an autonomous mobile platform, the target direction can be independently determined by the automatic cleaning device; when the mobile platform 100 is a non-autonomous mobile platform, the target direction can be set by the system or manually. Wherein, the mobile platform 100 may include a forward part 101 and a backward part 102 .

在一些实施例中，控制***设置在移动平台100内的电路主板上，包括与非暂时性存储器，例如硬盘、快闪存储器、随机存取存储器，通信的计算处理器，例如中央处理单元、应用处理器，应用处理器被配置为接收感知***110传来的多个传感器的感受到的环境信息，根据激光测距装置反馈的障碍物信息等利用定位算法，例如SLAM，绘制自动清洁设备所在环境中的即时地图，并根据环境信息和环境地图自主决定行驶路径，然后根据自主决定的行驶路径控制驱动***120进行前进、后退和/或转向等操作。控制***还可以根据环境信息和环境地图决定是否启动清洁模组进行清洁操作。In some embodiments, the control system is disposed on a circuit board in the mobile platform 100, and includes a computing processor, such as a central processing unit, application The processor, the application processor is configured to receive the environmental information sensed by multiple sensors from the perception system 110, and use a positioning algorithm, such as SLAM, to map the environment where the automatic cleaning device is located according to the obstacle information fed back by the laser ranging device. The real-time map in the vehicle, and autonomously determine the driving route according to the environmental information and the environmental map, and then control the drive system 120 to perform operations such as forward, backward and/or steering according to the autonomously determined driving route. The control system can also decide whether to start the cleaning module to perform cleaning operations according to the environmental information and the environmental map.

在一些实施例中，人机交互***140包括主机面板上的按键，按键供用户进行功能选择；人机交互***140还可以包括展示灯，用于展示清洁设备不同状态模式下的灯效。In some embodiments, the human-computer interaction system 140 includes buttons on the host panel for users to select functions; the human-computer interaction system 140 may also include display lights for displaying the lighting effects of the cleaning equipment in different states.

在一些实施例中，如图4所示，清洁设备还包括分别与控制***连接的扫地模组150和拖地模组160；控制***，用于基于清洁设备的扫地模组150处于工作状态，且清洁设备的拖地模组160处于空闲状态，确定清洁设备为扫地状态模式；或者，控制***，基于扫地模组150和拖地模组160均处于工作状态，确定清洁设备为扫拖状态模式。In some embodiments, as shown in FIG. 4 , the cleaning equipment also includes a sweeping module 150 and a mopping module 160 respectively connected to the control system; And the mopping module 160 of the cleaning device is in an idle state, and it is determined that the cleaning device is in the sweeping state mode; or, the control system, based on the sweeping module 150 and the mopping module 160 being in the working state, determines that the cleaning device is in the sweeping state mode .

具体地，清洁模组包括扫地模组150和拖地模组160。扫地模组150包括滚刷、尘盒、风机、出风口。扫地模组150还可包含具有旋转轴的边刷，旋转轴相对于地面成一定角度，以用于将碎屑移动到清洁模组的滚刷区域中。与地面具有一定干涉的滚刷将地面上的垃圾扫起并卷带到滚刷与尘盒之间的吸尘口前方，然后被风机结构产生并经过尘盒的有吸力的气体吸入尘盒，垃圾被滤网隔离在尘盒内部靠近吸尘口一侧，滤网将吸尘口与出风口完全隔离，经过过滤后的空气通过出风口进入风机。Specifically, the cleaning module includes a sweeping module 150 and a mopping module 160 . The sweeping module 150 includes a roller brush, a dust box, a fan, and an air outlet. Sweeping module 150 may also include a side brush having an axis of rotation that is angled relative to the floor for moving debris into the area of the roller brush of the cleaning module. The roller brush that has a certain interference with the ground sweeps up the garbage on the ground and rolls it to the front of the dust 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 structure and passing through the dust box. Garbage is isolated by the filter screen on the side close to the dust suction port inside the dust box. The filter screen completely isolates the dust suction port from the air outlet, and the filtered air enters the fan through the air outlet.

扫地模组150与浮动升降结构连接，其被配置为能够使扫地模组150相对于移动平台100被动式上下移动。具体地，浮动升降结构为平行四边形的四连杆升降结构，配置为在外力作用下被动地使扫地模组150在上升状态和下沉状态间切换。扫地模组150通过设置四连杆浮动升降结构，使扫地模组150相对于移动平台100被动式上下移动。扫地模组150的滚刷远离待清洁表面，即扫地模组150悬空于待清洁表面，此时扫地模组150为空闲状态，需要由空闲状态切换成工作状态时，下降扫地模组150，使扫地模组150的滚刷与待清洁表面产生干涉。当清洁设备在作业过程中遇到障碍物时，可以通过四连杆浮动升降结构轻松地越过障碍物，而避免障碍物对清洁设备的损坏。The sweeping module 150 is connected to the floating lifting structure, which is configured to enable the sweeping module 150 to move up and down passively relative to the mobile platform 100 . Specifically, the floating lifting structure is a parallelogram four-link lifting structure configured to passively switch the sweeping module 150 between the rising state and the sinking state under the action of an external force. The sweeping module 150 passively moves up and down relative to the mobile platform 100 by setting a four-link floating lifting structure. The roller brush of the sweeping module 150 is far away from the surface to be cleaned, that is, the sweeping module 150 is suspended on the surface to be cleaned. At this time, the sweeping module 150 is in an idle state. The roller brush of the sweeping module 150 interferes with the surface to be cleaned. When the cleaning equipment encounters an obstacle during operation, it can easily overcome the obstacle through the four-link floating lifting structure, so as to avoid damage to the cleaning equipment by the obstacle.

拖地模组160包括清洁头161、驱动单元。清洁头161用于清洁操作面(例如，地面)的至少一部分，驱动单元用于驱动清洁头161沿着目标面基本上往复运动，目标面为操作面的一部分。清洁头161沿待清洁表面做往复运动，清洁头161与待清洁表面的接触面表面设有清洁布或清洁板，通过往复运动与待清洁表面产生高频摩擦，从而去除待清洁表面上的污渍。具体地，清洁头161包括固定区域1611和活动区域1612。其中，固定区域1611位于移动平台100的底部，活动区域1612用于沿着目标面往复运动，以清洁目标面。The mopping module 160 includes a cleaning head 161 and a driving unit. The cleaning head 161 is used to clean at least a part of the operation surface (for example, the floor), and the driving unit is used to drive the cleaning head 161 to substantially reciprocate along the target surface, which is a part of the operation surface. The cleaning head 161 reciprocates along the surface to be cleaned, and the contact surface between the cleaning head 161 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 reciprocating motion, thereby removing stains on the surface to be cleaned . Specifically, the cleaning head 161 includes a fixed area 1611 and a movable area 1612 . Wherein, the fixed area 1611 is located at the bottom of the mobile platform 100, and the movable area 1612 is used for reciprocating movement along the target surface to clean the target surface.

拖地模组160通过四连杆升降结构活动连接于移动平台100上。其中，四连杆升降结构为平行四边形结构，用于使拖地模组160在上升状态和下沉状态间切换，上升状态为拖地模组160离开操作面，清洁头161远离待清洁表面，即拖地模组160悬空于待清洁表面，此时拖地模组160为空闲状态，需要由空闲状态切换成工作状态时，将拖地模组160降下使拖地模组160与地面接触，当执行完毕拖地任务的时候，将拖地模组160升起使拖地模组160与地面分离，避免清洁设备在被清洁面上自由移动时由于清洁模组的存在而增大阻力。另外，拖地模组160与待清洁表面接触，但是，拖地模组160的驱动单元未驱动清洁头161工作时，此时拖地模组160也为空闲状态。The mopping module 160 is movably connected to the mobile platform 100 through a four-link lifting structure. Among them, the four-link lifting structure is a parallelogram structure, which is used to switch the mopping module 160 between the rising state and the sinking state. The rising state is that the mopping module 160 leaves the operation surface, and the cleaning head 161 is away from the surface to be cleaned. That is, the mopping module 160 is suspended on the surface to be cleaned. At this time, the mopping module 160 is in an idle state. When it is necessary to switch from the idle state to the working state, the mopping module 160 is lowered so that the mopping module 160 is in contact with the ground. When the mopping task is completed, the mopping module 160 is raised to separate the mopping module 160 from the ground, so as to prevent the cleaning equipment from increasing resistance due to the presence of the cleaning module when the cleaning equipment moves freely on the surface to be cleaned. In addition, the mopping module 160 is in contact with the surface to be cleaned, but when the driving unit of the mopping module 160 does not drive the cleaning head 161 to work, the mopping module 160 is also in an idle state at this time.

控制***获取到扫地模组150位于下降状态时，即确定扫地模组150处于工作状态，且拖地模组160位于下降状态，同时驱动单元未驱动清洁头161工作，或者拖地模组160位于上升状态，即确定拖地模组160处于空闲状态，以确定清洁设备为扫地状态模式。When the control system acquires that the sweeping module 150 is in the down state, it determines that the sweeping module 150 is in the working state, and the mopping module 160 is in the down state, and the drive unit does not drive the cleaning head 161 to work, or the mopping module 160 is in the down state. The rising state is to determine that the mopping module 160 is in an idle state, so as to determine that the cleaning device is in a sweeping state.

控制***获取到扫地模组150位于下降状态时，即确定扫地模组150处于工作状态，且拖地模组160位于下降状态，同时驱动单元驱动清洁头161工作，即确定拖地模组160处于工作状态，以确定清洁设备为扫拖状态模式。When the control system acquires that the sweeping module 150 is in the down state, it determines that the sweeping module 150 is in the working state, and the mopping module 160 is in the down state, and at the same time the drive unit drives the cleaning head 161 to work, that is, it determines that the mopping module 160 is in the down state. Working state to determine that the cleaning device is in the sweeping and mopping state mode.

在一些实施例中，清洁设备还包括预热状态模式、充电开始的状态模式、缺水状态模式、开机过程状态模式中的一种或多种。In some embodiments, the cleaning device further includes one or more of a preheating state mode, a charging start state mode, a water shortage state mode, and a power-on process state mode.

具体地，清洁设备从充电桩离开至清扫的起始点的移动过程为预热阶段，从离开充电桩至任一工作状态模式之间的过渡状态为预热状态模式，清洁设备为预热状态模式时，扫地模组150和拖地模组160均为空闲状态；缺水状态模式为控制***获取到清洁设备的水箱缺水信号，从获取水箱缺水至补充水的过程状态为缺水状态模式；从关机状态的清洁设备切换为开机状态的清洁设备过程为开机过程状态模式。Specifically, the moving process of the cleaning equipment from the charging pile to the starting point of cleaning is the preheating stage, the transition state from leaving the charging pile to any working state mode is the preheating state mode, and the cleaning equipment is in the preheating state mode At this time, the sweeping module 150 and the mopping module 160 are both in the idle state; the water shortage state mode is that the control system obtains the water shortage signal of the water tank of the cleaning equipment, and the process state from obtaining the water shortage of the water tank to replenishing water is the water shortage state mode ; The process of switching from the cleaning device in the off state to the cleaning device in the on state is the state mode of the power on process.

在一些实施例中，清洁设备位于预热状态模式，控制***控制清洁设备的展示灯交替地展示出第一颜色和第二颜色。In some embodiments, the cleaning device is in the preheating state mode, and the control system controls the display light of the cleaning device to alternately display the first color and the second color.

具体地，清洁设备启动后，控制***控制清洁设备从充电桩移出，控制装置基于感知***110获取的环境数据和预存于控制***的环境地图控制清洁设备去往清扫的起始点，且扫地模组150和拖地模组160均为空闲状态，控制***确定清洁设备此时为预热状态模式，并向展示灯发送预热状态模式的灯效控制指令，展示灯接收到预热状态模式的灯效控制指令后，交替地展示出第一颜色和第二颜色。优选的，第一颜色为蓝色，第二颜色为白色。展示灯接收到预热状态模式的灯效控制指令后，交替地展示出蓝色和白色。Specifically, after the cleaning equipment is started, the control system controls the cleaning equipment to move out of the charging pile, the control device controls the cleaning equipment to go to the starting point of cleaning based on the environmental data acquired by the sensing system 110 and the environmental map pre-stored in the control system, and the sweeping module 150 and the mopping module 160 are both in the idle state. The control system determines that the cleaning equipment is in the preheating state mode at this time, and sends a light effect control command in the preheating state mode to the display lamp, and the display lamp receives the lamp in the preheating state mode. After the effective control command, the first color and the second color are displayed alternately. Preferably, the first color is blue, and the second color is white. After receiving the lighting effect control command of the preheating state mode, the display lamp will alternately display blue and white.

在一些实施例中，清洁设备位于充电开始的状态模式下，控制***控制清洁设备的展示灯展示并闪烁预设次数的第三颜色。In some embodiments, the cleaning device is in the charging start state mode, and the control system controls the display light of the cleaning device to display and flash the third color for a preset number of times.

具体地，控制***获取到能源***130中的电池的电量输入信号，控制***确定清洁设备为充电开始的状态模式，并向展示灯发送充电开始的状态模式的灯效控制指令，展示灯接收到充电开始的状态模式的灯效控制指令后，展示并闪烁预设次数的第三颜色。优选的，第三颜色为绿色。展示灯接收到充电开始的状态模式的灯效控制指令后，展示并闪烁两次数的绿色。Specifically, the control system acquires the power input signal of the battery in the energy system 130, the control system determines that the cleaning device is in the state mode of charging start, and sends a light effect control command of the state mode of charge start to the display lamp, and the display lamp receives After the lighting effect control command of the charging start state mode, the third color is displayed and flashes for a preset number of times. Preferably, the third color is green. After receiving the lighting effect control command of the charging start status mode, the display lamp displays and flashes green twice.

在一些实施例中，清洁设备位于开机过程状态模式下，控制***控制清洁设备的展示灯随音乐交替地且均呼吸式地展示第四颜色和第五颜色。In some embodiments, the cleaning device is in the power-on process state mode, and the control system controls the display lights of the cleaning device to display the fourth color and the fifth color alternately and in a breathing manner along with the music.

在一些实施例中，清洁设备的展示灯包括多个灯组，灯组包括展示灯和展示灯控制装置，展示灯控制装置基于控制***提供的不同状态模式对应的不同灯效控制指令，控制展示灯展示对应的灯效。基于清洁设备的状态模式的不同，控制清洁设备的展示灯展示与状态模式对应的不同颜色的动态效果。多个展示灯沿弧线分布，每个展示灯可发出不同颜色的光束。In some embodiments, the display lamp of the cleaning equipment includes a plurality of lamp groups, and the lamp group includes a display lamp and a display lamp control device. The lights display the corresponding lighting effect. Based on the different status modes of the cleaning equipment, the display lights of the cleaning equipment are controlled to display dynamic effects of different colors corresponding to the status modes. Multiple display lights are distributed along the arc, and each display light can emit a beam of different colors.

具体地，设置有九个灯组，该九个灯组沿弧形分布设置在清洁设备的顶面。Specifically, nine lamp groups are provided, and the nine lamp groups are distributed and arranged on the top surface of the cleaning device along an arc.

在一些实施例中，清洁设备处于扫地状态模式下，控制***控制清洁设备的展示灯展示白色的动态效果。In some embodiments, when the cleaning device is in the sweeping mode, the control system controls the display light of the cleaning device to display a white dynamic effect.

在一些实施例中，清洁设备处于扫拖状态模式下，控制***控制清洁设备的展示灯展示蓝色的动态效果。In some embodiments, when the cleaning device is in the sweeping and mopping mode, the control system controls the display light of the cleaning device to display a blue dynamic effect.

在一些实施例中，清洁设备处于缺水状态模式下，控制***控制清洁设备的展示灯展示橙色的动态效果。In some embodiments, when the cleaning device is in the water shortage mode, the control system controls the display light of the cleaning device to display an orange dynamic effect.

具体地，清洁设备设有水箱，用于存储拖地用水，水箱包括有水位传感器，当水箱内的水量不足警戒水量时，水位传感器输出缺水信号，控制***通过缺水信号确定清洁设备处于缺水状态模式。缺水状态模式对应的橙色动态效果优先级高于除了开机、关机状态模式对应的展示灯动态效果和开始清扫状态模式对应的展示灯动态效果以外的所有状态模式对应的展示灯动态效果优先级。例如，如果在扫拖状态模式下检测到水箱缺水，清洁设备会立即停止全部动作，清洁设备会停留原地并在灯带上的表现形式为橙色动态效果。动态效果包括多个灯组的展示灯由左至右闪现，或者由右至左闪现，或者循环点亮，或者颜色定时切换等，即通过多个展示灯开关或者颜色变化实现灯带动态展示的效果。Specifically, the cleaning equipment is equipped with a water tank for storing water used for mopping the floor. The water tank includes a water level sensor. Water status mode. The priority of the orange dynamic effect corresponding to the water shortage state mode is higher than the priority of the display light dynamic effect corresponding to all state modes except the dynamic effect of the display light corresponding to the power-on and power-off state modes and the dynamic effect of the display light corresponding to the cleaning state mode. For example, if it is detected that the water tank is short of water in the sweeping and mopping state mode, the cleaning device will immediately stop all actions, the cleaning device will stay in place, and the performance on the light strip will be an orange dynamic effect. Dynamic effects include display lights of multiple light groups flashing from left to right, or flashing from right to left, or cycle lighting, or color timing switching, etc., that is, through multiple display light switches or color changes to achieve dynamic display of light strips Effect.

通过先确定清洁设备处于何种状态模式，再展示状态模式对应的灯效，另外，通过任意两种状态模式对应的灯效不同，可以实现通过不同的灯效来展示清洁设备不同的工作状态或警示状态。By first determining which state mode the cleaning device is in, and then displaying the corresponding lighting effect of the state mode, in addition, through the different lighting effects corresponding to any two state modes, different lighting effects can be used to display different working states of the cleaning device or alert status.

以上实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的精神和范围。The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be described in the foregoing embodiments The recorded technical solutions are modified, or some of the technical features are replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

一种清洁设备的灯效控制方法，其特征在于，包括：A lighting effect control method for cleaning equipment, characterized by comprising:

确定所述清洁设备的状态模式；determining a state mode of the cleaning device;

基于所述清洁设备的状态模式控制所述清洁设备的展示灯展示与所述状态模式对应的灯效；Controlling the display lights of the cleaning equipment to display light effects corresponding to the status mode based on the status mode of the cleaning equipment;

所述清洁设备至少包括扫地状态模式和扫拖状态模式，任意两种所述状态模式对应的灯效不同。The cleaning equipment includes at least a sweeping state mode and a sweeping and mopping state mode, and any two state modes correspond to different lighting effects.
根据权利要求1所述的方法，其特征在于，The method according to claim 1, characterized in that,

所述确定所述清洁设备的状态模式，包括：The determining the state mode of the cleaning equipment includes:

基于所述清洁设备的扫地模组(150)处于工作状态，且所述清洁设备的拖地模组(160)处于空闲状态，确定所述清洁设备为扫地状态模式；或，Based on the fact that the sweeping module (150) of the cleaning device is in a working state and the mopping module (160) of the cleaning device is in an idle state, it is determined that the cleaning device is in a sweeping state mode; or,

基于所述扫地模组(150)和所述拖地模组(160)均处于工作状态，确定所述清洁设备为扫拖状态模式。Based on the fact that both the sweeping module (150) and the mopping module (160) are in a working state, it is determined that the cleaning device is in a sweeping and mopping state mode.
根据权利要求1或2所述的方法，其特征在于，The method according to claim 1 or 2, characterized in that,

所述清洁设备还包括预热状态模式、充电开始的状态模式、缺水状态模式、开机过程状态模式中的一种或多种；The cleaning device also includes one or more of the preheating state mode, the charging start state mode, the water shortage state mode, and the power-on process state mode;

所述确定所述清洁设备的状态模式，包括：The determining the state mode of the cleaning equipment includes:

基于所述清洁设备从充电桩移出或者从所述充电桩移动至清扫的起始点的过程中，确定所述清洁设备处于预热状态模式。Based on the process of the cleaning device moving out of the charging pile or moving from the charging pile to the starting point of cleaning, it is determined that the cleaning device is in the preheating state mode.
根据权利要求3所述的方法，其特征在于，The method according to claim 3, characterized in that,

基于所述清洁设备的状态模式控制所述清洁设备的展示灯展示与所述状态模式对应的灯效，包括：Controlling the display lights of the cleaning equipment to display lighting effects corresponding to the status mode based on the status mode of the cleaning equipment, including:

基于所述清洁设备的预热状态模式控制所述清洁设备的展示灯交替地展示出第一颜色和第二颜色；优选的，第一颜色为蓝色，第二颜色为白色。Based on the preheating state mode of the cleaning device, the display lamp of the cleaning device is controlled to alternately display the first color and the second color; preferably, the first color is blue, and the second color is white.
根据权利要求3所述的方法，其特征在于，The method according to claim 3, characterized in that,

基于所述清洁设备的状态模式控制所述清洁设备的展示灯展示与所述状态模式对应的灯效，包括：Controlling the display lights of the cleaning equipment to display lighting effects corresponding to the status mode based on the status mode of the cleaning equipment, including:

基于所述清洁设备的充电开始的状态模式控制所述清洁设备的展示灯展示并闪烁预设次数的第三颜色；优选的，第三颜色为绿色。Controlling the display light of the cleaning device to display and flash a third color for a preset number of times based on the status mode of the charging start of the cleaning device; preferably, the third color is green.
根据权利要求3所述的方法，其特征在于，The method according to claim 3, characterized in that,

基于所述清洁设备的状态模式控制所述清洁设备的展示灯展示与所述状态模式对应的灯效，包括：Controlling the display lights of the cleaning equipment to display lighting effects corresponding to the status mode based on the status mode of the cleaning equipment, including:

基于所述清洁设备的开机过程状态模式控制所述清洁设备的展示灯随音乐交替地且均呼吸式地展示第四颜色和第五颜色；优选的，第四颜色为蓝色，第五颜色为白色。Based on the state mode of the starting process of the cleaning equipment, the display lights of the cleaning equipment are controlled to alternately and breathe the fourth color and the fifth color along with the music; preferably, the fourth color is blue, and the fifth color is blue. White.
根据权利要求3所述的方法，其特征在于，所述清洁设备包括多组灯组；The method according to claim 3, wherein the cleaning equipment comprises multiple groups of lamps;

基于所述清洁设备的状态模式控制所述清洁设备的展示灯展示与所述状态模式对应的灯效，包括：Controlling the display lights of the cleaning equipment to display lighting effects corresponding to the status mode based on the status mode of the cleaning equipment, including:

基于所述清洁设备的状态模式的不同，控制所述清洁设备的展示灯展示与所述状态模式对应的不同颜色的动态效果。Based on the different state modes of the cleaning equipment, the display lights of the cleaning equipment are controlled to display dynamic effects of different colors corresponding to the state modes.
根据权利要求7所述的方法，其特征在于，基于所述清洁设备的状态模式的不同，控制所述清洁设备的展示灯展示与所述状态模式对应的不同颜色的动态效果，包括：The method according to claim 7, characterized in that, based on the different status modes of the cleaning equipment, controlling the display lights of the cleaning equipment to display dynamic effects of different colors corresponding to the status modes, including:

基于所述清洁设备的扫地状态模式控制所述清洁设备的展示灯展示白色的动态效果；或者，Based on the sweeping state mode of the cleaning equipment, the display lights of the cleaning equipment are controlled to display a white dynamic effect; or,

基于所述清洁设备的扫拖状态模式控制所述清洁设备的展示灯展示蓝色的动态效果；或者，Controlling the display light of the cleaning device to display a blue dynamic effect based on the sweeping and dragging state mode of the cleaning device; or,

基于所述清洁设备的缺水状态模式控制所述清洁设备的展示灯展示橙色的动态效果。The display light of the cleaning device is controlled to display an orange dynamic effect based on the water shortage state mode of the cleaning device.
一种清洁设备，其特征在于，包括展示灯和与所述展示灯连接的控制***；A cleaning device, characterized by comprising a display lamp and a control system connected to the display lamp;

所述控制***，用于确定所述清洁设备的状态模式，并基于所述状态模式向所述展示灯发送控制信号；The control system is configured to determine a state mode of the cleaning device, and send a control signal to the display light based on the state mode;

所述展示灯，用于根据所述控制信号展示与所述状态模式对应的灯效；其中，所述清洁设备至少包括扫地状态模式和拖地状态模式，任意两种所述状态模式对应的灯效不同。The display light is used to display the light effect corresponding to the state mode according to the control signal; wherein, the cleaning equipment includes at least a sweeping state mode and a mopping state mode, and lights corresponding to any two state modes effect is different.
根据权利要求9所述的清洁设备，其特征在于，还包括分别与所述控制***连接的扫地模组(150)和拖地模组(160)；The cleaning device according to claim 9, further comprising a sweeping module (150) and a mopping module (160) respectively connected to the control system;

所述控制***，用于基于所述清洁设备的扫地模组(150)处于工作状态，且所述清洁设备的拖地模组(150)处于空闲状态，确定所述清洁设备为扫地状态模式；或者，The control system is configured to determine that the cleaning device is in a sweeping state mode based on that the sweeping module (150) of the cleaning device is in a working state and the mopping module (150) of the cleaning device is in an idle state; or,

所述控制***，用于基于所述扫地模组(150)和所述拖地模组(160)均处于工作状态，确定所述清洁设备为扫拖状态模式。The control system is configured to determine that the cleaning device is in a sweeping and mopping state mode based on the fact that both the sweeping module (150) and the mopping module (160) are in a working state.
根据权利要求9或10所述的清洁设备，其特征在于，所述展示灯包括多个灯组，多个所述灯组沿弧线分布，每个所述灯组可发出不同颜色的光束。The cleaning device according to claim 9 or 10, wherein the display lamp comprises a plurality of lamp groups distributed along an arc, and each of the lamp groups can emit light beams of different colors.