WO2023130913A1 - Operation control method and apparatus for cleaning device, storage medium and electronic device - Google Patents

Operation control method and apparatus for cleaning device, storage medium and electronic device Download PDF

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Publication number
WO2023130913A1
WO2023130913A1 PCT/CN2022/138362 CN2022138362W WO2023130913A1 WO 2023130913 A1 WO2023130913 A1 WO 2023130913A1 CN 2022138362 W CN2022138362 W CN 2022138362W WO 2023130913 A1 WO2023130913 A1 WO 2023130913A1
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WO
WIPO (PCT)
Prior art keywords
parameter
cleaning device
target
negative pressure
pressure generator
Prior art date
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PCT/CN2022/138362
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French (fr)
Chinese (zh)
Inventor
王承冰
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追觅创新科技(苏州)有限公司
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Publication of WO2023130913A1 publication Critical patent/WO2023130913A1/en

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the present application relates to the field of smart home, in particular, to an operation control method and device for cleaning equipment, a storage medium and an electronic device.
  • the cleaning device when a user uses a cleaning device to clean an area, the cleaning device is in a tilted state during normal operation. In case of an unexpected situation (for example, answering a phone call, etc.), the cleaning device may change from a tilted state to other abnormal states. When the cleaning equipment is in an abnormal state, the negative pressure generator on the cleaning equipment will stop running. If you want to use the cleaning device again, you need to control the cleaning device to be in a tilted state, and restart the negative pressure generator of the cleaning device.
  • the operation control method of the cleaning equipment in the related art has the problem of low area cleaning efficiency due to the need to restart the cleaning equipment during the state switching process.
  • the purpose of this application is to provide a cleaning equipment operation control method and device, a storage medium and an electronic device, so as to at least solve the problem of the cleaning equipment operation control method in the related art due to the need to restart the cleaning equipment during the state switching process.
  • the resulting low efficiency of area cleaning is to provide a cleaning equipment operation control method and device, a storage medium and an electronic device, so as to at least solve the problem of the cleaning equipment operation control method in the related art due to the need to restart the cleaning equipment during the state switching process.
  • an operation control method of a cleaning device including acquiring a target posture parameter of the cleaning device, wherein the target posture parameter is used to indicate the current posture of the cleaning device ;
  • the target posture parameter is used to indicate the current posture of the cleaning device ;
  • the operating parameter of the negative pressure generator of the cleaning device is the first operating parameter, wherein the first operating parameter is less than Or it is equal to the lowest operating parameter corresponding to when the negative pressure generator is in a clean state; according to the first operating parameter, the operating state of the negative pressure generator is controlled.
  • the method further includes: determining that the cleaning device is in the non-cleaning state according to the target posture parameter, wherein, The unclean state includes one of the following: an upright state and a flat state.
  • the method further includes: determining the The second operating parameter of the negative pressure generator, wherein the second operating parameter is an operating parameter corresponding to the current gear of the negative pressure generator; according to the second operating parameter, the negative pressure generator is controlled the operating status of the device.
  • the method before the determination of the second operating parameter of the negative pressure generator, the method further includes: acquiring a target fouling parameter of the suction pipe corresponding to the negative pressure generator, wherein , the target dirty parameter is used to represent the dirty degree of the water suction pipe; according to the corresponding relationship between the dirty parameter and the gear position of the negative pressure generator, it is determined that the target dirty parameter corresponds to the negative pressure
  • the gear of the pressure generator is the current gear; and the operating parameter corresponding to the current gear is determined as the second operating parameter.
  • the acquisition of the target dirt parameter of the water suction pipe corresponding to the negative pressure generator includes: collecting an image of the water suction pipe through an image acquisition device on the cleaning device to obtain A target acquisition image; determining the target dirt parameter of the water suction pipe by performing feature extraction on the target acquisition image.
  • the acquisition of the target dirt parameter of the suction pipe corresponding to the negative pressure generator includes: transmitting a detection signal through a transmitter of a dirt sensor, wherein the dirt sensor is located at the The target position of the water suction pipe; according to the signal strength of the received signal received by the receiver of the dirt sensor and corresponding to the detection signal, the target dirt parameter of the water suction pipe is determined.
  • the acquiring the target posture parameters of the cleaning device includes: acquiring the angular velocity detected by the gyroscope when the cleaning device is provided with a gyroscope; according to the The angular velocity determines the tilt angle of the cleaning device, wherein the target attitude parameter includes the tilt angle.
  • the acquiring the target posture parameter of the cleaning device includes: acquiring a target current passing through the upright switch when the upright switch is set on the cleaning device, wherein the Target attitude parameters include the target current.
  • an operation control device for cleaning equipment including: a first acquiring unit, configured to acquire a target posture parameter of the cleaning equipment, wherein the target posture parameter is used for Indicating the current posture of the cleaning device; a first determination unit, configured to determine the negative pressure generator of the cleaning device when it is determined according to the target posture parameter that the cleaning device is in a non-cleaning state
  • the operating parameter is a first operating parameter, wherein the first operating parameter is less than or equal to the minimum operating parameter corresponding to when the negative pressure generator is in a clean state; the first control unit is configured to, according to the first operating parameter, The operating state of the negative pressure generator is controlled.
  • the apparatus further includes: a second determining unit, configured to determine, according to the target posture parameters of the cleaning device, that the cleaning device is in the The unclean state, wherein the unclean state includes one of the following: an upright state and a lying state.
  • the apparatus further includes: a third determining unit, configured to determine, according to the target posture parameters, that the cleaning device is in an inclined position after the acquisition of the target posture parameters of the cleaning device. state, determine the second operating parameter of the negative pressure generator, wherein the second operating parameter is an operating parameter corresponding to the current gear of the negative pressure generator; the second control unit is used to The operating state of the negative pressure generator is controlled according to the second operating parameter.
  • a third determining unit configured to determine, according to the target posture parameters, that the cleaning device is in an inclined position after the acquisition of the target posture parameters of the cleaning device. state, determine the second operating parameter of the negative pressure generator, wherein the second operating parameter is an operating parameter corresponding to the current gear of the negative pressure generator; the second control unit is used to The operating state of the negative pressure generator is controlled according to the second operating parameter.
  • the device further includes: a second acquisition unit, configured to acquire the water suction pipe corresponding to the negative pressure generator before the determination of the second operating parameter of the negative pressure generator
  • the target dirt parameter wherein, the target dirt parameter is used to represent the degree of dirt of the suction pipe
  • the fourth determining unit is used for Corresponding relationship, determining that the target dirt parameter corresponds to the gear of the negative pressure generator as the current gear
  • the fifth determination unit is used to determine the operating parameter corresponding to the current gear as the second Operating parameters.
  • the second acquisition unit includes: an acquisition module, configured to acquire an image of the water suction pipe through an image acquisition device on the cleaning device to obtain a target acquisition image; a first determination module , for determining the target dirt parameter of the water suction pipe by performing feature extraction on the target collected image.
  • the second acquisition unit includes: a transmitting module, configured to transmit a detection signal through a transmitter of a dirt sensor, wherein the dirt sensor is located at a target position of the water suction pipe;
  • the second determination module is configured to determine the target dirt parameter of the water suction pipe according to the signal strength of the received signal received by the receiver of the dirt sensor and corresponding to the detection signal.
  • the first acquisition unit includes: a first acquisition module, configured to acquire the angular velocity detected by the gyroscope when the cleaning device is provided with a gyroscope; A determining module, configured to determine an inclination angle of the cleaning device according to the angular velocity, wherein the target attitude parameter includes the inclination angle.
  • the first acquisition unit includes: a second acquisition module, configured to acquire a target current passing through the upright switch when the upright switch is provided on the cleaning device, wherein, The target attitude parameters include the target current.
  • a cleaning device which is characterized by comprising: a posture detection component, configured to detect a target posture parameter of the cleaning device, wherein the target posture parameter is used to indicate The current posture of the cleaning device; a processor configured to determine that the operating parameters of the negative pressure generator of the cleaning device are The first operation parameter, and according to the first operation parameter, the operation state of the negative pressure generator is controlled, wherein the first operation parameter is less than or equal to the corresponding minimum operation when the negative pressure generator is in a clean state parameter; the negative pressure generator is configured to operate according to the first operating parameter.
  • a computer-readable storage medium is also provided, and a computer program is stored in the computer-readable storage medium, wherein the computer program is configured to execute the above-mentioned cleaning equipment when running. operation control method.
  • an electronic device including a memory, a processor, and a computer program stored on the memory and operable on the processor, wherein the above-mentioned processor executes the above-mentioned A method of controlling the operation of cleaning equipment.
  • the negative pressure generator of the cleaning equipment when it is determined that the cleaning equipment is in an abnormal state, the negative pressure generator of the cleaning equipment is controlled to operate at a lower power, by obtaining the target posture parameters of the cleaning equipment, wherein the target posture parameters It is used to indicate the current posture of the cleaning equipment; when it is determined according to the target posture parameters that the cleaning equipment is in an abnormal state, the operating parameter of the negative pressure generator of the cleaning equipment is determined to be the first operating parameter, wherein the first operating The parameter is less than or equal to the minimum operating parameter corresponding to when the negative pressure generator is in a clean state; according to the first operating parameter, the operating state of the negative pressure generator is controlled.
  • the negative pressure generator of the cleaning equipment When the attitude of the cleaning equipment is determined to be in an abnormal state, the negative pressure generator of the cleaning equipment is operated with low power consumption (that is, the operating parameters of the cleaning equipment are adjusted to be less than or equal to the minimum gear operating parameters of the negative pressure generator), which can be While reducing the energy consumption of cleaning equipment, the purpose of fast start and stop of cleaning equipment is realized, and the technical effect of improving the efficiency of area cleaning is achieved, thereby solving the problem of the operation control method of cleaning equipment in the related art due to the process of state switching The low efficiency of area cleaning caused by the need to restart the cleaning equipment.
  • FIG. 1 is a schematic diagram of a hardware environment of an optional cleaning device operation control method according to an embodiment of the present application
  • Fig. 2 is a schematic flowchart of an optional operation control method of cleaning equipment according to an embodiment of the present application
  • Fig. 3 is a flow chart of an optional operation control method of cleaning equipment according to an embodiment of the present application.
  • Fig. 4 is a structural block diagram of an optional operation control device for cleaning equipment according to an embodiment of the present application.
  • Fig. 5 is a structural block diagram of an optional electronic device according to an embodiment of the present application.
  • a method for controlling the operation of cleaning equipment is provided.
  • the above cleaning device operation control method may be applied to a hardware environment composed of a terminal device 102 , a cleaning device 104 and a server 106 as shown in FIG. 1 .
  • the terminal device 102 can be connected to the cleaning device 104 and/or server 106 (for example, an Internet of Things platform or a cloud server) through a network to control the cleaning device 104, for example, to communicate with the cleaning device 104 Bind and configure the cleaning function of the cleaning device 104 .
  • server 106 for example, an Internet of Things platform or a cloud server
  • the foregoing network may include but not limited to at least one of the following: a wired network and a wireless network.
  • the above-mentioned wired network may include but not limited to at least one of the following: wide area network, metropolitan area network, local area network, and the above-mentioned wireless network may include but not limited to at least one of the following: WIFI (Wireless Fidelity, Wireless Fidelity), bluetooth, infrared.
  • WIFI Wireless Fidelity, Wireless Fidelity
  • the network used by the terminal device 102 to communicate with the cleaning device 104 and/or the server 106 and the network used by the cleaning device 104 to communicate with the server 106 may be the same or different.
  • the terminal device 102 may not be limited to a PC, mobile phone, tablet computer, etc.
  • the cleaning device 104 may not be limited to a smart vacuum cleaner, a smart scrubber (hereinafter referred to as a scrubber), or a smart sweeper
  • the server 106 may be The server of the IoT platform.
  • the operation control method of the cleaning device in the embodiment of the present application may be executed by the terminal device 102 , the cleaning device 104 or the server 106 alone, or jointly executed by at least two of the terminal device 102 , the cleaning device 104 and the server 106 .
  • the execution of the cleaning device operation control method of the embodiment of the present application by the terminal device 102 or the cleaning device 104 may also be performed by a client installed on it.
  • FIG. 2 is a schematic flowchart of an optional operation control method of the cleaning equipment according to the embodiment of the present application, as shown in FIG. 2 , the flow of the method may include the following steps:
  • Step S202 acquiring target posture parameters of the cleaning device, wherein the target posture parameters are used to indicate the current posture of the cleaning device.
  • the operation control method of cleaning equipment in this embodiment can be applied to the following scenarios: using cleaning equipment to clean the ground in the user's home, etc.
  • the above-mentioned cleaning equipment can be intelligent cleaning equipment, for example, it can be an intelligent vacuum cleaner, an intelligent floor washing machine , an intelligent cleaning machine integrating suction and sweeping, or other equipment with area cleaning functions, which is not limited in this embodiment.
  • the shape of the cleaning device is close to elongated, when the user does not use the cleaning device, the user generally chooses to place the cleaning device upright, and when the user uses the cleaning device, the user generally chooses to place the cleaning device obliquely.
  • the difference in the posture of the cleaning equipment can reflect the different needs of users. Therefore, in this embodiment, the operating state of the cleaning device can be controlled based on the posture of the cleaning device to meet different needs of users.
  • the target posture parameters of the cleaning device can be acquired, so as to determine the posture of the cleaning device.
  • the above-mentioned target posture parameters may be acquired by a detection component, which may be located on the cleaning device, and may be of one or more types.
  • the detection component may be a posture sensor.
  • the attitude sensor mentioned above may be a sensor for detecting the inclination of the cleaning device, or a sensor for detecting the distance between the target position on the cleaning device and the ground, or a sensor for detecting other attitude parameters.
  • the number of the above-mentioned posture sensors can be one or more, which can be arranged at the handle of the cleaning device, for example, at the grip of the cleaning device, or at other positions of the cleaning device body, which is not mentioned in this embodiment. Do limited.
  • the above-mentioned attitude sensor can be a distance sensor, and the distance sensor can determine the current attitude of the cleaning equipment by detecting the height difference between the cleaning equipment and the ground.
  • the above-mentioned distance sensor may include but not limited to one of the following: an infrared distance sensor, a laser distance sensor, and a PSD (Position Sensitive Detector, Position Sensitive Detector) sensor.
  • the type of the distance sensor is not limited.
  • each attitude sensor among the plurality of attitude sensors can independently detect the current attitude of the cleaning device.
  • the current attitude of the cleaning device may also be determined by fusing the attitude parameters detected by a plurality of attitude sensors. For example, an average attitude parameter obtained by averaging the attitude parameters detected by a plurality of attitude sensors may be determined as the above target attitude parameter.
  • an infrared sensor may be provided on the body of the scrubber.
  • the infrared sensor can emit detection signals. When the detection signal hits the ground, it will be reflected back by the ground, and the target attitude parameters can be generated according to the reflected signal received by the infrared sensor.
  • Step S204 when it is determined according to the target attitude parameter that the cleaning device is in an unclean state, determine that the operating parameter of the negative pressure generator of the cleaning device is the first operating parameter, wherein the first operating parameter is less than or equal to the negative pressure generator The corresponding minimum operating parameters in a clean state.
  • the cleaning device can determine the current posture of the cleaning device according to the above-mentioned target posture parameters, so as to determine the state of the cleaning device, for example, an inclined state and a non-cleaning state.
  • the operating parameters of the negative pressure generator of the cleaning equipment can be determined, and the operating state of the negative pressure generator can be controlled according to the above operating parameters, so as to reduce the energy consumption of the cleaning equipment while achieving cleaning
  • the above operating parameters may be the operating power, the speed of the motor of the negative pressure transmitter, etc., which are not limited in this embodiment.
  • the user After the cleaning equipment is started, the user generally tilts the cleaning equipment to facilitate the cleaning work.
  • the negative pressure generator of the cleaning device can be directly controlled. Considering that the user may use the cleaning equipment for a period of time in the future, the user needs to restart the negative pressure generator at this time, and the negative pressure generator starts from zero. It is difficult for the user to concentrate on the machine, which affects the user. cleaning efficiency.
  • the negative pressure generator of the cleaning device when the cleaning device is in a non-cleaning state, can be controlled to be in a low power consumption state. If it is determined that the cleaning equipment is in an unclean state, the cleaning equipment can determine the first operating parameter of the negative pressure generator of the cleaning equipment according to preset information, and the first operating parameter can be a relatively small operating parameter (for example, less than or equal to the operating parameter threshold), for example, it may be less than or equal to the corresponding minimum operating parameter when the negative pressure generator is in a clean state.
  • the negative pressure generator is a vacuum component that generates negative pressure using positive airflow, and it can be the main motor on the cleaning device.
  • the negative pressure generator may have different functions, names, shapes, etc.
  • the negative pressure generator in a washing machine, can be a sewage motor (ie, the main motor for recycling sewage) used to generate negative pressure to suck the sewage away.
  • the negative pressure generator in a smart vacuum cleaner, can be a vacuum motor for generating negative pressure to suck dust away. This is not limited in this embodiment.
  • the sewage motor of the scrubber can be The operating parameters of the machine are set to be less than or equal to the minimum gear operating parameters of the sewage motor, that is, the gear when the machine is upright is smaller than any gear when the machine is in use, or equal to the minimum gear when running.
  • Step S206 controlling the operating state of the negative pressure generator according to the first operating parameter.
  • the operating state of the negative pressure generator can be controlled based on the first operating parameter. For example, if the current operating parameter of the negative pressure generator is not the first operating parameter, then the operating parameter of the negative pressure generator can be adjusted to the first operating parameter, if the current operating parameter of the negative pressure generator is the first operating parameter, The operating parameters of the negative pressure generator can then be maintained at the first operating operating parameters.
  • the above-mentioned first operating parameter is not 0, that is, when the operating state of the negative pressure generator is controlled according to the first operating parameter, the negative pressure generator is in a low power consumption working state but does not stop running.
  • the process of adjusting the operating parameters of the negative pressure generator may be directly switching the operating parameters of the negative pressure generator from the current operating parameters to the first operating parameters, or changing the operating parameters of the negative pressure generator from the current
  • the operating parameters of the negative pressure generator are adjusted from the initial operating parameters to the first operating parameters.
  • the above initial operating parameters can be the operation when the cleaning equipment starts
  • the parameter may also be an operating parameter set by the user, which is not limited in this embodiment.
  • the operating state of the sewage motor of the washing machine can be controlled according to the determined operating parameters.
  • the target posture parameters of the cleaning device are obtained, wherein the target posture parameters are used to indicate the current posture of the cleaning device;
  • the first operating parameter of the negative pressure generator of the cleaning device wherein the first operating parameter is less than or equal to the corresponding minimum operating parameter when the negative pressure generator is in a clean state; according to the first operating parameter, the operating state of the negative pressure generator is controlled.
  • the above method further includes:
  • the target server may determine that the cleaning device is in an abnormal cleaning state according to the target posture parameter, and the non-cleaning state includes one of the following: an upright state and a flat state.
  • the above-mentioned threshold can be set by the user or the target server It is set according to big data analysis, which is not limited in this embodiment.
  • the attitude parameter acquired by the server that is, the above-mentioned target attitude parameter
  • the angle between the cleaning device and the horizontal plane is 85 degrees at this time, which is greater than the preset threshold of 80 degrees
  • it can be determined that the cleaning device is in an upright state not An example of a normal state.
  • the target attitude parameter it is determined whether the cleaning device is in an unclean state, so that the state of the cleaning device can be determined more accurately.
  • the above method further includes:
  • the negative pressure generator of the cleaning device can be controlled to operate according to the operating parameters that match the set gear.
  • the cleaning device can obtain the current gear of the negative pressure generator, determine the operating parameters corresponding to the current gear, obtain the second operating parameters, and control the operating state of the negative pressure generator according to the second operating parameters.
  • the operating state of controlling the negative pressure generator is similar, so it will not be repeated in this embodiment.
  • the current gear may be a gear for manual setting.
  • the user generally sets the operating gear of the cleaning device when starting the cleaning device. Therefore, the cleaning device can obtain the set gear to obtain the current gear.
  • the current gear may be the gear for automatic setting.
  • the gear position of the negative pressure generator can be related to the water spray volume of the water spray parts such as the water pump.
  • the cleaning equipment can determine the water spray volume of the water spray parts of the cleaning equipment. According to the corresponding relationship between the water spray volume and the gear position, Determines the current gear of the negative pressure generator.
  • the sewage motor can be judged to operate according to the normal gear.
  • the cleaning device will regularly collect the target attitude parameters of the cleaning device through the sensor according to the preset time period.
  • the negative pressure generator is controlled not to operate, that is, the equipment is not turned on; until the cleaning equipment is determined to be in a cleaning attitude according to the target attitude parameters, the negative pressure generator is controlled to operate according to the corresponding second Parameter operation means that the device is turned on.
  • the negative pressure generator is controlled to operate with the first operating parameter.
  • the operating state of the negative pressure generator is controlled according to the operating parameters corresponding to the current gear of the negative pressure generator, so as to improve the cleaning efficiency of the cleaning device.
  • determining a second operating parameter of the negative pressure generator includes:
  • the gear of the negative pressure generator can be set according to the degree of dirt on the floor of the currently cleaned area.
  • the degree of dirtiness of the ground in the area can be expressed by the degree of dirtiness of a certain position on the ground in the area, or by the degree of dirtiness of the target component of the cleaning equipment, wherein the degree of dirtiness of the target component can be expressed by
  • the detection part at the target position detects the target part.
  • the current gear of the negative pressure generator can be determined, and the operating parameters corresponding to the current gear can be determined as the operating parameters of the negative pressure generator.
  • the above-mentioned target component may be the water suction pipe corresponding to the negative pressure generator, or other components on the cleaning equipment (for example, sewage tank), which is not limited in this embodiment.
  • the degree of contamination of the target component In order to facilitate the control of the operating parameters of the negative pressure generator according to the degree of contamination, different degrees of contamination can correspond to different operating parameters. When the degree of contamination of the target component is higher, the operating parameters of the negative pressure generator will also be greater . Optionally, the degree of dirtiness can also be divided into multiple ranges, and different ranges correspond to different operating parameters. When the degree of contamination of the target component is within a certain interval, the operating parameter of the negative pressure generator may be an operating parameter corresponding to the interval.
  • the above-mentioned target component may be a water suction pipe corresponding to the negative pressure generator, which may be a pipe that sucks sewage into the sewage tank of the cleaning equipment, and the dirtiness parameter of the water suction pipe indicates the degree of dirtiness of the ground in the area.
  • a dirt detection component for detecting the degree of dirt of the water suction pipeline may be provided on the target position of the pipeline (for example, the outside of the inlet position). Through the dirt detection component, the dirt degree of the water suction pipe can be detected, and the target dirt parameter can be obtained. When the degree of dirt in the suction pipe is more serious, the target dirt parameter will be correspondingly larger.
  • the second operating parameter of the negative pressure generator can be determined according to the above target dirt parameter.
  • the cleaning device can determine that the gear of the negative pressure generator corresponding to the target dirt parameter is the current gear according to the correspondence between the dirt parameter and the gear of the negative pressure generator, and will correspond to the current gear.
  • the operation parameter of is determined as the second operation parameter.
  • different dirt parameters may correspond to a certain gear of the negative pressure generator, for example, intervals of different dirt parameters may correspond to different gears of the negative pressure generator.
  • the correspondence between the aforementioned dirt parameters and the gears of the negative pressure generator may be set by the user or automatically configured.
  • the user can set that when the dirt parameter is less than the first threshold, the gear of the corresponding negative pressure generator is low; when the dirt parameter is greater than or equal to the first threshold and less than the second threshold, the corresponding negative pressure generator
  • the gear of the negative pressure generator is a middle gear, and when the dirt parameter is greater than or equal to the second threshold, the gear of the corresponding negative pressure generator is a high gear.
  • the target dirt parameter is smaller than the first threshold, it may be determined that the current gear of the negative pressure generator is a low gear.
  • the cleaning equipment can record the current dirty parameters and the set gear of the suction pipe, and generate the dirty parameter and the set gear according to the recorded dirty parameters and the set gear.
  • the corresponding relationship between the generated dirt parameter and the gear of the negative pressure generator can be as follows: the gear corresponding to the same dirt parameter is counted, and among the gears corresponding to the dirt parameter, the gear with the most occurrences , which is determined as the gear of the negative pressure generator corresponding to the dirt parameter, so as to obtain the corresponding relationship between the dirt parameter and the gear of the negative pressure generator.
  • the floor washing machine can obtain the dirt parameter of the water suction pipe corresponding to the sewage motor, determine the current gear that matches the acquired dirt parameter, and set the operating parameters of the sewage motor to the corresponding gear. Operating parameters.
  • the operating parameters of the negative pressure generator are determined through the dirt parameter of the water suction pipe corresponding to the negative pressure generator, so that the accuracy of setting the operating parameters of the negative pressure generator can be improved.
  • obtaining the target fouling parameters of the suction pipe corresponding to the negative pressure generator includes:
  • the detection component may be an image acquisition device, for example, a camera, and the image acquisition device may be set outside the inlet of the water suction pipe, or at other positions where images of the water suction pipe can be collected.
  • the image collection device can be used to collect images of the water suction pipe to obtain the target collection image, and perform feature extraction on the target collection image to determine the target dirt parameters of the water suction pipe.
  • the aforementioned target acquisition image may be a black and white image or a color image, which is not limited in this embodiment.
  • the image collection device can be used to collect multiple images of the water suction pipe to obtain multiple target acquisition images.
  • the cleaning device can separately perform feature extraction on each target acquisition image to obtain multiple dirt parameters of the water suction pipe, and each dirt parameter corresponds to one target acquisition image. After obtaining the multiple dirty parameters, the average of the multiple dirty parameters can be used as the target dirty parameter.
  • the floor washing machine can collect the image of the water suction pipe through the camera on the water suction pipe to obtain the target acquisition image, and determine the target dirt parameters of the water suction pipe according to the target acquisition image.
  • the target dirty parameter of the suction pipeline corresponding to the negative pressure generator is obtained, including:
  • the above-mentioned detection component may be a dirt sensor, for example, a dirt sensor, and the dirt sensor may be arranged on the outside of the inlet position of the water suction pipe, or it may be arranged in other places capable of detecting the dirt of the water suction pipe. target location.
  • the dirt sensor can be used to detect the dirt of the water suction pipeline to obtain the target dirt parameter of the water suction pipeline.
  • the dirt sensor can be a photoelectric sensor.
  • the photoelectric sensor can include a transmitter and a receiver.
  • the transmitter can be used to transmit an optical signal (infrared optical signal), and the receiver can receive the optical signal emitted by the transmitter. And convert the received optical signal into electrical signal.
  • the cleaning equipment can emit a detection signal through the transmitter, and the detection signal can pass through the water suction pipe, or be reflected by the pipe wall of the water suction pipe, and be received by the receiver.
  • the receiver may receive a received signal corresponding to the detection signal, and determine the signal strength of the received signal, where the signal strength may be a voltage strength.
  • the detection signal will be partially absorbed by the sewage, and when the degree of dirt is higher, the detection signal sent out will be absorbed more, thus making the signal strength of the received signal weaker. Therefore, the target dirt parameter of the suction pipe can be determined according to the signal strength of the received signal, and there is a negative correlation between the signal strength of the received signal and the degree of dirtiness of the water suction pipe. The higher the degree of contamination, the weaker the signal strength of the received signal and the lower the degree of contamination of the suction pipe.
  • a photoelectric sensor may be provided outside the inlet position of the water suction pipe of the washing machine, and the photoelectric sensor includes a transmitter and a receiver. After the cleaning equipment is started, the transmitter can emit a light signal, and the receiver can receive the light signal, and according to the voltage strength of the light signal, the dirty parameter of the water suction pipe can be determined.
  • the dirt parameter detection of the water suction pipe is performed by transmitting a detection signal from the dirt sensor, so that the accuracy of determining the dirt parameter can be improved.
  • obtaining the target posture parameters of the cleaning device includes:
  • the target posture parameter may be detected by any posture detection component capable of posture detection, and the posture parameter detected by the posture detection component may be the inclination angle of the cleaning device.
  • the above attitude detection component can clean the gyroscope installed in the device.
  • the inclination angle of the cleaning equipment can be directly detected by the gyroscope.
  • the gyroscope may also be used to first detect the angular velocity, and determine the inclination angle of the cleaning device according to the detected angular velocity.
  • the gyroscope When the cleaning device is tilted, the gyroscope can generate a corresponding angular velocity change, and based on the detected angular velocity change, the rotation angle of the gyroscope can be determined. Based on the initial angle and the determined rotation angle, the inclination angle of the cleaning device can be determined.
  • the initial angle can be a preset angle at which the cleaning device stands upright, or other angles.
  • the angle at which the cleaning device is in the upright state can be set to 0 degrees, and the acquired angular velocity can be integrated to obtain the inclination angle of the cleaning device relative to the upright state.
  • the above-mentioned gyroscope can be an angular motion detection device that uses the moment of momentum of the high-speed revolving body to detect the angular motion of the shell relative to the inertial space around one or two axes orthogonal to the rotation axis.
  • An angular motion detection device made of other principles and having the same function can also be called a gyroscope.
  • the parameters detected by the gyroscope can be various.
  • the tilt angle of the cleaning equipment can be determined according to the detected angular momentum.
  • the detected angular acceleration can be integrated twice to determine the inclination angle of the cleaning device. This is not limited in this embodiment.
  • determining the state of the cleaning device according to the target attitude parameter refers to: determining the state of the cleaning device according to the inclination angle, that is, when the inclination angle is at the angle threshold When it is within a range (for example, 0-10 degrees), it is determined that the cleaning device is in an upright state, and when the above-mentioned inclination angle exceeds the angle threshold range, it is determined that the cleaning device is in an incline state.
  • a range for example, 0-10 degrees
  • the scrubber may have a built-in gyroscope, which can detect the angular velocity of the scrubber during the tilting process, and determine the tilt angle of the scrubber according to the detected angular velocity.
  • the inclination angle of the cleaning device is determined by detecting the angular velocity of the built-in gyroscope of the cleaning device, which can improve the accuracy of determining the inclination angle of the cleaning device.
  • obtaining the target posture parameters of the cleaning device includes:
  • the above-mentioned target posture parameter can be detected by any posture detection component capable of posture detection, and the posture parameter detected by the above-mentioned posture detection component can be an upright switch for detecting whether the cleaning device is upright (or in other words, whether it is inclined), so
  • the detected attitude parameter may be the target current through the upright switch.
  • the upright switch can be located on the cleaning device, for example, at the bottom of the cleaning device, and it can be a gravity sensor switch, a pressure switch, or other types of switches. After the cleaning device is started, the target current passing through the upright switch can be obtained, and then the target attitude parameters can be obtained.
  • the connection state of the gravity sensor switch when the cleaning device is tilted, the connection state of the gravity sensor switch will also change.
  • the gravity sensor switch When the inclination angle of the cleaning device is within a certain angle range, the gravity sensor switch is in a connected state, the current can normally pass through the gravity sensor switch, and the current passing through the gravity sensor switch is not zero.
  • the gravity sensing switch When the inclination angle of the cleaning device exceeds the above angle range, the gravity sensing switch is in an off state, the current will not pass through the gravity sensing switch, and the current passing through the gravity sensing switch is zero.
  • determining the state of the cleaning device according to the target attitude parameters means: when the target current is not zero, it is determined that the cleaning device is in an upright state; when the target current is zero, it is determined that the cleaning device is in an inclined state state.
  • the weight on the pressure switch when the cleaning equipment is tilted, the weight on the pressure switch will be offset from the piezoresistor, making the pressure on the piezoresistor smaller, because the resistance of the piezoresistor is proportional to the pressure Inversely proportional, at this time, the current through the pressure switch is less than the current threshold.
  • the cleaning device is in an upright state, the counterweight on the pressure switch is pressed vertically on the piezoresistor, the pressure switch is in a connected state, the current can pass through the pressure switch normally, and the current through the pressure switch reaches the current threshold.
  • determining the state of the cleaning device according to the target attitude parameters means: when the target current is greater than or equal to the current threshold, it is determined that the cleaning device is in an upright state; when the target current is less than the current threshold, it is determined that the cleaning device is in an upright state in a tilted state.
  • an upright switch can be set at the bottom of the roller brush of the scrubber. If the current passing through the upright switch reaches the current threshold, it can be determined that the scrubber is in an upright state, otherwise, it can be determined that the scrubber is in a tilted state.
  • the cleaning equipment is a scrubber
  • the negative pressure generator is a sewage motor
  • This optional example provides an operation control method for cleaning equipment.
  • the washing machine When the washing machine is turned on and is in a tilted state, the washing machine is controlled to run normally, and the sewage motor runs according to the normal gear.
  • the washing machine suddenly When switching from the inclined state to the upright state, adjust the power of the sewage motor to be less than or equal to the minimum power when the scrubber is running.
  • the flow of the cleaning device operation control method in this optional example may include the following steps:
  • Step S302 start.
  • Step S304 acquiring the status of the scrubber, which can be an upright status or an inclined status.
  • Step S306 judging whether the scrubber is turned on, if yes, execute step S308, otherwise, execute step S310.
  • Step S308 controlling the scrubber not to run.
  • Step S310 judging whether the washing machine is tilted, if yes, execute step S312, otherwise, execute step S314.
  • step S310 it may be judged first whether the scrubber is tilted, and when the scrubber is not tilted, the sewage recovery motor is controlled not to run, and when the scrubber is tilted, step S310 is performed.
  • Step S312 controlling the sewage motor to recognize the gear position during normal operation.
  • Step S314 controlling the sewage motor to run with reduced power, the power of the sewage motor needs to be less than or equal to the operating parameter of the minimum gear when the machine is running.
  • Step S316 end.
  • the operating parameters of the sewage motor are controlled according to the state of the washing machine.
  • the sewage motor is controlled to operate in a normal gear.
  • the washing machine is in an upright state, the sewage motor is lowered.
  • the operating parameters can improve the user experience while reducing the energy consumption of the machine when standing upright.
  • FIG. 4 is a structural block diagram of an optional operation control device for cleaning equipment according to an embodiment of the present application. As shown in Fig. 4, the device may include:
  • the first acquiring unit 402 is configured to acquire a target posture parameter of the cleaning device, wherein the target posture parameter is used to indicate the current posture of the cleaning device;
  • the first determination unit 404 is connected to the first acquisition unit 402, and is used to determine the operating parameter of the negative pressure generator of the cleaning device as the first operating parameter when it is determined according to the target posture parameter that the cleaning device is in an unclean state, Wherein, the first operating parameter is less than or equal to the corresponding minimum operating parameter when the negative pressure generator is in a clean state;
  • the first control unit 406 is connected with the first determination unit 404 and is used for controlling the operation state of the negative pressure generator according to the first operation parameter.
  • the first obtaining unit 402 in this embodiment can be used to perform the above step S202
  • the first determining unit 404 in this embodiment can be used to perform the above step S204
  • the first control unit in this embodiment 406 may be used to execute the above step S206.
  • the target posture parameters of the cleaning equipment are obtained, wherein the target posture parameters are used to indicate the current posture of the cleaning equipment; when the cleaning equipment is determined to be in a non-cleaning state according to the target posture parameters, determine the cleaning equipment.
  • the operating parameter of the pressure generator is the first operating parameter, wherein the first operating parameter is less than or equal to the corresponding minimum operating parameter when the negative pressure generator is in a clean state; according to the first operating parameter, the operating state of the negative pressure generator is controlled, It solves the problem of low area cleaning efficiency caused by restarting the cleaning equipment in the operation control method of the cleaning equipment in the related art due to the need to restart the cleaning equipment, and improves the efficiency of area cleaning.
  • the above-mentioned device also includes:
  • the second determination unit is configured to determine that the cleaning device is in a non-cleaning state according to the target posture parameter after acquiring the target posture parameter, wherein the non-cleaning state includes one of the following: an upright state and a lying state.
  • the above-mentioned device also includes:
  • the third determination unit is used to determine the second operating parameter of the negative pressure generator when the target attitude parameter of the cleaning device is determined to be in an inclined state according to the target attitude parameter, wherein the second operating parameter is the operating parameter corresponding to the current gear of the negative pressure generator;
  • the second control unit is used to control the operating state of the negative pressure generator according to the second operating parameter.
  • the above-mentioned device also includes:
  • the second acquisition unit is used to acquire the target dirt parameter of the water suction pipeline corresponding to the negative pressure generator before determining the second operating parameter of the negative pressure generator, wherein the target dirt parameter is used to represent the dirt of the water suction pipeline degree;
  • the fourth determination unit is used to determine the gear of the negative pressure generator corresponding to the target dirt parameter as the current gear according to the corresponding relationship between the dirt parameter and the gear of the negative pressure generator;
  • the fifth determining unit is configured to determine the operating parameter corresponding to the current gear as the second operating parameter.
  • the second acquisition unit includes:
  • the collection module is used to collect the image of the water suction pipe through the image collection device on the cleaning device to obtain the target collection image;
  • the first determination module is used to determine the target dirt parameter of the water suction pipeline by performing feature extraction on the target acquisition image.
  • the second acquisition unit includes:
  • the transmitting module is used to transmit the detection signal through the transmitter of the dirt sensor, wherein the dirt sensor is located at the target position of the water suction pipeline;
  • the second determination module is configured to determine the target dirt parameter of the water suction pipe according to the signal strength of the received signal received by the receiver of the dirt sensor and corresponding to the detection signal.
  • the first acquisition unit includes:
  • the first acquisition module is used to acquire the angular velocity detected by the gyroscope when the gyroscope is installed in the cleaning device;
  • the third determination module is configured to determine the tilt angle of the cleaning device according to the angular velocity, wherein the target attitude parameter includes the tilt angle.
  • the first acquisition unit includes:
  • the second acquisition module is configured to acquire a target current passing through the upright switch when the upright switch is provided on the cleaning device, wherein the target attitude parameter includes the target current.
  • the above modules can run in the hardware environment shown in FIG. 1 , and can be implemented by software or by hardware, wherein the hardware environment includes a network environment.
  • a cleaning device for implementing the above cleaning device operation control method is also provided.
  • Fig. 5 is a structural block diagram of an optional cleaning device according to an embodiment of the present application. As shown in Fig. 5, the cleaning device may include:
  • a posture detection component 502 configured to detect a target posture parameter of the cleaning device, wherein the target posture parameter is used to indicate the current posture of the cleaning device;
  • Processor 504 configured to determine that the operating parameter of the negative pressure generator of the cleaning device is the first operating parameter when it is determined according to the target attitude parameter that the cleaning device is in an unclean state, and control the negative pressure according to the first operating parameter The operating state of the generator, wherein the first operating parameter is less than or equal to the corresponding minimum operating parameter when the negative pressure generator is in a clean state;
  • a negative pressure generator for operating according to a first operating parameter.
  • the first obtaining unit 402 in this embodiment can be used to perform the above step S202
  • the first determining unit 404 in this embodiment can be used to perform the above step S204
  • the first control unit in this embodiment 406 may be used to execute the above step S206.
  • a storage medium is also provided.
  • the above-mentioned storage medium may be used to execute the program code of any one of the above-mentioned cleaning device operation control methods in the embodiments of the present application.
  • the foregoing storage medium may be located on at least one network device among the plurality of network devices in the network shown in the foregoing embodiments.
  • the storage medium is configured to store program codes for performing the following steps:
  • the above-mentioned storage medium may include, but not limited to, various media capable of storing program codes such as USB flash drive, ROM, RAM, removable hard disk, magnetic disk, or optical disk.
  • an electronic device for implementing the above cleaning device operation control method, where the electronic device may be a server, a terminal, or a combination thereof.
  • Fig. 5 is a structural block diagram of an optional electronic device according to an embodiment of the present application. 504 and memory 506 complete mutual communication through communication bus 508, wherein,
  • the communication bus may be a PCI (Peripheral Component Interconnect, Peripheral Component Interconnect Standard) bus, or an EISA (Extended Industry Standard Architecture, Extended Industry Standard Architecture) bus, etc.
  • the communication bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, only one thick line is used in FIG. 5 , but it does not mean that there is only one bus or one type of bus.
  • the communication interface is used for communication between the electronic device and other devices.
  • the above-mentioned memory may include RAM, and may also include non-volatile memory (non-volatile memory), for example, at least one disk memory.
  • non-volatile memory non-volatile memory
  • the memory may also be at least one storage device located away from the aforementioned processor.
  • the memory 506 may include, but is not limited to, the first acquisition unit 402, the first determination unit 404, and the first control unit 406 in the operation control device of the cleaning device. In addition, it may also include but not limited to other module units in the operation control device of the cleaning equipment mentioned above, which will not be repeated in this example.
  • processor can be general-purpose processor, can include but not limited to: CPU (Central Processing Unit, central processing unit), NP (Network Processor, network processor) etc.; Can also be DSP (Digital Signal Processing, digital signal processor ), ASIC (Application Specific Integrated Circuit, application specific integrated circuit), FPGA (Field-Programmable Gate Array, field programmable gate array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
  • CPU Central Processing Unit, central processing unit
  • NP Network Processor, network processor
  • DSP Digital Signal Processing, digital signal processor
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array, field programmable gate array
  • other programmable logic devices discrete gate or transistor logic devices, discrete hardware components.
  • the device implementing the operation control method of the above-mentioned cleaning device may be a terminal device, and the terminal device may be a smart phone (such as an Android phone, an iOS phone, etc.), Tablet PCs, PDAs, and mobile Internet devices (Mobile Internet Devices, MID), PAD and other terminal equipment.
  • FIG. 5 does not limit the structure of the above-mentioned electronic device.
  • the electronic device may also include more or fewer components (such as a network interface, a display device, etc.) than those shown in FIG. 5 , or have a different configuration from that shown in FIG. 5 .
  • the integrated units in the above embodiments are realized in the form of software function units and sold or used as independent products, they can be stored in the above computer-readable storage medium.
  • the technical solution of the present application is essentially or part of the contribution to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium.
  • Several instructions are included to make one or more computer devices (which may be personal computers, servers or network devices, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the disclosed client can be implemented in other ways.
  • the device embodiments described above are only illustrative, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components can be combined or can be Integrate into another system, or some features may be ignored, or not implemented.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of units or modules may be in electrical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution provided in this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

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  • Electric Vacuum Cleaner (AREA)

Abstract

An operation control method and apparatus for a cleaning device (104), and a storage medium. The method comprises: acquiring a target state parameter of the cleaning device (104), wherein the target state parameter is used for indicating the current state of the cleaning device (104) (S202); when it is determined, according to the target state parameter, that the cleaning device (104) is in a non-cleaning state, determining that the operation parameter of the vacuum generator of the cleaning device (104) is a first operation parameter, wherein the first operation parameter is less than or equal to the corresponding minimum operation parameter when the vacuum generator is in a cleaning state (S204); and controlling the operation state of the vacuum generator according to the first operating parameter (S206).

Description

清洁设备的运行控制方法及装置、存储介质及电子装置Cleaning equipment operation control method and device, storage medium and electronic device
本申请要求如下专利申请的优先权：于2022年01月06日提交中国专利局、申请号为202210014182.2、发明名称为“清洁设备的运行控制方法及装置、存储介质及电子装置”的中国专利申请；上述专利申请的全部内容通过引用结合在本公开中。This application claims the priority of the following patent application: a Chinese patent application submitted to the China Patent Office on January 06, 2022, with the application number 202210014182.2, and the title of the invention is "operation control method and device, storage medium and electronic device for cleaning equipment" ; the entire content of the above patent application is incorporated by reference in this disclosure.
【技术领域】【Technical field】
本申请涉及智能家居领域，具体而言，涉及一种清洁设备的运行控制方法及装置、存储介质及电子装置。The present application relates to the field of smart home, in particular, to an operation control method and device for cleaning equipment, a storage medium and an electronic device.
【背景技术】【Background technique】
目前，在用户使用清洁设备进行区域清洁的过程中，清洁设备在正常运行时处于倾斜状态。如果遇到突发情况(例如，接听电话等情况)，清洁设备可能由倾斜状态变为其他的非正常状态。当清洁设备处于非正常状态时，清洁设备上的负压发生器将会停止运行。如果想要再次使用清洁设备，则需要控制清洁设备处于倾斜状态，并重新启动清洁设备的负压发生器。Currently, when a user uses a cleaning device to clean an area, the cleaning device is in a tilted state during normal operation. In case of an unexpected situation (for example, answering a phone call, etc.), the cleaning device may change from a tilted state to other abnormal states. When the cleaning equipment is in an abnormal state, the negative pressure generator on the cleaning equipment will stop running. If you want to use the cleaning device again, you need to control the cleaning device to be in a tilted state, and restart the negative pressure generator of the cleaning device.
然而，如果中途切换(由非正常状态切换到倾斜状态)的时间较短，用户可能会直接推动清洁设备移动，而忘记启动清洁设备的负压发生器，从而导致区域清洁的效率低，用户体验差。However, if the time for halfway switching (from abnormal state to inclined state) is short, the user may directly push the cleaning device to move, and forget to start the negative pressure generator of the cleaning device, resulting in low efficiency of area cleaning and poor user experience. Difference.
由此可见，相关技术中的清洁设备的运行控制方法，存在由于在进行状态切换的过程中，需要重新启动清洁设备导致的区域清洁的效率低的问题。It can be seen that the operation control method of the cleaning equipment in the related art has the problem of low area cleaning efficiency due to the need to restart the cleaning equipment during the state switching process.
【发明内容】【Content of invention】
本申请的目的在于提供一种清洁设备的运行控制方法及装置、存储介质及电子装置，以至少解决相关技术中的清洁设备的运行控制方法存在由于在进行状态切换的过程中需要重新启动清洁设备导致的区域清洁的效率低的问题。The purpose of this application is to provide a cleaning equipment operation control method and device, a storage medium and an electronic device, so as to at least solve the problem of the cleaning equipment operation control method in the related art due to the need to restart the cleaning equipment during the state switching process. The resulting low efficiency of area cleaning.
本申请的目的是通过以下技术方案实现：The purpose of this application is to realize through the following technical solutions:
根据本申请实施例的一个方面，提供了一种清洁设备的运行控制方法，包括获取所述清洁设备的目标姿态参数，其中，所述目标姿态参数用于指示所述清洁设备当前所处的姿态；在根据所述目标姿态参数确定出所述清洁设备处于非清洁状态的情况时，确定所述清洁设备的负压发生器的运转参数为第一运转参数，其中，所述第一运转参数小于或者等于所述负压发生器处于清洁状态时对应的最低运转参数；按照所述第一运转参数，控制所述负压发生器的运行状态。According to an aspect of an embodiment of the present application, there is provided an operation control method of a cleaning device, including acquiring a target posture parameter of the cleaning device, wherein the target posture parameter is used to indicate the current posture of the cleaning device ; When it is determined according to the target attitude parameter that the cleaning device is in an unclean state, determine that the operating parameter of the negative pressure generator of the cleaning device is the first operating parameter, wherein the first operating parameter is less than Or it is equal to the lowest operating parameter corresponding to when the negative pressure generator is in a clean state; according to the first operating parameter, the operating state of the negative pressure generator is controlled.
在一个示例性实施例中，在所述获取所述清洁设备的目标姿态参数之后，所述方法还包括：根据所述目标姿态参数，确定出所述清洁设备处于所述非清洁状态，其中，所述非清洁状态包括以下之一：直立状态，平躺状态。In an exemplary embodiment, after the acquisition of the target posture parameter of the cleaning device, the method further includes: determining that the cleaning device is in the non-cleaning state according to the target posture parameter, wherein, The unclean state includes one of the following: an upright state and a flat state.
在一个示例性实施例中，在所述获取所述清洁设备的目标姿态参数之后，所述方法还包括：在根据所述目标姿态参数确定出所述清洁设备处于倾斜状态的情况下，确定所述负压发生器的第二运转参数，其中，所述第二运转参数为与所述负压发生器的当前档位对应的运转参数；按照所述第二运转参数，控制所述负压发生器的运行状态。In an exemplary embodiment, after the acquisition of the target attitude parameter of the cleaning device, the method further includes: determining the The second operating parameter of the negative pressure generator, wherein the second operating parameter is an operating parameter corresponding to the current gear of the negative pressure generator; according to the second operating parameter, the negative pressure generator is controlled the operating status of the device.
在一个示例性实施例中，在所述确定所述负压发生器的第二运转参数之前，所述方法还包括：获取与所述负压发生器对应的吸水管道的目标脏污参数，其中，所述目标脏污参数用于表示所述吸水管道的脏污程度；根据脏污参数与所述负压发生器的档位之间的对应关系，确定所述目标脏污参数对应所述负压发生器的档位为所述当前档位；将与所述当前档位对应的运转参数，确定为所述第二运转参数。In an exemplary embodiment, before the determination of the second operating parameter of the negative pressure generator, the method further includes: acquiring a target fouling parameter of the suction pipe corresponding to the negative pressure generator, wherein , the target dirty parameter is used to represent the dirty degree of the water suction pipe; according to the corresponding relationship between the dirty parameter and the gear position of the negative pressure generator, it is determined that the target dirty parameter corresponds to the negative pressure The gear of the pressure generator is the current gear; and the operating parameter corresponding to the current gear is determined as the second operating parameter.
在一个示例性实施例中，所述获取与所述负压发生器对应的吸水管道的目标脏污参数，包括：通过所述清洁设备上的图像采集设备对所述吸水管道进行图像采集，得到目标采集图像；通过对所述目标采集图像进行特征提取，确定所述吸水管道的所述目标脏污参数。In an exemplary embodiment, the acquisition of the target dirt parameter of the water suction pipe corresponding to the negative pressure generator includes: collecting an image of the water suction pipe through an image acquisition device on the cleaning device to obtain A target acquisition image; determining the target dirt parameter of the water suction pipe by performing feature extraction on the target acquisition image.
在一个示例性实施例中，所述获取与所述负压发生器对应的吸水管道的目标脏污参数，包括：通过脏污传感器的发射器发射检测信号，其中，所述脏污传感器位于所述吸水管道的目标位置上；根据所述脏污传感器的 接收器所接收到的、与所述检测信号对应的接收信号的信号强度，确定所述吸水管道的所述目标脏污参数。In an exemplary embodiment, the acquisition of the target dirt parameter of the suction pipe corresponding to the negative pressure generator includes: transmitting a detection signal through a transmitter of a dirt sensor, wherein the dirt sensor is located at the The target position of the water suction pipe; according to the signal strength of the received signal received by the receiver of the dirt sensor and corresponding to the detection signal, the target dirt parameter of the water suction pipe is determined.
在一个示例性实施例中，所述获取所述清洁设备的目标姿态参数，包括：在所述清洁设备内设置有陀螺仪的情况下，获取所述陀螺仪所检测到的角速度；根据所述角速度，确定所述清洁设备的倾斜角度，其中，所述目标姿态参数包括所述倾斜角度。In an exemplary embodiment, the acquiring the target posture parameters of the cleaning device includes: acquiring the angular velocity detected by the gyroscope when the cleaning device is provided with a gyroscope; according to the The angular velocity determines the tilt angle of the cleaning device, wherein the target attitude parameter includes the tilt angle.
在一个示例性实施例中，所述获取所述清洁设备的目标姿态参数，包括：在所述清洁设备上设置有直立开关的情况下，获取通过所述直立开关的目标电流，其中，所述目标姿态参数包括所述目标电流。In an exemplary embodiment, the acquiring the target posture parameter of the cleaning device includes: acquiring a target current passing through the upright switch when the upright switch is set on the cleaning device, wherein the Target attitude parameters include the target current.
根据本申请实施例的另一个方面，还提供了一种清洁设备的运行控制装置，包括：第一获取单元，用于获取所述清洁设备的目标姿态参数，其中，所述目标姿态参数用于指示所述清洁设备当前所处的姿态；第一确定单元，用于在根据所述目标姿态参数确定出所述清洁设备处于非清洁状态的情况时，确定所述清洁设备的负压发生器的运转参数为第一运转参数，其中，所述第一运转参数小于或者等于所述负压发生器处于清洁状态时对应的最低运转参数；第一控制单元，用于按照所述第一运转参数，控制所述负压发生器的运行状态。According to another aspect of the embodiments of the present application, there is also provided an operation control device for cleaning equipment, including: a first acquiring unit, configured to acquire a target posture parameter of the cleaning equipment, wherein the target posture parameter is used for Indicating the current posture of the cleaning device; a first determination unit, configured to determine the negative pressure generator of the cleaning device when it is determined according to the target posture parameter that the cleaning device is in a non-cleaning state The operating parameter is a first operating parameter, wherein the first operating parameter is less than or equal to the minimum operating parameter corresponding to when the negative pressure generator is in a clean state; the first control unit is configured to, according to the first operating parameter, The operating state of the negative pressure generator is controlled.
在一个示例性实施例中，所述装置还包括：第二确定单元，用于在所述获取所述清洁设备的目标姿态参数之后，根据所述目标姿态参数，确定出所述清洁设备处于所述非清洁状态，其中，所述非清洁状态包括以下之一：直立状态，平躺状态。In an exemplary embodiment, the apparatus further includes: a second determining unit, configured to determine, according to the target posture parameters of the cleaning device, that the cleaning device is in the The unclean state, wherein the unclean state includes one of the following: an upright state and a lying state.
在一个示例性实施例中，所述装置还包括：第三确定单元，用于在所述获取所述清洁设备的目标姿态参数之后，在根据所述目标姿态参数确定出所述清洁设备处于倾斜状态的情况下，确定所述负压发生器的第二运转参数，其中，所述第二运转参数为与所述负压发生器的当前档位对应的运转参数；第二控制单元，用于按照所述第二运转参数，控制所述负压发生器的运行状态。In an exemplary embodiment, the apparatus further includes: a third determining unit, configured to determine, according to the target posture parameters, that the cleaning device is in an inclined position after the acquisition of the target posture parameters of the cleaning device. state, determine the second operating parameter of the negative pressure generator, wherein the second operating parameter is an operating parameter corresponding to the current gear of the negative pressure generator; the second control unit is used to The operating state of the negative pressure generator is controlled according to the second operating parameter.
在一个示例性实施例中，所述装置还包括：第二获取单元，用于在所述确定所述负压发生器的第二运转参数之前，获取与所述负压发生器对应 的吸水管道的目标脏污参数，其中，所述目标脏污参数用于表示所述吸水管道的脏污程度；第四确定单元，用于根据脏污参数与所述负压发生器的档位之间的对应关系，确定所述目标脏污参数对应所述负压发生器的档位为当前档位；第五确定单元，用于将与所述当前档位对应的运转参数，确定为所述第二运转参数。In an exemplary embodiment, the device further includes: a second acquisition unit, configured to acquire the water suction pipe corresponding to the negative pressure generator before the determination of the second operating parameter of the negative pressure generator The target dirt parameter, wherein, the target dirt parameter is used to represent the degree of dirt of the suction pipe; the fourth determining unit is used for Corresponding relationship, determining that the target dirt parameter corresponds to the gear of the negative pressure generator as the current gear; the fifth determination unit is used to determine the operating parameter corresponding to the current gear as the second Operating parameters.
在一个示例性实施例中，所述第二获取单元，包括：采集模块，用于通过所述清洁设备上的图像采集设备对所述吸水管道进行图像采集，得到目标采集图像；第一确定模块，用于通过对所述目标采集图像进行特征提取，确定所述吸水管道的所述目标脏污参数。In an exemplary embodiment, the second acquisition unit includes: an acquisition module, configured to acquire an image of the water suction pipe through an image acquisition device on the cleaning device to obtain a target acquisition image; a first determination module , for determining the target dirt parameter of the water suction pipe by performing feature extraction on the target collected image.
在一个示例性实施例中，所述第二获取单元，包括：发射模块，用于通过脏污传感器的发射器发射检测信号，其中，所述脏污传感器位于所述吸水管道的目标位置上；第二确定模块，用于根据所述脏污传感器的接收器所接收到的、与所述检测信号对应的接收信号的信号强度，确定所述吸水管道的所述目标脏污参数。In an exemplary embodiment, the second acquisition unit includes: a transmitting module, configured to transmit a detection signal through a transmitter of a dirt sensor, wherein the dirt sensor is located at a target position of the water suction pipe; The second determination module is configured to determine the target dirt parameter of the water suction pipe according to the signal strength of the received signal received by the receiver of the dirt sensor and corresponding to the detection signal.
在一个示例性实施例中，所述第一获取单元，包括：第一获取模块，用于在所述清洁设备内设置有陀螺仪的情况下，获取所述陀螺仪所检测到的角速度；第三确定模块，用于根据所述角速度，确定所述清洁设备的倾斜角度，其中，所述目标姿态参数包括所述倾斜角度。In an exemplary embodiment, the first acquisition unit includes: a first acquisition module, configured to acquire the angular velocity detected by the gyroscope when the cleaning device is provided with a gyroscope; A determining module, configured to determine an inclination angle of the cleaning device according to the angular velocity, wherein the target attitude parameter includes the inclination angle.
在一个示例性实施例中，所述第一获取单元，包括：第二获取模块，用于在所述清洁设备上设置有直立开关的情况下，获取通过所述直立开关的目标电流，其中，所述目标姿态参数包括所述目标电流。In an exemplary embodiment, the first acquisition unit includes: a second acquisition module, configured to acquire a target current passing through the upright switch when the upright switch is provided on the cleaning device, wherein, The target attitude parameters include the target current.
根据本申请实施例的又一方面，还提供了一种清洁设备，其特征在于，包括：姿态检测部件，用于检测所述清洁设备的目标姿态参数，其中，所述目标姿态参数用于指示所述清洁设备当前所处的姿态；处理器，用于在根据所述目标姿态参数确定出所述清洁设备处于非清洁状态的情况时，确定所述清洁设备的负压发生器的运转参数为第一运转参数，以及按照所述第一运转参数，控制所述负压发生器的运行状态，其中，所述第一运转参数小于或者等于所述负压发生器处于清洁状态时对应的最低运转参数；所述负压发生器，用于按照所述第一运转参数运转。According to yet another aspect of the embodiments of the present application, there is also provided a cleaning device, which is characterized by comprising: a posture detection component, configured to detect a target posture parameter of the cleaning device, wherein the target posture parameter is used to indicate The current posture of the cleaning device; a processor configured to determine that the operating parameters of the negative pressure generator of the cleaning device are The first operation parameter, and according to the first operation parameter, the operation state of the negative pressure generator is controlled, wherein the first operation parameter is less than or equal to the corresponding minimum operation when the negative pressure generator is in a clean state parameter; the negative pressure generator is configured to operate according to the first operating parameter.
根据本申请实施例的又一方面，还提供了一种计算机可读的存储介质，该计算机可读的存储介质中存储有计算机程序，其中，该计算机程序被设置为运行时执行上述的清洁设备的运行控制方法。According to still another aspect of the embodiment of the present application, a computer-readable storage medium is also provided, and a computer program is stored in the computer-readable storage medium, wherein the computer program is configured to execute the above-mentioned cleaning equipment when running. operation control method.
根据本申请实施例的又一方面，还提供了一种电子装置，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，其中，上述处理器通过计算机程序执行上述的清洁设备的运行控制方法。According to yet another aspect of the embodiments of the present application, there is also provided an electronic device, including a memory, a processor, and a computer program stored on the memory and operable on the processor, wherein the above-mentioned processor executes the above-mentioned A method of controlling the operation of cleaning equipment.
在本申请实施例中，采用在确定清洁设备处于非正常状态时，控制清洁设备的负压发生器采用一个较小的功率运行的方式，通过获取清洁设备的目标姿态参数，其中，目标姿态参数用于指示清洁设备当前所处的姿态；在根据目标姿态参数确定出清洁设备处于非正常状态的情况下，确定清洁设备的负压发生器的运转参数为第一运转参数，其中，第一运转参数小于或者等于负压发生器处于清洁状态时对应的最低运转参数；按照第一运转参数，控制负压发生器的运行状态，由于在清洁设备进行清洁的过程中，当通过获取到的清洁设备的姿态确定清洁设备处于非正常状态时，将清洁设备的负压发生器低功耗运行(即，将清洁设备的运转参数调节到小于或者等于负压发生器的最小档位运转参数)，可以在降低清洁设备的能耗的同时，实现清洁设备快速启停的目的，达到提高区域清洁的效率的技术效果，进而解决了相关技术中的清洁设备的运行控制方法存在由于在进行状态切换的过程中需要重新启动清洁设备导致的区域清洁的效率低的问题。In the embodiment of the present application, when it is determined that the cleaning equipment is in an abnormal state, the negative pressure generator of the cleaning equipment is controlled to operate at a lower power, by obtaining the target posture parameters of the cleaning equipment, wherein the target posture parameters It is used to indicate the current posture of the cleaning equipment; when it is determined according to the target posture parameters that the cleaning equipment is in an abnormal state, the operating parameter of the negative pressure generator of the cleaning equipment is determined to be the first operating parameter, wherein the first operating The parameter is less than or equal to the minimum operating parameter corresponding to when the negative pressure generator is in a clean state; according to the first operating parameter, the operating state of the negative pressure generator is controlled. When the attitude of the cleaning equipment is determined to be in an abnormal state, the negative pressure generator of the cleaning equipment is operated with low power consumption (that is, the operating parameters of the cleaning equipment are adjusted to be less than or equal to the minimum gear operating parameters of the negative pressure generator), which can be While reducing the energy consumption of cleaning equipment, the purpose of fast start and stop of cleaning equipment is realized, and the technical effect of improving the efficiency of area cleaning is achieved, thereby solving the problem of the operation control method of cleaning equipment in the related art due to the process of state switching The low efficiency of area cleaning caused by the need to restart the cleaning equipment.
【附图说明】【Description of drawings】
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本申请的实施例，并与说明书一起用于解释本申请的原理。The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description serve to explain the principles of the application.
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，对于本领域普通技术人员而言，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, In other words, other drawings can also be obtained from these drawings without paying creative labor.
图1是根据本申请实施例的一种可选的清洁设备的运行控制方法的硬件环境的示意图；FIG. 1 is a schematic diagram of a hardware environment of an optional cleaning device operation control method according to an embodiment of the present application;
图2是根据本申请实施例的一种可选的清洁设备的运行控制方法的流程示意图；Fig. 2 is a schematic flowchart of an optional operation control method of cleaning equipment according to an embodiment of the present application;
图3是根据本申请实施例的一种可选的清洁设备的运行控制方法的流程图；Fig. 3 is a flow chart of an optional operation control method of cleaning equipment according to an embodiment of the present application;
图4是根据本申请实施例的一种可选的清洁设备的运行控制装置的结构框图；Fig. 4 is a structural block diagram of an optional operation control device for cleaning equipment according to an embodiment of the present application;
图5是根据本申请实施例的一种可选的电子装置的结构框图。Fig. 5 is a structural block diagram of an optional electronic device according to an embodiment of the present application.
【具体实施方式】【Detailed ways】
下文中将参考附图并结合实施例来详细说明本申请。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。Hereinafter, the present application will be described in detail with reference to the drawings and embodiments. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.
需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence.
根据本申请实施例的一个方面，提出了一种清洁设备的运行控制方法。可选地，在本实施例中，上述清洁设备的运行控制方法可以应用于如图1所示的由终端设备102、清洁设备104和服务器106所构成的硬件环境中。如图1所示，终端设备102可以通过网络与清洁设备104和/或服务器106(例如，物联网平台或者云端服务器)进行连接，以对清洁设备104的进行控制，例如，与清洁设备104进行绑定、配置清洁设备104的清洁功能。According to one aspect of the embodiments of the present application, a method for controlling the operation of cleaning equipment is provided. Optionally, in this embodiment, the above cleaning device operation control method may be applied to a hardware environment composed of a terminal device 102 , a cleaning device 104 and a server 106 as shown in FIG. 1 . As shown in FIG. 1 , the terminal device 102 can be connected to the cleaning device 104 and/or server 106 (for example, an Internet of Things platform or a cloud server) through a network to control the cleaning device 104, for example, to communicate with the cleaning device 104 Bind and configure the cleaning function of the cleaning device 104 .
上述网络可以包括但不限于以下至少之一：有线网络，无线网络。上述有线网络可以包括但不限于以下至少之一：广域网，城域网，局域网，上述无线网络可以包括但不限于以下至少之一：WIFI(Wireless Fidelity，无线保真)，蓝牙，红外。终端设备102与清洁设备104和/或服务器106进行通信所使用的网络与清洁设备104与服务器106进行通信所使用的网络可以是相同的，也可以是不同的。终端设备102可以并不限定于为PC、手机、平板电脑等，清洁设备104可以并不限定于为智能吸尘器、智能洗地机(以下简称为洗地机)、智能清扫机，服务器106可以是物联网平台的服务器。The foregoing network may include but not limited to at least one of the following: a wired network and a wireless network. The above-mentioned wired network may include but not limited to at least one of the following: wide area network, metropolitan area network, local area network, and the above-mentioned wireless network may include but not limited to at least one of the following: WIFI (Wireless Fidelity, Wireless Fidelity), bluetooth, infrared. The network used by the terminal device 102 to communicate with the cleaning device 104 and/or the server 106 and the network used by the cleaning device 104 to communicate with the server 106 may be the same or different. The terminal device 102 may not be limited to a PC, mobile phone, tablet computer, etc., the cleaning device 104 may not be limited to a smart vacuum cleaner, a smart scrubber (hereinafter referred to as a scrubber), or a smart sweeper, and the server 106 may be The server of the IoT platform.
本申请实施例的清洁设备的运行控制方法可以由终端设备102、清洁设备104或者服务器106单独来执行，也可以由终端设备102、清洁设备104和服务器106中的至少两个共同执行。其中，终端设备102或者清洁设备104执行本申请实施例的清洁设备的运行控制方法也可以是由安装在其上的客户端来执行。The operation control method of the cleaning device in the embodiment of the present application may be executed by the terminal device 102 , the cleaning device 104 or the server 106 alone, or jointly executed by at least two of the terminal device 102 , the cleaning device 104 and the server 106 . Wherein, the execution of the cleaning device operation control method of the embodiment of the present application by the terminal device 102 or the cleaning device 104 may also be performed by a client installed on it.
以由清洁设备104来执行本实施例中的清洁设备的运行控制方法为例，图2是根据本申请实施例的一种可选的清洁设备的运行控制方法的流程示意图，如图2所示，该方法的流程可以包括以下步骤：Taking the operation control method of the cleaning equipment in this embodiment performed by the cleaning equipment 104 as an example, FIG. 2 is a schematic flowchart of an optional operation control method of the cleaning equipment according to the embodiment of the present application, as shown in FIG. 2 , the flow of the method may include the following steps:
步骤S202，获取清洁设备的目标姿态参数，其中，目标姿态参数用于指示清洁设备当前所处的姿态。Step S202, acquiring target posture parameters of the cleaning device, wherein the target posture parameters are used to indicate the current posture of the cleaning device.
本实施例中的清洁设备的运行控制方法可以应用到如下场景：使用清洁设备对用户家庭中的地面进行清洁等，上述清洁设备可以是智能清洁设备，例如，可以是智能吸尘器、智能洗地机、集吸、扫于一体的智能清扫机，还可以是其他具备区域清洁功能的设备，本实施例中对此不做限定。The operation control method of cleaning equipment in this embodiment can be applied to the following scenarios: using cleaning equipment to clean the ground in the user's home, etc., the above-mentioned cleaning equipment can be intelligent cleaning equipment, for example, it can be an intelligent vacuum cleaner, an intelligent floor washing machine , an intelligent cleaning machine integrating suction and sweeping, or other equipment with area cleaning functions, which is not limited in this embodiment.
由于清洁设备的外形接近于细长形，当用户不使用清洁设备时，用户一般都会选择将其直立放置，而当用户使用清洁设备时，一般会将清洁设备倾斜放置。清洁设备所处姿态的差异，可以反映用户不同的需求。因此，在本实施例中，可以基于清洁设备所处的姿态来控制清洁设备的运行状态，以满足用户不同的需求。Since the shape of the cleaning device is close to elongated, when the user does not use the cleaning device, the user generally chooses to place the cleaning device upright, and when the user uses the cleaning device, the user generally chooses to place the cleaning device obliquely. The difference in the posture of the cleaning equipment can reflect the different needs of users. Therefore, in this embodiment, the operating state of the cleaning device can be controlled based on the posture of the cleaning device to meet different needs of users.
当清洁设备启动之后，可以对清洁设备的目标姿态参数进行获取，从而确定清洁设备所处的姿态。上述目标姿态参数可以通过检测部件进行获取，上述检测部件可以位于清洁设备上，其类型可以为一种或者多种，例如，检测部件可以是姿态传感器。After the cleaning device is started, the target posture parameters of the cleaning device can be acquired, so as to determine the posture of the cleaning device. The above-mentioned target posture parameters may be acquired by a detection component, which may be located on the cleaning device, and may be of one or more types. For example, the detection component may be a posture sensor.
上述姿态传感器可以是用检测清洁设备的倾斜度的传感器，也可以是用于检测清洁设备上的目标位置与地面之间的距离的传感器，还可以是用于检测其他姿态参数的传感器。上述姿态传感器的数量可以为一个或多个，其可以设置在清洁设备的手柄处，例如，清洁设备的握持处，也可以设置在清洁设备机身的其他位置，本实施例中对此不做限定。The attitude sensor mentioned above may be a sensor for detecting the inclination of the cleaning device, or a sensor for detecting the distance between the target position on the cleaning device and the ground, or a sensor for detecting other attitude parameters. The number of the above-mentioned posture sensors can be one or more, which can be arranged at the handle of the cleaning device, for example, at the grip of the cleaning device, or at other positions of the cleaning device body, which is not mentioned in this embodiment. Do limited.
可选地，上述姿态传感器可以是距离传感器，距离传感器可以通过检 测清洁设备与地面之间的高度差，确定清洁设备当前所处的姿态。上述距离传感器可以包括但不限于以下之一：红外线距离传感器，激光距离传感器，PSD(Position Sensitive Detector，位置敏感检测器)传感器。本实施例中对于距离传感器的类型不做限定。Optionally, the above-mentioned attitude sensor can be a distance sensor, and the distance sensor can determine the current attitude of the cleaning equipment by detecting the height difference between the cleaning equipment and the ground. The above-mentioned distance sensor may include but not limited to one of the following: an infrared distance sensor, a laser distance sensor, and a PSD (Position Sensitive Detector, Position Sensitive Detector) sensor. In this embodiment, the type of the distance sensor is not limited.
为了更好的确定清洁设备当前所处的姿态，在清洁设备上可以配置多个姿态传感器。多个姿态传感器中的每个姿态传感器都可以单独对清洁设备当前所处的姿态进行检测。可选地，也可以通过融合多个姿态传感器所检测到的姿态参数，确定清洁设备当前所处的姿态。例如，可以将多个姿态传感器所检测到的姿态参数进行平均后得到的平均姿态参数，确定为上述目标姿态参数。In order to better determine the current posture of the cleaning device, multiple posture sensors may be configured on the cleaning device. Each attitude sensor among the plurality of attitude sensors can independently detect the current attitude of the cleaning device. Optionally, the current attitude of the cleaning device may also be determined by fusing the attitude parameters detected by a plurality of attitude sensors. For example, an average attitude parameter obtained by averaging the attitude parameters detected by a plurality of attitude sensors may be determined as the above target attitude parameter.
例如，在洗地机的机身上可以设置有红外传感器。在洗地机运行的过程中，红外传感器可以发射的检测信号。当检测信号碰到地面时，会被地面反射回来，根据红外传感器接收到的反射信号，可以生成目标姿态参数。For example, an infrared sensor may be provided on the body of the scrubber. During the operation of the scrubber, the infrared sensor can emit detection signals. When the detection signal hits the ground, it will be reflected back by the ground, and the target attitude parameters can be generated according to the reflected signal received by the infrared sensor.
步骤S204，在根据目标姿态参数确定出清洁设备处于非清洁状态的情况时，确定清洁设备的负压发生器的运转参数为第一运转参数，其中，第一运转参数小于或者等于负压发生器处于清洁状态时对应的最低运转参数。Step S204, when it is determined according to the target attitude parameter that the cleaning device is in an unclean state, determine that the operating parameter of the negative pressure generator of the cleaning device is the first operating parameter, wherein the first operating parameter is less than or equal to the negative pressure generator The corresponding minimum operating parameters in a clean state.
在获取到上述目标姿态参数之后，清洁设备可以根据上述目标姿态参数确定出清洁设备当前所处的姿态，从而确定清洁设备所处的状态，例如，倾斜状态，非清洁状态。可以基于清洁设备当前所处的状态，确定清洁设备的负压发生器的运转参数，并根据上述运转参数控制负压发生器的运行状态，从而可以在降低清洁设备的能耗的同时，实现清洁设备快速启停的目的，上述运转参数可以是运行功率、负压发射器电机的转速等等，本实施例中对此不做限定。After acquiring the above-mentioned target posture parameters, the cleaning device can determine the current posture of the cleaning device according to the above-mentioned target posture parameters, so as to determine the state of the cleaning device, for example, an inclined state and a non-cleaning state. Based on the current state of the cleaning equipment, the operating parameters of the negative pressure generator of the cleaning equipment can be determined, and the operating state of the negative pressure generator can be controlled according to the above operating parameters, so as to reduce the energy consumption of the cleaning equipment while achieving cleaning For the purpose of quick start and stop of the equipment, the above operating parameters may be the operating power, the speed of the motor of the negative pressure transmitter, etc., which are not limited in this embodiment.
在清洁设备启动之后，用户一般都会将清洁设备倾斜，以方便进行清洁工作。当检测到清洁设备处于非清洁状态时，可以确定用户当前不需要使用清洁设备，此时，可以直接控制清洁设备的负压发生器。考虑到用户在之后的一段时间内，可能会使用该清洁设备，此时需要用户重新启动负压发生器，负压发生器从零启动，用户很难把注意力集中在机器上，从而影响用户的清洁效率。After the cleaning equipment is started, the user generally tilts the cleaning equipment to facilitate the cleaning work. When it is detected that the cleaning device is in a non-cleaning state, it can be determined that the user does not need to use the cleaning device at present, and at this time, the negative pressure generator of the cleaning device can be directly controlled. Considering that the user may use the cleaning equipment for a period of time in the future, the user needs to restart the negative pressure generator at this time, and the negative pressure generator starts from zero. It is difficult for the user to concentrate on the machine, which affects the user. cleaning efficiency.
在本实施例中，在清洁设备处于非清洁状态时，可以控制清洁设备的负压发生器处于低功耗状态。如果确定出清洁设备处于非清洁状态，清洁设备可以按照预置信息，确定与清洁设备的负压发生器的第一运转参数，该第一运转参数可以是一个较小的运转参数(比如，小于或者等于运转参数阈值)，例如，其可以小于或者等于负压发生器处于清洁状态时对应的最低运转参数。In this embodiment, when the cleaning device is in a non-cleaning state, the negative pressure generator of the cleaning device can be controlled to be in a low power consumption state. If it is determined that the cleaning equipment is in an unclean state, the cleaning equipment can determine the first operating parameter of the negative pressure generator of the cleaning equipment according to preset information, and the first operating parameter can be a relatively small operating parameter (for example, less than or equal to the operating parameter threshold), for example, it may be less than or equal to the corresponding minimum operating parameter when the negative pressure generator is in a clean state.
需要说明的是，负压发生器是利用正压气流产生负压的真空元器件，其可以是清洁设备上的主电机。在不同的设备中，负压发生器可能具有不同的功能、名称、形状等。例如，在洗地机中，负压发生器可以是用于产生负压将污水吸走的污水电机(即，回收污水的主电机)。在智能吸尘器中，负压发生器可以是用于产生负压将灰尘吸走的吸尘电机。本实施例中对此不做限定。It should be noted that the negative pressure generator is a vacuum component that generates negative pressure using positive airflow, and it can be the main motor on the cleaning device. In different devices, the negative pressure generator may have different functions, names, shapes, etc. For example, in a washing machine, the negative pressure generator can be a sewage motor (ie, the main motor for recycling sewage) used to generate negative pressure to suck the sewage away. In a smart vacuum cleaner, the negative pressure generator can be a vacuum motor for generating negative pressure to suck dust away. This is not limited in this embodiment.
例如，为了使用户能够快速启动机器和能耗考虑的情况下，既能快速启停，也能低功耗运行，在确定出洗地机处于非清洁状态时，可以将洗地机的污水电机的运转参数设置为小于或者等于污水电机的最小档位运转参数，即，机器直立时的档位小于机器在使用时任何一个档位，或者，等于运行时的最小档位。For example, in order to enable the user to quickly start the machine and consider the energy consumption, it can not only start and stop quickly, but also run with low power consumption. When it is determined that the scrubber is in an unclean state, the sewage motor of the scrubber can be The operating parameters of the machine are set to be less than or equal to the minimum gear operating parameters of the sewage motor, that is, the gear when the machine is upright is smaller than any gear when the machine is in use, or equal to the minimum gear when running.
步骤S206，按照第一运转参数，控制负压发生器的运行状态。Step S206, controlling the operating state of the negative pressure generator according to the first operating parameter.
在确定出第一运转参数之后，可以基于第一运转参数控制负压发生器的运行状态。例如，如果负压发生器当前的运转参数不为第一运转参数，则可以将负压发生器的运转参数调整为第一运转参数，如果负压发生器当前的运转参数为第一运转参数，则可以将负压发生器的运转参数保持在第一运行运转参数。After the first operating parameter is determined, the operating state of the negative pressure generator can be controlled based on the first operating parameter. For example, if the current operating parameter of the negative pressure generator is not the first operating parameter, then the operating parameter of the negative pressure generator can be adjusted to the first operating parameter, if the current operating parameter of the negative pressure generator is the first operating parameter, The operating parameters of the negative pressure generator can then be maintained at the first operating operating parameters.
优选的，上述第一运转参数不为0，即当按照第一运转参数控制负压发生器的运行状态时，负压发生器处于低功耗工作状态但不停止运行。Preferably, the above-mentioned first operating parameter is not 0, that is, when the operating state of the negative pressure generator is controlled according to the first operating parameter, the negative pressure generator is in a low power consumption working state but does not stop running.
可选地，调整负压发生器的运转参数的过程可以是直接将负压发生器的运转参数由当前的运转参数切换为第一运转参数，也可以是将负压发生器的运转参数由当前的运转参数切换为清洁设备的负压发生器的初始运转参数之后，再将负压发生器的运转参数由初始运转参数调节到第一运转参 数，上述初始运转参数可以是清洁设备启动时的运转参数，也可以是用户自行设定的运转参数，本实施例中对此不做限定。Optionally, the process of adjusting the operating parameters of the negative pressure generator may be directly switching the operating parameters of the negative pressure generator from the current operating parameters to the first operating parameters, or changing the operating parameters of the negative pressure generator from the current After the operating parameters of the cleaning equipment are switched to the initial operating parameters of the negative pressure generator of the cleaning equipment, the operating parameters of the negative pressure generator are adjusted from the initial operating parameters to the first operating parameters. The above initial operating parameters can be the operation when the cleaning equipment starts The parameter may also be an operating parameter set by the user, which is not limited in this embodiment.
例如，当确定出洗地机的运转参数之后，可以根据确定的运转参数控制洗地机的污水电机的运行状态。For example, after the operating parameters of the washing machine are determined, the operating state of the sewage motor of the washing machine can be controlled according to the determined operating parameters.
通过上述步骤S202至步骤S206，获取清洁设备的目标姿态参数，其中，目标姿态参数用于指示清洁设备当前所处的姿态；在根据目标姿态参数确定出清洁设备处于非清洁状态的情况下，确定清洁设备的负压发生器的第一运转参数，其中，第一运转参数小于或者等于负压发生器处于清洁状态时对应的最低运转参数；按照第一运转参数，控制负压发生器的运行状态，解决了相关技术中的清洁设备的运行控制方法存在由于在进行状态切换的过程中需要重新启动清洁设备导致的区域清洁的效率低的问题，提高了区域清洁的效率。Through the above steps S202 to S206, the target posture parameters of the cleaning device are obtained, wherein the target posture parameters are used to indicate the current posture of the cleaning device; The first operating parameter of the negative pressure generator of the cleaning device, wherein the first operating parameter is less than or equal to the corresponding minimum operating parameter when the negative pressure generator is in a clean state; according to the first operating parameter, the operating state of the negative pressure generator is controlled The method solves the problem of low area cleaning efficiency due to the need to restart the cleaning equipment during the state switching process in the operation control method of the cleaning equipment in the related art, and improves the area cleaning efficiency.
在一个示例性实施例中，在获取清洁设备的目标姿态参数之后，上述方法还包括：In an exemplary embodiment, after acquiring the target posture parameters of the cleaning device, the above method further includes:
S11，根据目标姿态参数，确定出清洁设备处于非清洁状态，其中，非清洁状态包括以下之一：直立状态，平躺状态。S11. Determine that the cleaning device is in a non-cleaning state according to the target posture parameter, wherein the non-cleaning state includes one of the following: an upright state and a flat state.
在本实施例中，目标服务器可以根据目标姿态参数，确定出清洁设备处于非正常清洁状态，非清洁状态包括以下之一：直立状态，平躺状态。In this embodiment, the target server may determine that the cleaning device is in an abnormal cleaning state according to the target posture parameter, and the non-cleaning state includes one of the following: an upright state and a flat state.
根据目标姿态参数确定清洁设备所处的状态，可以是当目标姿态参数大于设定的阈值时，认为清洁设备处于非正常状态，上述设定的阈值可以是用户自行设定的，也可以目标服务器根据大数据分析之后设定的，本实施例中对此不做限定。Determine the state of the cleaning device according to the target attitude parameter. When the target attitude parameter is greater than the set threshold, the cleaning device is considered to be in an abnormal state. The above-mentioned threshold can be set by the user or the target server It is set according to big data analysis, which is not limited in this embodiment.
例如，当服务器获取到姿态参数(即，上述目标姿态参数)显示此时清洁设备与水平面的夹角为85度，大于预设的80度阈值时，可以确定此时清洁设备处于直立状态(非正常状态的一种示例)。For example, when the attitude parameter acquired by the server (that is, the above-mentioned target attitude parameter) shows that the angle between the cleaning device and the horizontal plane is 85 degrees at this time, which is greater than the preset threshold of 80 degrees, it can be determined that the cleaning device is in an upright state (not An example of a normal state).
通过本实施例，根据目标姿态参数，确定清洁设备是否处于非清洁状态，可以更为精准的确定清洁设备所处的状态。Through this embodiment, according to the target attitude parameter, it is determined whether the cleaning device is in an unclean state, so that the state of the cleaning device can be determined more accurately.
在一个示例性实施例中，在获取清洁设备的目标姿态参数之后，上述方法还包括：In an exemplary embodiment, after acquiring the target posture parameters of the cleaning device, the above method further includes:
S21，在根据目标姿态参数确定出清洁设备处于倾斜状态的情况下，确定负压发生器的第二运转参数，其中，第二运转参数为与负压发生器的当前档位对应的运转参数；S21. When it is determined according to the target attitude parameter that the cleaning device is in an inclined state, determine a second operating parameter of the negative pressure generator, wherein the second operating parameter is an operating parameter corresponding to the current gear of the negative pressure generator;
S22，按照第二运转参数，控制负压发生器的运行状态。S22. Control the operating state of the negative pressure generator according to the second operating parameter.
如果根据目标姿态参数确定出清洁设备处于倾斜状态，此时清洁设备正常运行，可以控制清洁设备的负压发生器按照与设定的档位匹配的运转参数进行运行。清洁设备可以获取负压发生器的当前档位，确定与当前档位对应的运转参数，得到第二运转参数，并按照第二运转参数控制负压发生器的运行状态。控制负压发生器的运行状态类似，本实施例中对此不再赘述。If it is determined according to the target posture parameters that the cleaning device is in a tilted state and the cleaning device is operating normally, the negative pressure generator of the cleaning device can be controlled to operate according to the operating parameters that match the set gear. The cleaning device can obtain the current gear of the negative pressure generator, determine the operating parameters corresponding to the current gear, obtain the second operating parameters, and control the operating state of the negative pressure generator according to the second operating parameters. The operating state of controlling the negative pressure generator is similar, so it will not be repeated in this embodiment.
当前档位可以是用于手动设定的档位。用户在启动清洁设备时一般会对清洁设备的运行档位进行设置，因此，清洁设备可以获取设定的档位，从而得到当前档位。当前档位可以是用于自动设定的档位。负压发生器的档位可以是与水泵等喷水件的喷水量相关的，清洁设备可以确定清洁设备的喷水件的喷水量，按照喷水量与档位之间的对应关系，确定负压发生器的当前档位。The current gear may be a gear for manual setting. The user generally sets the operating gear of the cleaning device when starting the cleaning device. Therefore, the cleaning device can obtain the set gear to obtain the current gear. The current gear may be the gear for automatic setting. The gear position of the negative pressure generator can be related to the water spray volume of the water spray parts such as the water pump. The cleaning equipment can determine the water spray volume of the water spray parts of the cleaning equipment. According to the corresponding relationship between the water spray volume and the gear position, Determines the current gear of the negative pressure generator.
例如，清洁设备在倾斜开机正常运行中，污水电机可以按照正常的档位判断运行。For example, when the cleaning equipment is in the normal operation of tilting and starting, the sewage motor can be judged to operate according to the normal gear.
具体的，当清洁设备接收到开机指令后，清洁设备将按照预设的时间周期，定时通过传感器采集清洁设备的目标姿态参数。当根据目标姿态参数确定清洁设备处于非清洁姿态时，控制负压发生器不运行即设备不开机；直至根据目标姿态参数确定清洁设备处于清洁姿态时，控制负压发生器按照对应的第二运转参数运行即设备开机。在设备开机后，则继续获取清洁设备的目标姿态参数，当目标姿态参数指示清洁设备处于非清洁状态时，则控制负压发生器以第一运转参数运行。Specifically, after the cleaning device receives the power-on command, the cleaning device will regularly collect the target attitude parameters of the cleaning device through the sensor according to the preset time period. When the cleaning equipment is determined to be in a non-cleaning attitude according to the target attitude parameters, the negative pressure generator is controlled not to operate, that is, the equipment is not turned on; until the cleaning equipment is determined to be in a cleaning attitude according to the target attitude parameters, the negative pressure generator is controlled to operate according to the corresponding second Parameter operation means that the device is turned on. After the device is powered on, continue to obtain the target attitude parameter of the cleaning device, and when the target attitude parameter indicates that the cleaning device is in a non-cleaning state, then control the negative pressure generator to operate with the first operating parameter.
通过本实施例，当清洁设备处于倾斜状态时，根据与负压发生器的当前档位对应的运转参数控制负压发生器的运行状态，可以提升清洁设备的清洁效率。Through this embodiment, when the cleaning device is in a tilted state, the operating state of the negative pressure generator is controlled according to the operating parameters corresponding to the current gear of the negative pressure generator, so as to improve the cleaning efficiency of the cleaning device.
下面结合可选示例对本申请实施例中的清洁设备的运行控制方法进行解释说明。洗地机在倾斜开机正常运行中，污水电机按照正常的档位判断运行。当洗地机突然由倾斜状态切换到直立状态时，污水电机的功率与运 行时的最小功率相等，或者小于运行时的最小功率。The operation control method of the cleaning equipment in the embodiment of the present application will be explained below with reference to optional examples. When the floor washing machine is in the normal operation of tilting and starting, the sewage motor operates according to the normal gear judgment. When the washing machine suddenly switches from the inclined state to the upright state, the power of the sewage motor is equal to or less than the minimum power during operation.
在一个示例性实施例中，确定负压发生器的第二运转参数，包括：In an exemplary embodiment, determining a second operating parameter of the negative pressure generator includes:
S31，获取与负压发生器对应的吸水管道的目标脏污参数，其中，目标脏污参数用于表示吸水管道的脏污程度；S31. Obtain a target dirt parameter of the water suction pipeline corresponding to the negative pressure generator, wherein the target dirt parameter is used to indicate the degree of dirt of the water suction pipeline;
S32，根据脏污参数与负压发生器的档位之间的对应关系，确定目标脏污参数对应负压发生器的档位为当前档位；S32, according to the corresponding relationship between the dirt parameter and the gear of the negative pressure generator, determine the gear of the negative pressure generator corresponding to the target dirt parameter as the current gear;
S33，将与当前档位对应的运转参数，确定为第二运转参数。S33. Determine the operating parameter corresponding to the current gear as the second operating parameter.
在本实施例中，负压发生器的档位可以是根据当前清洁的区域地面的脏污程度进行设置的。区域地面的脏污程度可以是通过该区域地面某一位置的脏污程度表示的，也可以是通过清洁设备的目标部件的脏污程度进行表示的，其中，目标部件的脏污程度可以是通过目标位置上的检测部件对目标部件进行检测。根据区域地面的脏污程度，可以确定负压发生器的当前档位，并将与当前档位对应的运转参数，确定为负压发生器的运转参数。上述目标部件可以是与负压发生器对应的吸水管道，也可以是清洁设备上的其他部件(例如，污水箱)，本实施例中对此不做限定。In this embodiment, the gear of the negative pressure generator can be set according to the degree of dirt on the floor of the currently cleaned area. The degree of dirtiness of the ground in the area can be expressed by the degree of dirtiness of a certain position on the ground in the area, or by the degree of dirtiness of the target component of the cleaning equipment, wherein the degree of dirtiness of the target component can be expressed by The detection part at the target position detects the target part. According to the degree of dirt on the ground in the area, the current gear of the negative pressure generator can be determined, and the operating parameters corresponding to the current gear can be determined as the operating parameters of the negative pressure generator. The above-mentioned target component may be the water suction pipe corresponding to the negative pressure generator, or other components on the cleaning equipment (for example, sewage tank), which is not limited in this embodiment.
为了便于根据脏污程度控制负压发生器的运转参数，可以将不同的脏污程度对应不同的运转参数，当目标部件的脏污程度越高时，负压发生器的运转参数也会越大。可选地，也可以将脏污程度进行划分为多个区间范围，不同的区间范围对应于不同的运转参数。当目标部件的脏污程度位于某一区间范围时，负压发生器的运转参数可以为与该区间范围对应的运转参数。In order to facilitate the control of the operating parameters of the negative pressure generator according to the degree of contamination, different degrees of contamination can correspond to different operating parameters. When the degree of contamination of the target component is higher, the operating parameters of the negative pressure generator will also be greater . Optionally, the degree of dirtiness can also be divided into multiple ranges, and different ranges correspond to different operating parameters. When the degree of contamination of the target component is within a certain interval, the operating parameter of the negative pressure generator may be an operating parameter corresponding to the interval.
可选地，上述目标部件可以是与负压发生器对应的吸水管道，其可以是向清洁设备的污水箱中吸入污水的管道，通过吸水管道的脏污参数进行表示区域地面的脏污程度。为了检测目标部件的脏污程度，可以在该管道的目标位置(例如，入口位置的外侧)上设置用于检测吸水管道脏污程度的脏污检测部件。通过该脏污检测部件可以进行对吸水管道的脏污程度进行检测，得到目标脏污参数。当吸水管道的脏污程度越严重时，目标赃污参数也会相应的越大。Optionally, the above-mentioned target component may be a water suction pipe corresponding to the negative pressure generator, which may be a pipe that sucks sewage into the sewage tank of the cleaning equipment, and the dirtiness parameter of the water suction pipe indicates the degree of dirtiness of the ground in the area. In order to detect the degree of dirt of the target component, a dirt detection component for detecting the degree of dirt of the water suction pipeline may be provided on the target position of the pipeline (for example, the outside of the inlet position). Through the dirt detection component, the dirt degree of the water suction pipe can be detected, and the target dirt parameter can be obtained. When the degree of dirt in the suction pipe is more serious, the target dirt parameter will be correspondingly larger.
在获取到吸水管道的目标脏污参数之后，可以根据上述目标脏污参数确定负压发生器的第二运转参数。可选地，清洁设备可以根据脏污参数与负压 发生器的档位之间的对应关系，确定目标脏污参数对应负压发生器的档位为当前档位，并将与当前档位对应的运转参数，确定为第二运转参数。After the target dirt parameter of the water suction pipeline is obtained, the second operating parameter of the negative pressure generator can be determined according to the above target dirt parameter. Optionally, the cleaning device can determine that the gear of the negative pressure generator corresponding to the target dirt parameter is the current gear according to the correspondence between the dirt parameter and the gear of the negative pressure generator, and will correspond to the current gear. The operation parameter of is determined as the second operation parameter.
在本实施例中，不同的脏污参数可以对应于负压发生器的某一档位，例如，不同的脏污参数的区间范围可以对应于负压发生器的不同档位。上述脏污参数与负压发生器的档位之间的对应关系，可以是由用户设置的，也可以是自动配置的。In this embodiment, different dirt parameters may correspond to a certain gear of the negative pressure generator, for example, intervals of different dirt parameters may correspond to different gears of the negative pressure generator. The correspondence between the aforementioned dirt parameters and the gears of the negative pressure generator may be set by the user or automatically configured.
例如，用户可以设置当脏污参数小于第一阈值时，对应的负压发生器的档位为低档，当脏污参数大于或者等于第一阈值、且小于第二阈值时，对应的负压发生器的档位为中档，当脏污参数大于或者等于第二阈值时，对应的负压发生器的档位为高档。在此情况下，如果目标脏污参数小于第一阈值，可以确定负压发生器的当前档位为低档。For example, the user can set that when the dirt parameter is less than the first threshold, the gear of the corresponding negative pressure generator is low; when the dirt parameter is greater than or equal to the first threshold and less than the second threshold, the corresponding negative pressure generator The gear of the negative pressure generator is a middle gear, and when the dirt parameter is greater than or equal to the second threshold, the gear of the corresponding negative pressure generator is a high gear. In this case, if the target dirt parameter is smaller than the first threshold, it may be determined that the current gear of the negative pressure generator is a low gear.
又例如，当用户使用清洁设备进行区域清洁时，清洁设备可以对当前吸水管道的脏污参数和设置的档位进行记录，并根据记录的脏污参数和设置的档位，生成脏污参数与负压发生器的档位之间的对应关系。上述生成脏污参数与负压发生器的档位之间的对应关系可以是，对同一脏污参数对应的档位进行统计，将该脏污参数对应的档位中，出现次数最多的档位，确定为该脏污参数对应的负压发生器的档位，从而得到脏污参数与负压发生器的档位之间的对应关系。For another example, when the user uses the cleaning equipment to clean the area, the cleaning equipment can record the current dirty parameters and the set gear of the suction pipe, and generate the dirty parameter and the set gear according to the recorded dirty parameters and the set gear. The corresponding relationship between the gears of the negative pressure generator. The corresponding relationship between the generated dirt parameter and the gear of the negative pressure generator can be as follows: the gear corresponding to the same dirt parameter is counted, and among the gears corresponding to the dirt parameter, the gear with the most occurrences , which is determined as the gear of the negative pressure generator corresponding to the dirt parameter, so as to obtain the corresponding relationship between the dirt parameter and the gear of the negative pressure generator.
例如，洗地机可以获取与污水电机对应的吸水管道的脏污参数，确定与获取到的脏污参数匹配的当前档位，并将污水电机的运转参数，设置为与该当前档位对应的运转参数。For example, the floor washing machine can obtain the dirt parameter of the water suction pipe corresponding to the sewage motor, determine the current gear that matches the acquired dirt parameter, and set the operating parameters of the sewage motor to the corresponding gear. Operating parameters.
通过本实施例，通过与负压发生器对应的吸水管道的脏污参数，确定负压发生器的运转参数，可以提高负压发生器运转参数设置的准确性。Through this embodiment, the operating parameters of the negative pressure generator are determined through the dirt parameter of the water suction pipe corresponding to the negative pressure generator, so that the accuracy of setting the operating parameters of the negative pressure generator can be improved.
在一个示例性实施例中，获取与负压发生器对应的吸水管道的目标脏污参数，包括：In an exemplary embodiment, obtaining the target fouling parameters of the suction pipe corresponding to the negative pressure generator includes:
S41，通过清洁设备上的图像采集设备对吸水管道进行图像采集，得到目标采集图像；S41, using the image acquisition device on the cleaning device to perform image acquisition on the water suction pipe to obtain a target acquisition image;
S42，通过对目标采集图像进行特征提取，确定吸水管道的目标脏污参数。S42. Determine the target dirt parameter of the water suction pipe by performing feature extraction on the target acquisition image.
在本实施例中，上述检测部件可以是图像采集设备，例如，摄像头，该图像采集设备可以设置在吸水管道的入口位置的外侧，也可以设置在其他能够采集到吸水管道的图像的位置。可以通过图像采集设备对吸水管道进行图像采集，得到目标采集图像，对目标采集图像进行特征提取，确定出吸水管道的目标脏污参数。此外，为了避免由于吸水管道内有污水残留影响吸水管道的脏污参数确定的准确性，可以在启动清洁设备之后，先以一个初始的运转参数控制负压发生器运行，以清理吸水管道内的污水残留。In this embodiment, the detection component may be an image acquisition device, for example, a camera, and the image acquisition device may be set outside the inlet of the water suction pipe, or at other positions where images of the water suction pipe can be collected. The image collection device can be used to collect images of the water suction pipe to obtain the target collection image, and perform feature extraction on the target collection image to determine the target dirt parameters of the water suction pipe. In addition, in order to avoid the influence of the residual sewage in the suction pipe on the accuracy of the determination of the dirty parameters of the suction pipe, after starting the cleaning equipment, first control the operation of the negative pressure generator with an initial operating parameter to clean up the dirt in the suction pipe. Sewage remains.
上述目标采集图像可以是黑白图像，也可以是彩色图像，本实施例中对此不限定。此外，为了更好的确定吸水管道的脏污参数，可以通过图像采集设备对吸水管道进行多次图像采集，以得到多张目标采集图像。在目标采集图像为多张时，清洁设备可以对每张目标采集图像分别进行特征提取，得到吸水管道的多个脏污参数，每个脏污参数对应于一张目标采集图像。在得到多个脏污参数之后，可以将多个脏污参数的平均，作为目标脏污参数。The aforementioned target acquisition image may be a black and white image or a color image, which is not limited in this embodiment. In addition, in order to better determine the fouling parameters of the water suction pipe, the image collection device can be used to collect multiple images of the water suction pipe to obtain multiple target acquisition images. When there are multiple target acquisition images, the cleaning device can separately perform feature extraction on each target acquisition image to obtain multiple dirt parameters of the water suction pipe, and each dirt parameter corresponds to one target acquisition image. After obtaining the multiple dirty parameters, the average of the multiple dirty parameters can be used as the target dirty parameter.
例如，洗地机可以通过位于吸水管道上的摄像头对吸水管道进行图像采集，得到目标采集图像，并根据目标采集图像，确定吸水管道的目标脏污参数。For example, the floor washing machine can collect the image of the water suction pipe through the camera on the water suction pipe to obtain the target acquisition image, and determine the target dirt parameters of the water suction pipe according to the target acquisition image.
通过本实施例，通过对图像采集设备对吸水管道进行图像采集所得到的采集图像进行特征提取，进而确定吸水管道的脏污参数，可以提高脏污参数确定的精准度。Through this embodiment, by performing feature extraction on the captured image obtained by the image acquisition device for collecting the image of the water suction pipe, and then determining the dirt parameter of the water suction pipeline, the accuracy of determining the dirt parameter can be improved.
在一个示例性实施例中，获取与负压发生器对应的吸水管道的目标脏污参数，包括:：In an exemplary embodiment, the target dirty parameter of the suction pipeline corresponding to the negative pressure generator is obtained, including:
S51，通过脏污传感器的发射器发射检测信号，其中，脏污传感器位于吸水管道的目标位置上；S51, transmitting a detection signal through the transmitter of the dirt sensor, wherein the dirt sensor is located at the target position of the water suction pipe;
S52，根据脏污传感器的接收器所接收到的、与检测信号对应的接收信号的信号强度，确定吸水管道的目标脏污参数。S52. According to the signal strength of the received signal corresponding to the detection signal received by the receiver of the dirt sensor, determine the target dirt parameter of the water suction pipeline.
在本实施例中，上述检测部件可以是脏污传感器，例如，脏污传感器，该脏污传感器可以设置在吸水管道的入口位置的外侧，也可以设置在其他能够对吸水管道进行脏污检测的目标位置。可以通过脏污传感器对吸水管道进行脏污检测，得到吸水管道的目标脏污参数。In this embodiment, the above-mentioned detection component may be a dirt sensor, for example, a dirt sensor, and the dirt sensor may be arranged on the outside of the inlet position of the water suction pipe, or it may be arranged in other places capable of detecting the dirt of the water suction pipe. target location. The dirt sensor can be used to detect the dirt of the water suction pipeline to obtain the target dirt parameter of the water suction pipeline.
脏污传感器可以是光电传感器，以光电传感器为例，光电传感器可以包括发射器和接收器，发射器可以用于发射光信号(红外光信号)，接收器可以接收发射器所发射的光信号，并将接收到的光信号转化为电信号。清洁设备可以通过发射器发射检测信号，检测信号可以穿过吸水管道，或者被吸水管道的管道壁反射，被接收器所接收到。接收器可以接收到、与检测信号对应的接收信号，确定接收信号的信号强度，上述信号强度可以是电压强度。The dirt sensor can be a photoelectric sensor. Taking the photoelectric sensor as an example, the photoelectric sensor can include a transmitter and a receiver. The transmitter can be used to transmit an optical signal (infrared optical signal), and the receiver can receive the optical signal emitted by the transmitter. And convert the received optical signal into electrical signal. The cleaning equipment can emit a detection signal through the transmitter, and the detection signal can pass through the water suction pipe, or be reflected by the pipe wall of the water suction pipe, and be received by the receiver. The receiver may receive a received signal corresponding to the detection signal, and determine the signal strength of the received signal, where the signal strength may be a voltage strength.
检测信号由于会被污水吸收掉部分光，且当脏污程度越高时，发出的检测信号被吸收的也会越多，从而使得接收信号的信号强度越弱。因此，可以根据接收信号的信号强度，确定吸水管道的目标脏污参数，接收信号的信号强度与吸水管道的脏污程度之间负相关，即，接收信号的信号强度越强，吸水管道的脏污程度越高，接收信号的信号强度越弱，吸水管道的脏污程度越低。此外，为了避免由于吸水管道内有污水残留影响吸水管道的脏污参数确定的准确性，可以在启动清洁设备之后，先以一个初始的运转参数控制负压发生器运行，以清理吸水管道内的污水残留。The detection signal will be partially absorbed by the sewage, and when the degree of dirt is higher, the detection signal sent out will be absorbed more, thus making the signal strength of the received signal weaker. Therefore, the target dirt parameter of the suction pipe can be determined according to the signal strength of the received signal, and there is a negative correlation between the signal strength of the received signal and the degree of dirtiness of the water suction pipe. The higher the degree of contamination, the weaker the signal strength of the received signal and the lower the degree of contamination of the suction pipe. In addition, in order to avoid the influence of the residual sewage in the suction pipe on the accuracy of the determination of the dirty parameters of the suction pipe, after starting the cleaning equipment, first control the operation of the negative pressure generator with an initial operating parameter to clean up the dirt in the suction pipe. Sewage remains.
例如，洗地机的吸水管道的入口位置的外侧可以设置有光电传感器，光电传感器包括发射器和接收器。在清洁设备启动之后，发射器可以发射光信号，接收器可以接收光信号，根据光信号的电压强度，可以确定吸水管道的脏污参数。For example, a photoelectric sensor may be provided outside the inlet position of the water suction pipe of the washing machine, and the photoelectric sensor includes a transmitter and a receiver. After the cleaning equipment is started, the transmitter can emit a light signal, and the receiver can receive the light signal, and according to the voltage strength of the light signal, the dirty parameter of the water suction pipe can be determined.
通过本实施例，通过脏污传感器发射检测信号进行吸水管道的脏污参数检测，可以提高脏污参数确定的精准度。Through this embodiment, the dirt parameter detection of the water suction pipe is performed by transmitting a detection signal from the dirt sensor, so that the accuracy of determining the dirt parameter can be improved.
在一个示例性实施例中，获取清洁设备的目标姿态参数，包括：In an exemplary embodiment, obtaining the target posture parameters of the cleaning device includes:
S61，在清洁设备内设置有陀螺仪的情况下，获取陀螺仪所检测到的角速度；S61. Acquire the angular velocity detected by the gyroscope when the gyroscope is installed in the cleaning device;
S62，根据角速度，确定清洁设备的倾斜角度，其中，目标姿态参数包括倾斜角度。S62. Determine the tilt angle of the cleaning device according to the angular velocity, wherein the target attitude parameter includes the tilt angle.
上述目标姿态参数可以是通过任意能够进行姿态检测的姿态检测部件进行检测的，上述姿态检测部件所检测的姿态参数可以是清洁设备的倾斜角度。上述姿态检测部件可以清洁设备内设置的陀螺仪。通过陀螺仪可以直 接检测清洁设备的倾斜角度。可选地，也可以通过陀螺仪先进行角速度检测，并根据检测到的角速度，确定清洁设备的倾斜角度。The target posture parameter may be detected by any posture detection component capable of posture detection, and the posture parameter detected by the posture detection component may be the inclination angle of the cleaning device. The above attitude detection component can clean the gyroscope installed in the device. The inclination angle of the cleaning equipment can be directly detected by the gyroscope. Optionally, the gyroscope may also be used to first detect the angular velocity, and determine the inclination angle of the cleaning device according to the detected angular velocity.
当清洁设备发生倾斜时，陀螺仪可以产生相应的角速度变化，基于检测到的角速度变化，可以确定陀螺仪的转动角度。基于初始角度和确定的转动角度，可以确定出清洁设备的倾斜角度，这里，初始角度可以是预设的清洁设备直立时的角度，也可以是其他角度。例如，可以将清洁设备位于直立状态下的角度设置为0度，将获取到的角速度进行积分，从而得到清洁设备相对于直立状态的倾斜角度。When the cleaning device is tilted, the gyroscope can generate a corresponding angular velocity change, and based on the detected angular velocity change, the rotation angle of the gyroscope can be determined. Based on the initial angle and the determined rotation angle, the inclination angle of the cleaning device can be determined. Here, the initial angle can be a preset angle at which the cleaning device stands upright, or other angles. For example, the angle at which the cleaning device is in the upright state can be set to 0 degrees, and the acquired angular velocity can be integrated to obtain the inclination angle of the cleaning device relative to the upright state.
上述陀螺仪可以是利用高速回转体的动量矩敏感壳体相对惯性空间绕正交于自转轴的一个或二个轴的角运动检测装置。利用其他原理制成的、起同样功能的角运动检测装置也可称陀螺仪。陀螺仪所检测的参数可以有多种，当检测的是清洁设备在倾斜过程中的角动量时，可以根据检测到的角动量确定清洁设备的倾斜角度，当检测的是清洁设备在倾斜过程中的角加速度时，可以对检测到的角加速度进行两次积分，以确定清洁设备的倾斜角度。本实施例中对此不做限定。The above-mentioned gyroscope can be an angular motion detection device that uses the moment of momentum of the high-speed revolving body to detect the angular motion of the shell relative to the inertial space around one or two axes orthogonal to the rotation axis. An angular motion detection device made of other principles and having the same function can also be called a gyroscope. The parameters detected by the gyroscope can be various. When the angular momentum of the cleaning equipment is detected during the tilting process, the tilt angle of the cleaning equipment can be determined according to the detected angular momentum. When the cleaning equipment is detected during the tilting process When the angular acceleration is , the detected angular acceleration can be integrated twice to determine the inclination angle of the cleaning device. This is not limited in this embodiment.
需要说明的是，当目标姿态参数为清洁设备的倾斜角度时，根据目标姿态参数确定出清洁设备所处状态是指：根据倾斜角度确定清洁设备所处的状态，即，当倾斜角度位于角度阈值范围(例如，0-10度)内时，确定该清洁设备处于直立状态，当上述倾斜角度超过角度阈值范围时，确定该清洁设备处于倾斜状态。It should be noted that when the target attitude parameter is the inclination angle of the cleaning device, determining the state of the cleaning device according to the target attitude parameter refers to: determining the state of the cleaning device according to the inclination angle, that is, when the inclination angle is at the angle threshold When it is within a range (for example, 0-10 degrees), it is determined that the cleaning device is in an upright state, and when the above-mentioned inclination angle exceeds the angle threshold range, it is determined that the cleaning device is in an incline state.
例如，洗地机可以内置有陀螺仪，通过该陀螺仪可以检测洗地机在倾斜过程中的角速度，并根据检测到的角速度确定洗地机的倾斜角度。For example, the scrubber may have a built-in gyroscope, which can detect the angular velocity of the scrubber during the tilting process, and determine the tilt angle of the scrubber according to the detected angular velocity.
通过本实施例，通过清洁设备内置的陀螺仪检测到角速度确定清洁设备的倾斜角度，可以提高清洁设备倾斜角度确定的精准度。Through this embodiment, the inclination angle of the cleaning device is determined by detecting the angular velocity of the built-in gyroscope of the cleaning device, which can improve the accuracy of determining the inclination angle of the cleaning device.
在一个示例性实施例中，获取清洁设备的目标姿态参数，包括：In an exemplary embodiment, obtaining the target posture parameters of the cleaning device includes:
S71，在清洁设备上设置有直立开关的情况下，获取通过直立开关的目标电流，其中，目标姿态参数包括目标电流。S71. Acquiring a target current passing through the upright switch if the upright switch is provided on the cleaning device, wherein the target attitude parameter includes the target current.
上述目标姿态参数可以是通过任意能够进行姿态检测的姿态检测部件进行检测的，上述姿态检测部件所检测的姿态参数可以是用于检测清洁设 备是否直立(或者说，是否倾斜)的直立开关，所检测的姿态参数可以是通过直立开关的目标电流。该直立开关可以位置清洁设备上，例如，位于清洁设备的底部，其可以是重力感应开关，压力开关，还可以是其他类型的开关。在清洁设备启动之后，可以获取通过直立开关的目标电流，进而得到目标姿态参数。The above-mentioned target posture parameter can be detected by any posture detection component capable of posture detection, and the posture parameter detected by the above-mentioned posture detection component can be an upright switch for detecting whether the cleaning device is upright (or in other words, whether it is inclined), so The detected attitude parameter may be the target current through the upright switch. The upright switch can be located on the cleaning device, for example, at the bottom of the cleaning device, and it can be a gravity sensor switch, a pressure switch, or other types of switches. After the cleaning device is started, the target current passing through the upright switch can be obtained, and then the target attitude parameters can be obtained.
对于重力感应开关，当清洁设备发生倾斜时，重力感应开关的连通状态也会发生改变。当清洁设备的倾斜角度在一定角度范围之内时，重力感应开关处于连通状态，电流可以正常通过重力感应开关，通过重力感应开关的电流不为零。当清洁设备的倾斜角度超过上述角度范围时，重力感应开关处于断开状态，电流不会通过重力感应开关，通过重力感应开关的电流为零。For the gravity sensor switch, when the cleaning device is tilted, the connection state of the gravity sensor switch will also change. When the inclination angle of the cleaning device is within a certain angle range, the gravity sensor switch is in a connected state, the current can normally pass through the gravity sensor switch, and the current passing through the gravity sensor switch is not zero. When the inclination angle of the cleaning device exceeds the above angle range, the gravity sensing switch is in an off state, the current will not pass through the gravity sensing switch, and the current passing through the gravity sensing switch is zero.
当直立开关为重力感应开关时，根据目标姿态参数确定出清洁设备所处状态是指：当目标电流不为零时，确定清洁设备处于直立状态，当目标电流为零时，确定清洁设备处于倾斜状态。When the upright switch is a gravity sensor switch, determining the state of the cleaning device according to the target attitude parameters means: when the target current is not zero, it is determined that the cleaning device is in an upright state; when the target current is zero, it is determined that the cleaning device is in an inclined state state.
对于压力开关时，当清洁设备发生倾斜时，压力开关上的配重块会与压敏电阻产生偏移，使得压敏电阻上的压力值变小，由于压敏电阻的阻值与压力大小成反比，此时，通过压力开关的电流小于电流阈值。当清洁设备处于直立状态时，压力开关上的配重块竖直的压在压敏电阻上，压力开关处于连通状态，电流可以正常通过压力开关，通过压力开关的电流到达电流阈值。For the pressure switch, when the cleaning equipment is tilted, the weight on the pressure switch will be offset from the piezoresistor, making the pressure on the piezoresistor smaller, because the resistance of the piezoresistor is proportional to the pressure Inversely proportional, at this time, the current through the pressure switch is less than the current threshold. When the cleaning device is in an upright state, the counterweight on the pressure switch is pressed vertically on the piezoresistor, the pressure switch is in a connected state, the current can pass through the pressure switch normally, and the current through the pressure switch reaches the current threshold.
当直立开关为压力开关时，根据目标姿态参数确定出清洁设备所处状态是指：当目标电流大于或者等于电流阈值时，确定清洁设备处于直立状态，当目标电流小于电流阈值时，确定清洁设备处于倾斜状态。When the upright switch is a pressure switch, determining the state of the cleaning device according to the target attitude parameters means: when the target current is greater than or equal to the current threshold, it is determined that the cleaning device is in an upright state; when the target current is less than the current threshold, it is determined that the cleaning device is in an upright state in a tilted state.
例如，洗地机的滚刷底部可以设置直立开关，如果通过直立开关的电流达到电流阈值，可以确定洗地机处于直立状态，否则，确定洗地机处于倾斜状态。For example, an upright switch can be set at the bottom of the roller brush of the scrubber. If the current passing through the upright switch reaches the current threshold, it can be determined that the scrubber is in an upright state, otherwise, it can be determined that the scrubber is in a tilted state.
通过本实施例，通过直立开关的电流确定清洁设备是否处于直立状态，可以清洁设备状态确定的便捷性和准确性。Through this embodiment, whether the cleaning device is in the upright state is determined through the current of the upright switch, so that the convenience and accuracy of determining the state of the cleaning device can be achieved.
下面结合可选示例对本申请实施例中的清洁设备的运行控制方法进行解释说明。在本可选示例中，清洁设备为洗地机，负压发生器为污水电机。The operation control method of the cleaning equipment in the embodiment of the present application will be explained below with reference to optional examples. In this optional example, the cleaning equipment is a scrubber, and the negative pressure generator is a sewage motor.
本可选示例中提供的是一种清洁设备的运行控制方法，在洗地机开机 并且处于倾斜状态时，控制洗地机正常运行，污水电机按照正常的档位进行运行，当洗地机突然由倾斜状态切换到直立状态时，将污水电机的功率调节到小于或者等于洗地机运行时的最小功率。This optional example provides an operation control method for cleaning equipment. When the washing machine is turned on and is in a tilted state, the washing machine is controlled to run normally, and the sewage motor runs according to the normal gear. When the washing machine suddenly When switching from the inclined state to the upright state, adjust the power of the sewage motor to be less than or equal to the minimum power when the scrubber is running.
如图3所示，本可选示例的清洁设备的运行控制方法的流程可以包括以下步骤：As shown in FIG. 3, the flow of the cleaning device operation control method in this optional example may include the following steps:
步骤S302，开始。Step S302, start.
步骤S304，获取洗地机的状态，洗地机的状态可以是直立状态或者倾斜状态。Step S304, acquiring the status of the scrubber, which can be an upright status or an inclined status.
步骤S306，判断洗地机是否开机，如果是，执行步骤S308，否则，执行步骤S310。Step S306, judging whether the scrubber is turned on, if yes, execute step S308, otherwise, execute step S310.
步骤S308，控制洗地机不运行。Step S308, controlling the scrubber not to run.
步骤S310，判断洗地机是否倾斜，如果是，执行步骤S312，否则，执行步骤S314。Step S310, judging whether the washing machine is tilted, if yes, execute step S312, otherwise, execute step S314.
可选地，在步骤S310之前，可以先判断一次洗地机是否倾斜，当洗地机不处于倾斜状态时，控制回收污水电机不运行，当洗地机处于倾斜状态时，再执行步骤S310。Optionally, before step S310, it may be judged first whether the scrubber is tilted, and when the scrubber is not tilted, the sewage recovery motor is controlled not to run, and when the scrubber is tilted, step S310 is performed.
步骤S312，控制污水电机正常识别运行时的档位。Step S312, controlling the sewage motor to recognize the gear position during normal operation.
步骤S314，控制污水电机降低功率运行，污水电机的功率需要小于或者等于机器运行时最小档位的运转参数。Step S314, controlling the sewage motor to run with reduced power, the power of the sewage motor needs to be less than or equal to the operating parameter of the minimum gear when the machine is running.
步骤S316，结束。Step S316, end.
通过本实施例，根据洗地机所处的状态控制污水电机的运转参数，当洗地机处于倾斜状态时，控制污水电机按照正常档位运行，当洗地机处于直立状态时，降低污水电机的运转参数，可以在降低直立时的机器能耗的同时，提升用户的使用体验。Through this embodiment, the operating parameters of the sewage motor are controlled according to the state of the washing machine. When the washing machine is in a tilted state, the sewage motor is controlled to operate in a normal gear. When the washing machine is in an upright state, the sewage motor is lowered. The operating parameters can improve the user experience while reducing the energy consumption of the machine when standing upright.
需要说明的是，对于前述的各方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本申请并不受所描述的动作顺序的限制，因为依据本申请，某些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定是本申请所必须的。It should be noted that for the foregoing method embodiments, for the sake of simple description, they are expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the described action sequence. Depending on the application, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification belong to preferred embodiments, and the actions and modules involved are not necessarily required by this application.
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到根据上述实施例的方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM(Read-Only Memory，只读存储器)/RAM(Random Access Memory，随机存取存储器)、磁碟、光盘)中，包括若干指令用以使得一台终端设备(可以是手机，计算机，服务器，或者网络设备等)执行本申请各个实施例所述的方法。Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is Better implementation. Based on such an understanding, the technical solution of the present application can be embodied in the form of a software product in essence or in other words, the part that contributes to the prior art, and the computer software product is stored in a storage medium (such as ROM (Read-Only Memory, Read-only memory)/RAM (Random Access Memory, random access memory), magnetic disk, optical disk), including several instructions to make a terminal device (which can be a mobile phone, computer, server, or network device, etc.) execute this Apply the method described in each example.
根据本申请实施例的另一个方面，还提供了一种用于实施上述清洁设备的运行控制方法的清洁设备的运行控制装置。图4是根据本申请实施例的一种可选的清洁设备的运行控制装置的结构框图，如图4所示，该装置可以包括：According to another aspect of the embodiments of the present application, there is also provided an operation control device for cleaning equipment for implementing the above cleaning equipment operation control method. Fig. 4 is a structural block diagram of an optional operation control device for cleaning equipment according to an embodiment of the present application. As shown in Fig. 4, the device may include:
第一获取单元402，用于获取清洁设备的目标姿态参数，其中，目标姿态参数用于指示清洁设备当前所处的姿态；The first acquiring unit 402 is configured to acquire a target posture parameter of the cleaning device, wherein the target posture parameter is used to indicate the current posture of the cleaning device;
第一确定单元404，与第一获取单元402相连，用于在根据目标姿态参数确定出清洁设备处于非清洁状态的情况时，确定清洁设备的负压发生器的运转参数为第一运转参数，其中，第一运转参数小于或者等于负压发生器处于清洁状态时对应的最低运转参数；The first determination unit 404 is connected to the first acquisition unit 402, and is used to determine the operating parameter of the negative pressure generator of the cleaning device as the first operating parameter when it is determined according to the target posture parameter that the cleaning device is in an unclean state, Wherein, the first operating parameter is less than or equal to the corresponding minimum operating parameter when the negative pressure generator is in a clean state;
第一控制单元406，与第一确定单元404相连，用于按照第一运转参数，控制负压发生器的运行状态。The first control unit 406 is connected with the first determination unit 404 and is used for controlling the operation state of the negative pressure generator according to the first operation parameter.
需要说明的是，该实施例中的第一获取单元402可以用于执行上述步骤S202，该实施例中的第一确定单元404可以用于执行上述步骤S204，该实施例中的第一控制单元406可以用于执行上述步骤S206。It should be noted that the first obtaining unit 402 in this embodiment can be used to perform the above step S202, the first determining unit 404 in this embodiment can be used to perform the above step S204, the first control unit in this embodiment 406 may be used to execute the above step S206.
通过上述模块，获取清洁设备的目标姿态参数，其中，目标姿态参数用于指示清洁设备当前所处的姿态；在根据目标姿态参数确定出清洁设备处于非清洁状态的情况时，确定清洁设备的负压发生器的运转参数为第一运转参数，其中，第一运转参数小于或者等于负压发生器处于清洁状态时 对应的最低运转参数；按照第一运转参数，控制负压发生器的运行状态，解决了相关技术中的清洁设备的运行控制方法存在由于在进行状态切换的过程中需要重新启动清洁设备导致的区域清洁的效率低的问题，提高了区域清洁的效率。Through the above modules, the target posture parameters of the cleaning equipment are obtained, wherein the target posture parameters are used to indicate the current posture of the cleaning equipment; when the cleaning equipment is determined to be in a non-cleaning state according to the target posture parameters, determine the cleaning equipment. The operating parameter of the pressure generator is the first operating parameter, wherein the first operating parameter is less than or equal to the corresponding minimum operating parameter when the negative pressure generator is in a clean state; according to the first operating parameter, the operating state of the negative pressure generator is controlled, It solves the problem of low area cleaning efficiency caused by restarting the cleaning equipment in the operation control method of the cleaning equipment in the related art due to the need to restart the cleaning equipment, and improves the efficiency of area cleaning.
在一个示例性实施例中，上述装置还包括：In an exemplary embodiment, the above-mentioned device also includes:
第二确定单元，用于在获取清洁设备的目标姿态参数之后，根据目标姿态参数，确定出清洁设备处于非清洁状态，其中，非清洁状态包括以下之一：直立状态，平躺状态。The second determination unit is configured to determine that the cleaning device is in a non-cleaning state according to the target posture parameter after acquiring the target posture parameter, wherein the non-cleaning state includes one of the following: an upright state and a lying state.
在一个示例性实施例中，上述装置还包括：In an exemplary embodiment, the above-mentioned device also includes:
第三确定单元，用于在获取清洁设备的目标姿态参数之后，在根据目标姿态参数确定出清洁设备处于倾斜状态的情况下，确定负压发生器的第二运转参数，其中，第二运转参数为与负压发生器的当前档位对应的运转参数；The third determination unit is used to determine the second operating parameter of the negative pressure generator when the target attitude parameter of the cleaning device is determined to be in an inclined state according to the target attitude parameter, wherein the second operating parameter is the operating parameter corresponding to the current gear of the negative pressure generator;
第二控制单元，用于按照第二运转参数，控制负压发生器的运行状态。The second control unit is used to control the operating state of the negative pressure generator according to the second operating parameter.
在一个示例性实施例中，上述装置还包括：In an exemplary embodiment, the above-mentioned device also includes:
第二获取单元，用于在确定负压发生器的第二运转参数之前，获取与负压发生器对应的吸水管道的目标脏污参数，其中，目标脏污参数用于表示吸水管道的脏污程度；The second acquisition unit is used to acquire the target dirt parameter of the water suction pipeline corresponding to the negative pressure generator before determining the second operating parameter of the negative pressure generator, wherein the target dirt parameter is used to represent the dirt of the water suction pipeline degree;
第四确定单元，用于根据脏污参数与负压发生器的档位之间的对应关系，确定目标脏污参数对应负压发生器的档位为当前档位；The fourth determination unit is used to determine the gear of the negative pressure generator corresponding to the target dirt parameter as the current gear according to the corresponding relationship between the dirt parameter and the gear of the negative pressure generator;
第五确定单元，用于将与当前档位对应的运转参数，确定为第二运转参数。The fifth determining unit is configured to determine the operating parameter corresponding to the current gear as the second operating parameter.
在一个示例性实施例中，第二获取单元，包括:In an exemplary embodiment, the second acquisition unit includes:
采集模块，用于通过清洁设备上的图像采集设备对吸水管道进行图像采集，得到目标采集图像；The collection module is used to collect the image of the water suction pipe through the image collection device on the cleaning device to obtain the target collection image;
第一确定模块，用于通过对目标采集图像进行特征提取，确定吸水管道的目标脏污参数。The first determination module is used to determine the target dirt parameter of the water suction pipeline by performing feature extraction on the target acquisition image.
在一个示例性实施例中，第二获取单元，包括:In an exemplary embodiment, the second acquisition unit includes:
发射模块，用于通过脏污传感器的发射器发射检测信号，其中，脏污传感器位于吸水管道的目标位置上；The transmitting module is used to transmit the detection signal through the transmitter of the dirt sensor, wherein the dirt sensor is located at the target position of the water suction pipeline;
第二确定模块，用于根据脏污传感器的接收器所接收到的、与检测信号对应的接收信号的信号强度，确定吸水管道的目标脏污参数。The second determination module is configured to determine the target dirt parameter of the water suction pipe according to the signal strength of the received signal received by the receiver of the dirt sensor and corresponding to the detection signal.
在一个示例性实施例中，第一获取单元，包括：In an exemplary embodiment, the first acquisition unit includes:
第一获取模块，用于在清洁设备内设置有陀螺仪的情况下，获取陀螺仪所检测到的角速度；The first acquisition module is used to acquire the angular velocity detected by the gyroscope when the gyroscope is installed in the cleaning device;
第三确定模块，用于根据角速度，确定清洁设备的倾斜角度，其中，目标姿态参数包括倾斜角度。The third determination module is configured to determine the tilt angle of the cleaning device according to the angular velocity, wherein the target attitude parameter includes the tilt angle.
在一个示例性实施例中，第一获取单元，包括：In an exemplary embodiment, the first acquisition unit includes:
第二获取模块，用于在清洁设备上设置有直立开关的情况下，获取通过直立开关的目标电流，其中，目标姿态参数包括目标电流。The second acquisition module is configured to acquire a target current passing through the upright switch when the upright switch is provided on the cleaning device, wherein the target attitude parameter includes the target current.
此处需要说明的是，上述模块与对应的步骤所实现的示例和应用场景相同，但不限于上述实施例所公开的内容。需要说明的是，上述模块作为装置的一部分可以运行在如图1所示的硬件环境中，可以通过软件实现，也可以通过硬件实现，其中，硬件环境包括网络环境。It should be noted here that the examples and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the content disclosed in the above embodiments. It should be noted that, as a part of the device, the above modules can run in the hardware environment shown in FIG. 1 , and can be implemented by software or by hardware, wherein the hardware environment includes a network environment.
根据本申请实施例的又一个方面，还提供了一种用于实施上述清洁设备的运行控制方法的清洁设备。图5是根据本申请实施例的一种可选的清洁设备的结构框图，如图5所示，该清洁设备可以包括：According to yet another aspect of the embodiments of the present application, a cleaning device for implementing the above cleaning device operation control method is also provided. Fig. 5 is a structural block diagram of an optional cleaning device according to an embodiment of the present application. As shown in Fig. 5, the cleaning device may include:
姿态检测部件502，用于检测清洁设备的目标姿态参数，其中，目标姿态参数用于指示清洁设备当前所处的姿态；A posture detection component 502, configured to detect a target posture parameter of the cleaning device, wherein the target posture parameter is used to indicate the current posture of the cleaning device;
处理器504，用于在根据目标姿态参数确定出清洁设备处于非清洁状态的情况时，确定清洁设备的负压发生器的运转参数为第一运转参数，以及按照第一运转参数，控制负压发生器的运行状态，其中，第一运转参数小于或者等于负压发生器处于清洁状态时对应的最低运转参数； Processor 504, configured to determine that the operating parameter of the negative pressure generator of the cleaning device is the first operating parameter when it is determined according to the target attitude parameter that the cleaning device is in an unclean state, and control the negative pressure according to the first operating parameter The operating state of the generator, wherein the first operating parameter is less than or equal to the corresponding minimum operating parameter when the negative pressure generator is in a clean state;
负压发生器，用于按照第一运转参数运转。A negative pressure generator for operating according to a first operating parameter.
需要说明的是，该实施例中的第一获取单元402可以用于执行上述步骤S202，该实施例中的第一确定单元404可以用于执行上述步骤S204，该实施例中的第一控制单元406可以用于执行上述步骤S206。It should be noted that the first obtaining unit 402 in this embodiment can be used to perform the above step S202, the first determining unit 404 in this embodiment can be used to perform the above step S204, the first control unit in this embodiment 406 may be used to execute the above step S206.
可选地，本实施例中的具体示例可以参考上述实施例中所描述的示例， 本实施例中对此不再赘述。Optionally, for specific examples in this embodiment, reference may be made to the examples described in the foregoing embodiments, which will not be repeated in this embodiment.
根据本申请实施例的又一个方面，还提供了一种存储介质。可选地，在本实施例中，上述存储介质可以用于执行本申请实施例中上述任一项清洁设备的运行控制方法的程序代码。According to still another aspect of the embodiments of the present application, a storage medium is also provided. Optionally, in this embodiment, the above-mentioned storage medium may be used to execute the program code of any one of the above-mentioned cleaning device operation control methods in the embodiments of the present application.
可选地，在本实施例中，上述存储介质可以位于上述实施例所示的网络中的多个网络设备中的至少一个网络设备上。Optionally, in this embodiment, the foregoing storage medium may be located on at least one network device among the plurality of network devices in the network shown in the foregoing embodiments.
可选地，在本实施例中，存储介质被设置为存储用于执行以下步骤的程序代码：Optionally, in this embodiment, the storage medium is configured to store program codes for performing the following steps:
S1，获取清洁设备的目标姿态参数，其中，目标姿态参数用于指示清洁设备当前所处的姿态；S1. Obtain a target posture parameter of the cleaning device, where the target posture parameter is used to indicate the current posture of the cleaning device;
S2，在根据目标姿态参数确定出清洁设备处于非清洁状态的情况时，确定清洁设备的负压发生器的运转参数为第一运转参数，其中，第一运转参数小于或者等于负压发生器处于清洁状态时对应的最低运转参数；S2, when it is determined that the cleaning device is in an unclean state according to the target posture parameter, determine that the operating parameter of the negative pressure generator of the cleaning device is the first operating parameter, wherein the first operating parameter is less than or equal to the negative pressure generator being in The corresponding minimum operating parameters in the clean state;
S3，按照第一运转参数，控制负压发生器的运行状态。S3. Control the operating state of the negative pressure generator according to the first operating parameter.
可选地，本实施例中的具体示例可以参考上述实施例中所描述的示例，本实施例中对此不再赘述。Optionally, for specific examples in this embodiment, reference may be made to the examples described in the foregoing embodiments, which will not be repeated in this embodiment.
可选地，在本实施例中，上述存储介质可以包括但不限于：U盘、ROM、RAM、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。Optionally, in this embodiment, the above-mentioned storage medium may include, but not limited to, various media capable of storing program codes such as USB flash drive, ROM, RAM, removable hard disk, magnetic disk, or optical disk.
根据本申请实施例的又一个方面，还提供了一种用于实施上述清洁设备的运行控制方法的电子装置，该电子装置可以是服务器、终端、或者其组合。According to yet another aspect of the embodiments of the present application, there is also provided an electronic device for implementing the above cleaning device operation control method, where the electronic device may be a server, a terminal, or a combination thereof.
图5是根据本申请实施例的一种可选的电子装置的结构框图，如图5所示，包括处理器502、通信接口504、存储器506和通信总线508，其中，处理器502、通信接口504和存储器506通过通信总线508完成相互间的通信，其中，Fig. 5 is a structural block diagram of an optional electronic device according to an embodiment of the present application. 504 and memory 506 complete mutual communication through communication bus 508, wherein,
存储器506，用于存储计算机程序； memory 506, for storing computer programs;
处理器502，用于执行存储器506上所存放的计算机程序时，实现如下 步骤：When the processor 502 is used to execute the computer program stored on the memory 506, the following steps are realized:
S1，获取清洁设备的目标姿态参数，其中，目标姿态参数用于指示清洁设备当前所处的姿态；S1. Obtain a target posture parameter of the cleaning device, where the target posture parameter is used to indicate the current posture of the cleaning device;
S2，在根据目标姿态参数确定出清洁设备处于非清洁状态的情况时，确定清洁设备的负压发生器的运转参数为第一运转参数，其中，第一运转参数小于或者等于负压发生器处于清洁状态时对应的最低运转参数；S2, when it is determined that the cleaning device is in an unclean state according to the target posture parameter, determine that the operating parameter of the negative pressure generator of the cleaning device is the first operating parameter, wherein the first operating parameter is less than or equal to the negative pressure generator being in The corresponding minimum operating parameters in the clean state;
S3，按照第一运转参数，控制负压发生器的运行状态。S3. Control the operating state of the negative pressure generator according to the first operating parameter.
可选地，在本实施例中，通信总线可以是PCI(Peripheral Component Interconnect，外设部件互连标准)总线、或EISA(Extended Industry Standard Architecture，扩展工业标准结构)总线等。该通信总线可以分为地址总线、数据总线、控制总线等。为便于表示，图5中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。通信接口用于上述电子装置与其他设备之间的通信。Optionally, in this embodiment, the communication bus may be a PCI (Peripheral Component Interconnect, Peripheral Component Interconnect Standard) bus, or an EISA (Extended Industry Standard Architecture, Extended Industry Standard Architecture) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, only one thick line is used in FIG. 5 , but it does not mean that there is only one bus or one type of bus. The communication interface is used for communication between the electronic device and other devices.
上述的存储器可以包括RAM，也可以包括非易失性存储器(non-volatile memory)，例如，至少一个磁盘存储器。可选地，存储器还可以是至少一个位于远离前述处理器的存储装置。The above-mentioned memory may include RAM, and may also include non-volatile memory (non-volatile memory), for example, at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.
作为一种示例，上述存储器506中可以但不限于包括上述清洁设备的运行控制装置中的第一获取单元402、第一确定单元404以及第一控制单元406。此外，还可以包括但不限于上述清洁设备的运行控制装置中的其他模块单元，本示例中不再赘述。As an example, the memory 506 may include, but is not limited to, the first acquisition unit 402, the first determination unit 404, and the first control unit 406 in the operation control device of the cleaning device. In addition, it may also include but not limited to other module units in the operation control device of the cleaning equipment mentioned above, which will not be repeated in this example.
上述处理器可以是通用处理器，可以包含但不限于：CPU(Central Processing Unit，中央处理器)、NP(Network Processor，网络处理器)等；还可以是DSP(Digital Signal Processing，数字信号处理器)、ASIC(Application Specific Integrated Circuit，专用集成电路)、FPGA(Field－Programmable Gate Array，现场可编程门阵列)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。Above-mentioned processor can be general-purpose processor, can include but not limited to: CPU (Central Processing Unit, central processing unit), NP (Network Processor, network processor) etc.; Can also be DSP (Digital Signal Processing, digital signal processor ), ASIC (Application Specific Integrated Circuit, application specific integrated circuit), FPGA (Field-Programmable Gate Array, field programmable gate array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
可选地，本实施例中的具体示例可以参考上述实施例中所描述的示例，本实施例在此不再赘述。Optionally, for specific examples in this embodiment, reference may be made to the examples described in the foregoing embodiments, and details are not repeated in this embodiment.
本领域普通技术人员可以理解，图5所示的结构仅为示意，实施上述洁 设备的运行控制方法的设备可以是终端设备，该终端设备可以是智能手机(如Android手机、iOS手机等)、平板电脑、掌上电脑以及移动互联网设备(Mobile Internet Devices，MID)、PAD等终端设备。图5其并不对上述电子装置的结构造成限定。例如，电子装置还可包括比图5中所示更多或者更少的组件(如网络接口、显示装置等)，或者具有与图5所示的不同的配置。Those of ordinary skill in the art can understand that the structure shown in FIG. 5 is only for illustration, and the device implementing the operation control method of the above-mentioned cleaning device may be a terminal device, and the terminal device may be a smart phone (such as an Android phone, an iOS phone, etc.), Tablet PCs, PDAs, and mobile Internet devices (Mobile Internet Devices, MID), PAD and other terminal equipment. FIG. 5 does not limit the structure of the above-mentioned electronic device. For example, the electronic device may also include more or fewer components (such as a network interface, a display device, etc.) than those shown in FIG. 5 , or have a different configuration from that shown in FIG. 5 .
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令终端设备相关的硬件来完成，该程序可以存储于一计算机可读存储介质中，存储介质可以包括：闪存盘、ROM、RAM、磁盘或光盘等。Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing hardware related to the terminal device through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can be Including: flash disk, ROM, RAM, magnetic disk or optical disk, etc.
上述本申请实施例序号仅仅为了描述，不代表实施例的优劣。The serial numbers of the above embodiments of the present application are for description only, and do not represent the advantages and disadvantages of the embodiments.
上述实施例中的集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在上述计算机可读取的存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在存储介质中，包括若干指令用以使得一台或多台计算机设备(可为个人计算机、服务器或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。If the integrated units in the above embodiments are realized in the form of software function units and sold or used as independent products, they can be stored in the above computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or part of the contribution to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium. Several instructions are included to make one or more computer devices (which may be personal computers, servers or network devices, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
在本申请的上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。In the above-mentioned embodiments of the present application, the descriptions of each embodiment have their own emphases, and for parts not described in detail in a certain embodiment, reference may be made to relevant descriptions of other embodiments.
在本申请所提供的几个实施例中，应该理解到，所揭露的客户端，可通过其它的方式实现。其中，以上所描述的装置实施例仅仅是示意性的，例如所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，单元或模块的间接耦合或通信连接，可以是电性或其它的形式。In the several embodiments provided in this application, it should be understood that the disclosed client can be implemented in other ways. Wherein, the device embodiments described above are only illustrative, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components can be combined or can be Integrate into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of units or modules may be in electrical or other forms.
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地 方，也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例中所提供的方案的目的。The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution provided in this embodiment.
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.
以上所述仅是本申请的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本申请原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本申请的保护范围。The above description is only the preferred embodiment of the present application. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present application, some improvements and modifications can also be made. These improvements and modifications are also It should be regarded as the protection scope of this application.

Claims (11)

  1. 一种清洁设备的运行控制方法，其特征在于，包括：An operation control method for cleaning equipment, characterized in that it comprises:
    获取所述清洁设备的目标姿态参数，其中，所述目标姿态参数用于指示所述清洁设备当前所处的姿态；Acquiring target posture parameters of the cleaning device, wherein the target posture parameters are used to indicate the current posture of the cleaning device;
    在根据所述目标姿态参数确定出所述清洁设备处于非清洁状态的情况时，确定所述清洁设备的负压发生器的运转参数为第一运转参数，其中，所述第一运转参数小于或者等于所述负压发生器处于清洁状态时对应的最低运转参数；When it is determined according to the target attitude parameter that the cleaning device is in an unclean state, determine that the operating parameter of the negative pressure generator of the cleaning device is the first operating parameter, wherein the first operating parameter is less than or Equal to the corresponding minimum operating parameters when the negative pressure generator is in a clean state;
    按照所述第一运转参数，控制所述负压发生器的运行状态。According to the first operating parameter, the operating state of the negative pressure generator is controlled.
  2. 根据权利要求1所述的清洁设备的运行控制方法，其特征在于，在所述获取所述清洁设备的目标姿态参数之后，所述方法还包括：The operation control method of cleaning equipment according to claim 1, characterized in that, after the acquisition of the target posture parameters of the cleaning equipment, the method further comprises:
    根据所述目标姿态参数，确定出所述清洁设备处于所述非清洁状态，其中，所述非清洁状态包括以下之一：直立状态，平躺状态。According to the target posture parameter, it is determined that the cleaning device is in the non-cleaning state, wherein the non-cleaning state includes one of the following: an upright state and a lying state.
  3. 根据权利要求1所述的清洁设备的运行控制方法，其特征在于，在所述获取所述清洁设备的目标姿态参数之后，所述方法还包括：The operation control method of cleaning equipment according to claim 1, characterized in that, after the acquisition of the target posture parameters of the cleaning equipment, the method further comprises:
    在根据所述目标姿态参数确定出所述清洁设备处于倾斜状态的情况下，确定所述负压发生器的第二运转参数，其中，所述第二运转参数为与所述负压发生器的当前档位对应的运转参数；If it is determined according to the target attitude parameter that the cleaning device is in a tilted state, determine a second operating parameter of the negative pressure generator, wherein the second operating parameter is the relationship with the negative pressure generator The operating parameters corresponding to the current gear;
    按照所述第二运转参数，控制所述负压发生器的运行状态。The operating state of the negative pressure generator is controlled according to the second operating parameter.
  4. 根据权利要求3所述的清洁设备的运行控制方法，其特征在于，在所述确定所述负压发生器的第二运转参数之前，所述方法还包括：The operation control method of cleaning equipment according to claim 3, characterized in that, before the determination of the second operating parameter of the negative pressure generator, the method further comprises:
    获取与所述负压发生器对应的吸水管道的目标脏污参数，其中，所述目标脏污参数用于表示所述吸水管道的脏污程度；Obtaining a target dirt parameter of the water suction pipeline corresponding to the negative pressure generator, wherein the target dirt parameter is used to represent the degree of dirt of the water suction pipeline;
    根据脏污参数与所述负压发生器的档位之间的对应关系，确定所述目标脏污参数对应所述负压发生器的档位为所述当前档位；According to the corresponding relationship between the dirt parameter and the gear of the negative pressure generator, determine that the gear of the negative pressure generator corresponding to the target dirt parameter is the current gear;
    将与所述当前档位对应的运转参数，确定为所述第二运转参数。An operating parameter corresponding to the current gear is determined as the second operating parameter.
  5. 根据权利要求4所述的清洁设备的运行控制方法，其特征在于，所述获取与所述负压发生器对应的吸水管道的目标脏污参数，包括:The operation control method of cleaning equipment according to claim 4, wherein the acquisition of the target dirt parameter of the water suction pipeline corresponding to the negative pressure generator comprises:
    通过所述清洁设备上的图像采集设备对所述吸水管道进行图像采集，得到目标采集图像；performing image acquisition on the water suction pipe through the image acquisition device on the cleaning device to obtain a target acquisition image;
    通过对所述目标采集图像进行特征提取，确定所述吸水管道的所述目标脏污参数。The target dirt parameter of the water suction pipeline is determined by performing feature extraction on the target collected image.
  6. 根据权利要求4所述的清洁设备的运行控制方法，其特征在于，所述获取与所述负压发生器对应的吸水管道的目标脏污参数，包括:The operation control method of cleaning equipment according to claim 4, wherein the acquisition of the target dirt parameter of the water suction pipeline corresponding to the negative pressure generator comprises:
    通过脏污传感器的发射器发射检测信号，其中，所述脏污传感器位于所述吸水管道的目标位置上；transmitting a detection signal through the transmitter of the dirt sensor, wherein the dirt sensor is located at the target position of the water suction pipe;
    根据所述脏污传感器的接收器所接收到的、与所述检测信号对应的接收信号的信号强度，确定所述吸水管道的所述目标脏污参数。According to the signal strength of the received signal corresponding to the detection signal received by the receiver of the dirt sensor, the target dirt parameter of the water suction pipe is determined.
  7. 根据权利要求1至6中任一项所述的清洁设备的运行控制方法，其特征在于，所述获取所述清洁设备的目标姿态参数，包括：The operation control method of cleaning equipment according to any one of claims 1 to 6, wherein the acquiring the target posture parameters of the cleaning equipment comprises:
    在所述清洁设备内设置有陀螺仪的情况下，获取所述陀螺仪所检测到的角速度；In the case where a gyroscope is set in the cleaning device, acquiring the angular velocity detected by the gyroscope;
    根据所述角速度，确定所述清洁设备的倾斜角度，其中，所述目标姿态参数包括所述倾斜角度。Determine an inclination angle of the cleaning device according to the angular velocity, wherein the target attitude parameter includes the inclination angle.
  8. 根据权利要求1至6中任一项所述的清洁设备的运行控制方法，其特征在于，所述获取所述清洁设备的目标姿态参数，包括：The operation control method of cleaning equipment according to any one of claims 1 to 6, wherein the acquiring the target posture parameters of the cleaning equipment comprises:
    在所述清洁设备上设置有直立开关的情况下，获取通过所述直立开关的目标电流，其中，所述目标姿态参数包括所述目标电流。If the cleaning device is provided with an upright switch, a target current passing through the upright switch is acquired, wherein the target posture parameter includes the target current.
  9. 一种清洁设备的运行控制装置，其特征在于，包括：An operation control device for cleaning equipment, characterized in that it includes:
    第一获取单元，用于获取所述清洁设备的目标姿态参数，其中，所述目标姿态参数用于指示所述清洁设备当前所处的姿态；A first acquiring unit, configured to acquire a target posture parameter of the cleaning device, wherein the target posture parameter is used to indicate the current posture of the cleaning device;
    第一确定单元，用于在根据所述目标姿态参数确定出所述清洁设备处于非清洁状态的情况时，确定所述清洁设备的负压发生器的运转参数为第一运转参数，其中，所述第一运转参数小于或者等于所述负压发生器处于清洁状态时对应的最低运转参数；The first determining unit is configured to determine the operating parameter of the negative pressure generator of the cleaning device as the first operating parameter when it is determined according to the target attitude parameter that the cleaning device is in an unclean state, wherein the The first operating parameter is less than or equal to the corresponding minimum operating parameter when the negative pressure generator is in a clean state;
    第一控制单元，用于按照所述第一运转参数，控制所述负压发生器的运行状态。The first control unit is configured to control the operating state of the negative pressure generator according to the first operating parameter.
  10. 一种清洁设备，其特征在于，包括：A cleaning device, characterized in that it comprises:
    姿态检测部件，用于检测所述清洁设备的目标姿态参数，其中，所述目标姿态参数用于指示所述清洁设备当前所处的姿态；a posture detection component, configured to detect a target posture parameter of the cleaning device, wherein the target posture parameter is used to indicate the current posture of the cleaning device;
    处理器，用于在根据所述目标姿态参数确定出所述清洁设备处于非清洁状态的情况时，确定所述清洁设备的负压发生器的运转参数为第一运转参数，以及按照所述第一运转参数，控制所述负压发生器的运行状态，其中，所述第一运转参数小于或者等于所述负压发生器处于清洁状态时对应的最低运转参数；A processor, configured to determine that the operating parameter of the negative pressure generator of the cleaning device is a first operating parameter when it is determined that the cleaning device is in an unclean state according to the target posture parameter, and according to the second An operating parameter, controlling the operating state of the negative pressure generator, wherein the first operating parameter is less than or equal to the corresponding minimum operating parameter when the negative pressure generator is in a clean state;
    所述负压发生器，用于按照所述第一运转参数运转。The negative pressure generator is used to operate according to the first operating parameter.
  11. 一种计算机可读的存储介质，其特征在于，所述计算机可读的存储介质包括存储的程序，其中，所述程序运行时执行权利要求1至8中任一项所述的清洁设备的运行控制方法。A computer-readable storage medium, characterized in that the computer-readable storage medium includes a stored program, wherein the operation of the cleaning device according to any one of claims 1 to 8 is executed when the program runs Control Method.
PCT/CN2022/138362 2022-01-06 2022-12-12 Operation control method and apparatus for cleaning device, storage medium and electronic device WO2023130913A1 (en)

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JP2016059677A (en) * 2014-09-19 2016-04-25 株式会社ダスキン Wiping body restoration carpet, dust collector, and dust collection method
CN109571472A (en) * 2018-12-03 2019-04-05 张和平 Self-adapting solar energy photovoltaic power generation equipment Intelligent cleaning robot and control system
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CN112741556A (en) * 2019-10-31 2021-05-04 北京石头世纪科技股份有限公司 Automatic cleaning equipment control method and device, automatic cleaning equipment and medium
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Publication number Priority date Publication date Assignee Title
JP2016059677A (en) * 2014-09-19 2016-04-25 株式会社ダスキン Wiping body restoration carpet, dust collector, and dust collection method
CN109571472A (en) * 2018-12-03 2019-04-05 张和平 Self-adapting solar energy photovoltaic power generation equipment Intelligent cleaning robot and control system
CN112741556A (en) * 2019-10-31 2021-05-04 北京石头世纪科技股份有限公司 Automatic cleaning equipment control method and device, automatic cleaning equipment and medium
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