WO2023131246A1 - 清洁设备的控制方法及装置、存储介质及电子装置 - Google Patents

清洁设备的控制方法及装置、存储介质及电子装置 Download PDF

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Publication number
WO2023131246A1
WO2023131246A1 PCT/CN2023/070725 CN2023070725W WO2023131246A1 WO 2023131246 A1 WO2023131246 A1 WO 2023131246A1 CN 2023070725 W CN2023070725 W CN 2023070725W WO 2023131246 A1 WO2023131246 A1 WO 2023131246A1
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WIPO (PCT)
Prior art keywords
cleaning device
cleaning
liquid
moving direction
area
Prior art date
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PCT/CN2023/070725
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English (en)
French (fr)
Inventor
杨彦平
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追觅创新科技(苏州)有限公司
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Publication of WO2023131246A1 publication Critical patent/WO2023131246A1/zh

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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
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
    • 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
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4088—Supply pumps; Spraying devices; Supply conduits

Definitions

  • the present application relates to the field of smart home, in particular, to a cleaning device control method and device, a storage medium and an electronic device.
  • liquid can be sprayed to the cleaning parts of the cleaning device, for example, water is automatically sprayed at a fixed frequency.
  • control method of the cleaning equipment in the related art has the problem of poor cleaning effect because the sprayed liquid tends to remain on the ground.
  • the purpose of the present application is to provide a control method and device for cleaning equipment, a storage medium and an electronic device, so as to at least solve the problem of poor cleaning effect caused by water stains remaining on the ground in the control method of cleaning equipment in the related art.
  • a cleaning device control method including: starting the cleaning device in response to the acquired starting instruction; determining the current moving direction of the cleaning device; In the case of the backward direction, the liquid spraying part of the cleaning device is controlled to stop spraying liquid to the cleaning part of the cleaning device.
  • the determining the current moving direction of the cleaning device includes: detecting the moving direction through a detection component on the cleaning device.
  • the detection of the moving direction by the detection component on the cleaning device includes: detecting the rotation direction of the wheels of the cleaning device through a Hall sensor, and determining the rotation direction matching the rotation direction.
  • the moving direction, and/or, detecting the displacement direction of the handle assembly of the cleaning device through a Hall sensor; according to the displacement direction of the handle assembly of the cleaning device, the moving direction is determined.
  • the detection of the moving direction by the detection component on the cleaning device includes: collecting images through the first image acquisition device of the cleaning device to obtain multiple captured images; according to reference The position of the object in the plurality of captured images changes, and the moving direction is determined.
  • the determining the current moving direction of the cleaning device includes: generating a cleaning instruction according to the area information of the target cleaning area, wherein the cleaning instruction is used to instruct the cleaning device to clean the A moving path of the target cleaning area; according to the cleaning instruction, the moving direction of the cleaning equipment moving along the moving path is determined.
  • the method further includes: when the moving direction is the forward direction, controlling the liquid spraying member of the cleaning device to A liquid is sprayed to cleaning elements of the cleaning device at a target frequency.
  • the controlling the liquid spraying part of the cleaning device to spray liquid to the cleaning part of the cleaning device according to the target frequency includes: in the current liquid spraying period, using the second image acquisition device to Image acquisition is performed on the area to be cleaned at the front end of the cleaning device to obtain a target acquisition image; image analysis is performed on the target acquisition image to obtain the dirt parameter corresponding to the area to be cleaned, wherein the image analysis result is used to represent The degree of dirtiness of the area to be cleaned; according to the dirt parameter, determine the liquid spraying volume of the liquid spraying member, wherein the liquid spraying volume is positively correlated with the dirtiness degree represented by the dirty parameter; The liquid spraying part is controlled to spray liquid to the cleaning part according to the liquid spraying amount.
  • controlling the liquid spraying part of the cleaning device to spray liquid to the cleaning part of the cleaning device according to a target frequency includes: sending an on command to a travel switch of the cleaning device, wherein, The travel switch is a control switch of the liquid spraying part; in response to the on command, the travel switch is turned on to turn on the liquid spraying part, wherein the liquid spraying part is turned on according to The target frequency sprays liquid to the cleaning element.
  • a cleaning device control device including: a start unit, configured to start the cleaning device in response to the acquired start instruction; a determination unit, configured to determine the The current moving direction of the cleaning device; a first control unit configured to control the liquid spraying part of the cleaning device to stop spraying liquid on the cleaning part of the cleaning device when the moving direction is a backward direction.
  • the determination unit includes: a detection module, configured to detect the moving direction through a detection component on the cleaning device.
  • the detection module includes: a first determination submodule, configured to detect the rotation direction of the wheels of the cleaning device through a Hall sensor, and determine the movement direction matching the rotation direction;
  • the second determining submodule is used to detect the displacement direction of the handle assembly of the cleaning device through the Hall sensor;
  • the third determining submodule is used to determine the moving direction according to the displacement direction of the handle assembly of the cleaning device.
  • the detection module includes: an acquisition submodule, configured to acquire multiple images through the first image acquisition device of the cleaning device; a fourth determination submodule, configured to The moving direction is determined with reference to position changes of the object in the plurality of captured images.
  • the determining unit includes: a generating module, configured to generate a cleaning instruction according to area information of a target cleaning area, wherein the cleaning instruction is used to instruct the cleaning device to clean the target cleaning area a moving path; a first determining module, configured to determine the moving direction of the cleaning device along the moving path according to the cleaning instruction.
  • the apparatus further includes: a second control unit, configured to, after the determination of the current moving direction of the cleaning device, control the cleaning device if the moving direction is the forward direction.
  • the liquid spraying part of the cleaning device sprays liquid to the cleaning part of the cleaning device at a target frequency.
  • the second control unit includes: a collection module, configured to use the second image collection device to collect images of the area to be cleaned at the front end of the cleaning device during the current water spray cycle to obtain the target Collecting an image; an analysis module, configured to perform image analysis on the collected image of the target to obtain a dirt parameter corresponding to the area to be cleaned, wherein the image analysis result is used to indicate the degree of dirt of the area to be cleaned ;
  • the second determination module is used to determine the liquid injection volume of the liquid injection device according to the dirt parameter, wherein the liquid injection volume is positively correlated with the degree of dirt indicated by the dirt parameter; the control module , for controlling the water spraying member to spray liquid to the cleaning member according to the liquid spraying amount.
  • the second control unit includes: a sending module, configured to send an on command to a travel switch of the cleaning device, wherein the travel switch is a control switch of the liquid spraying element; A switch-on module, configured to switch on the travel switch in response to the switch-on command, so as to switch on the liquid spraying part, wherein the liquid spraying part is turned on to the cleaning device according to the target frequency parts sprayed with liquid.
  • 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 interface test when running 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 The test method for the interface.
  • the cleaning device is started by responding to the obtained startup command by stopping the liquid spray during the process of pulling the cleaning device back; the current moving direction of the cleaning device is determined; the moving direction is the backward direction
  • the liquid spraying part of the cleaning device to stop spraying liquid to the cleaning part of the cleaning device
  • due to the structural characteristics of the cleaning device, that is, the front end is not provided with a scraper, and the spraying of liquid is stopped during the pulling of the cleaning device can avoid the liquid remaining on the ground squeezed out between the cleaning part and the ground when pulling back, thereby achieving the purpose of reducing the liquid remaining on the ground, and can achieve the technical effect of improving the cleaning effect of the ground, and then solve the control of the cleaning equipment in the related technology
  • the method has the problem of poor cleaning effect because the sprayed liquid tends to remain on the ground.
  • FIG. 1 is a schematic diagram of a hardware environment of an optional cleaning device control method according to an embodiment of the present application
  • FIG. 2 is a schematic flowchart of an optional control method for cleaning equipment according to an embodiment of the present application
  • Fig. 3 is a front view of an optional washing machine according to an embodiment of the present application.
  • Fig. 4 is a side view of an optional scrubber according to an embodiment of the present application.
  • Fig. 5 is a structural block diagram of an optional control device for cleaning equipment according to an embodiment of the present application.
  • Fig. 6 is a structural block diagram of an optional electronic device according to an embodiment of the present application.
  • a method for controlling a cleaning device is provided.
  • the above cleaning device 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 cleaning device 104 can include a host and a base (for example, a sweeping machine and a base station, a washing machine and a base), and the host and the base can be connected through a network to determine the current state of the opposite end (for example, power status, working status, etc.) , location information, etc.).
  • a host and a base for example, a sweeping machine and a base station, a washing machine and a base
  • the host and the base can be connected through a network to determine the current state of the opposite end (for example, power status, working status, etc.) , location information, etc.).
  • 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, a mobile phone, a tablet computer, etc.
  • the cleaning device 104 may include but not limited to: a self-cleaning robot, for example, an automatic mop washing robot, a sweeping robot, etc.
  • the server 106 may be a server of an Internet of Things platform .
  • the cleaning device control method in this embodiment of the present application may be executed solely by the terminal device 102 , the cleaning device 104 or the server 106 , 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 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 cleaning device control method according to the embodiment of the present application. As shown in FIG. 2 , the The flow of the method may include the following steps:
  • Step S202 starting the cleaning device in response to the acquired starting instruction.
  • the cleaning device control method in this embodiment may be applied to a scene where the cleaning device is used for area cleaning, and the area cleaned by the cleaning device is a target cleaning area.
  • the above-mentioned cleaning equipment can be a hand-push floor washing machine, an intelligent floor washing machine, an intelligent cleaning machine integrating washing and sweeping, or other cleaning equipment with an area cleaning function.
  • the above-mentioned target cleaning area can be an indoor area in a family , it can also be other areas such as offices, factory workshops, or other areas that can be cleaned by cleaning equipment. This is not limited in this embodiment.
  • the cleaning device can first be switched on.
  • Starting the cleaning device may be triggered by a starting instruction, and the cleaning device may obtain the starting instruction, and in response to the starting instruction, start the cleaning function of the cleaning device.
  • the power supply of the cleaning equipment (the power supply may be a battery pack of the cleaning equipment) may be switched on, and the cleaning element of the cleaning equipment is controlled to be in an open state.
  • Above-mentioned cleaning piece can be rolling brush, mop head, also can be other parts that are used for area cleaning.
  • the above startup instruction can be obtained in various ways.
  • a user may perform a trigger operation for triggering an activation instruction on the cleaning device.
  • the cleaning device may generate an activation instruction in response to the detected trigger operation.
  • the user may perform a trigger operation on a specific area or a specific button in the device operation interface of the terminal device associated with the cleaning device to trigger the generation of the activation instruction, and send the generated activation instruction to the cleaning device through the network.
  • the cleaning device may receive the activation instruction.
  • the activation instruction can also be obtained in other ways.
  • the user can also trigger the sending of the activation instruction to the cleaning device by operating a button or corresponding area on the remote control device, and the cleaning device can receive the activation instruction sent by the remote control device.
  • the above-mentioned triggering operation may include but not limited to at least one of the following: a click operation, a double-tap operation, a long press operation, and a slide operation.
  • a click operation a double-tap operation
  • a long press operation a slide operation.
  • a slide operation there is no limitation on the manner of acquiring the startup instruction.
  • the structure of the washing machine can be shown in Figure 3 and Figure 4,
  • Figure 3 is a front view of the washing machine
  • Figure 4 is a side view of the washing machine.
  • the user can directly click the start button on the handle of the scrubber, or click the start button on the touch screen to trigger and generate a start command to start the scrubber.
  • the user can send an activation instruction to the scrubber by clicking the start button on the device operation interface of the mobile terminal associated with the scrubber to start the scrubber.
  • Step S204 determining the current moving direction of the cleaning device.
  • the cleaning equipment can adopt a structure in which the cover plate of the cleaning part is off the ground and no scraping strip is arranged at the front end of the cleaning part. Due to the above-mentioned structure, when the cleaning element is pulled back, the liquid squeezed out from the cleaning element and the ground will remain on the ground and cannot be sucked into the cleaning device, and the liquid remaining on the ground will affect the cleaning effect of the cleaning element.
  • the liquid extruded from the cleaning element and the floor may be the liquid sprayed on the cleaning element by the liquid spraying element, for example, clear water, water added with cleaning liquid, etc., which is not limited in this embodiment.
  • the cover plate of the roller brush is off the ground, and there is no scraper at the front end, so that the residual water stains squeezed out between the roller brush and the ground cannot be cleaned when the roller brush is pulled back, which affects the roller. Brush cleaning effect.
  • the liquid spraying part of the cleaning device can be controlled to spray liquid according to the moving direction of the cleaning device. While the cleaning equipment is moving, the current moving direction of the cleaning equipment can be determined, and different spraying strategies can be used for different moving directions.
  • the current moving direction of the cleaning device can be determined through the received moving information.
  • the above-mentioned movement information may be movement information obtained by the cleaning device itself (for example, a detection component on the cleaning device), or may be movement information obtained by a device associated with the cleaning device (for example, an associated detection component), It can also be mobile information obtained by other means. In this embodiment, there is no limitation on the manner of acquiring the mobile information.
  • Step S206 if the moving direction is the backward direction, control the liquid spraying part of the cleaning device to stop spraying liquid to the cleaning part of the cleaning device.
  • the liquid spraying part of the cleaning device can be controlled to spray liquid to the cleaning part of the cleaning device, so that the target cleaning area can be cleaned.
  • the above-mentioned liquid spraying part can be a water distributor, a liquid distributor or other parts with the function of spraying liquid, and the sprayed liquid can be clean water, clean water with cleaning liquid, etc.
  • the liquid spraying part can be located on the top of the cleaning part, also can be located on the rear side or the front side of the cleaning part, and can also be located in other positions that can spray liquid to the cleaning part without affecting the movement of the cleaning part.
  • the liquid spraying part can spray liquid to the top of the cleaning part, it can spray liquid to the front or rear side of the cleaning part, or it can spray liquid to the top of the cleaning part.
  • the liquid is sprayed to the bottom of the cleaning piece, or sprayed to other positions of the cleaning piece.
  • the position where the liquid spraying member sprays liquid to the cleaning member is not limited.
  • the water spraying part can be controlled not to spray liquid on the cleaning part. If the moving direction of the cleaning device changes back and forth in a short time, in order to ensure the floor cleaning effect, the liquid spraying part can be controlled not to spray liquid to the cleaning part until the time the cleaning device moves forward exceeds the set time threshold (for example, 1s, 2s, etc.).
  • the set time threshold for example, 1s, 2s, etc.
  • controlling the water spraying of the ground brush by detecting the forward push and back pull action of the scrubber user can reduce the water content on the roller brush during back pulling, thereby improving the situation of water stains remaining on the ground during the back pulling process.
  • determining the current moving direction of the cleaning device includes:
  • one or more detection components may be arranged on the cleaning device, and the above one or more detection components may be used to detect the moving direction of the cleaning device. If there is only one detection component on the cleaning device, the moving direction detected by the detection component may be determined as the current moving direction of the cleaning device. If multiple detection components are arranged on the cleaning device, the multiple detection components can detect multiple moving directions, analyze the multiple moving directions, and determine the current moving direction of the cleaning device.
  • the moving direction with the most occurrences may be determined as the current moving direction of the cleaning device.
  • a plurality of detection components can adopt the setting mode of the main and standby components. If the main detection component detects the moving direction, the moving direction detected by the main detecting component can be determined as the current moving direction of the cleaning device; otherwise, the standby The moving direction detected by the detection component is determined as the current moving direction of the cleaning device. This is not limited in this embodiment.
  • a detection component may be arranged at the front end of the cleaning device to detect movement information of the cleaning device, and judge whether the moving direction of the cleaning device is a forward direction or a backward direction based on the detected movement information.
  • the movement information of the cleaning device is detected by the detection component on the cleaning device, so as to obtain the moving direction of the cleaning device, without linkage with other devices, and the convenience of determining the moving direction can be improved.
  • detecting the moving direction through a detection component on the cleaning device includes:
  • the moving direction of the cleaning device can be determined based on the rotation direction of the scroll wheel of the cleaning device. For example, when the scroll wheel rotates counterclockwise, the moving direction of the cleaning device is the forward direction, and the scroll wheel When the clockwise direction is turned, the moving direction of the cleaning device is the backward direction.
  • the detection component may include a Hall sensor.
  • the forward pushing and pulling back actions of the scrubber can be detected by an acceleration sensor or other forms of Hall sensors.
  • the number of the Hall sensor can be one or more, and it can be arranged on at least one side of the scroll wheel of the cleaning device, and multiple trigger points can be set on the corresponding side of the scroll wheel.
  • the change of the voltage can be calculated by detecting the change of the magnetic induction intensity, and the rotation direction of the scroll wheel can be detected by detecting the change of the output voltage. , and then determine the moving direction of the cleaning equipment.
  • the rotation direction of the scroll wheel can be detected by the first Hall sensor and the second Hall sensor.
  • the above-mentioned two Hall sensors can be arranged orthogonally on the same port on the cleaning device, then the phase difference between the voltage signal output by the first Hall sensor and the voltage signal of the second Hall sensor is 90 degrees. If the phase of the voltage signal output by the first Hall sensor is ahead of the phase of the voltage signal output by the second Hall sensor by 90 degrees, it can be determined that the rotation direction of the scroll wheel is clockwise. If the phase of the voltage signal output by the second Hall sensor is 90 degrees ahead of the phase of the voltage signal output by the first Hall sensor, it can be determined that the rotation direction of the scroll wheel is counterclockwise.
  • a Hall sensor can be arranged on the handle assembly of the cleaning device, and the displacement direction of the handle assembly of the cleaning device can be detected by the Hall sensor, so as to determine the moving direction of the cleaning device.
  • the displacement direction of the handle assembly is consistent with the moving direction of the cleaning equipment.
  • the displacement direction of the handle assembly can be judged according to the Hall potential output by the Hall sensor, and then the moving direction of the cleaning equipment can be determined. .
  • the hall sensor detects the rotation direction of the scroll wheel or the displacement direction of the handle assembly, and then determines the moving direction of the cleaning device, which can improve the accuracy of detecting the moving direction of the cleaning device.
  • detecting the moving direction through a detection component on the cleaning device includes:
  • the moving direction of the cleaning device can be determined based on the position change of the cleaning device.
  • the image acquisition device in the room where the target cleaning area is located performs image acquisition to determine the direction of the position change of the cleaning device in the target cleaning area. If this direction is consistent with the direction from the front end of the cleaning device to the rear end, the movement of the cleaning device can be determined The direction is the backward direction, and if the direction is consistent with the direction from the rear end to the front end of the cleaning device, it can be determined that the moving direction of the cleaning device is the forward direction.
  • the moving direction of the cleaning device may be determined through the captured image captured by the first image capturing device on the cleaning device.
  • the above detection component may include the first image acquisition device.
  • the first image acquisition device can be arranged at the front end, both sides, or other positions of the cleaning device, and it can be a camera, a motion camera or other devices capable of continuously collecting images. In this embodiment, there is no limitation on the type of the installation position of the first image acquisition device.
  • the first image acquisition device can perform multiple image acquisitions to obtain multiple continuous acquisition images, and the frequency of image acquisition can be preconfigured, for example, 10 images are acquired per second, and multiple continuous acquisition images can be acquired within 1 second Image.
  • the moving direction of the cleaning equipment is determined by analyzing multiple consecutive captured images. Determining the moving direction of the cleaning device may be determined based on position changes of the reference object in multiple consecutive captured images.
  • the aforementioned reference object may be an object in a plurality of consecutive captured images, for example, an object in a static state such as a shoe rack, a trash can, a landmark object on a wall, and the like.
  • the position information of the reference object in multiple consecutive captured images can be determined; based on the position changes of the reference object in multiple consecutive captured images (or, combined with the setting position) to determine the moving direction of the cleaning equipment.
  • the position change of the reference object in the captured image may be a change of the position area occupied by the reference object in the captured image.
  • the first image acquisition device is arranged at the front end of the cleaning device.
  • the movement of the cleaning device can be determined.
  • the direction is the forward direction, and if the area of the position area occupied by the reference object gradually shrinks, it can be determined that the moving direction of the cleaning device is the backward direction.
  • the first image acquisition device is arranged on both sides of the cleaning device. In multiple consecutive captured images, if the position area occupied by the reference object moves from left to right, it can be determined that the cleaning device The moving direction of the cleaning device is the forward direction, and if the position area occupied by the reference object moves from right to left, it can be determined that the moving direction of the cleaning device is the backward direction.
  • the first image acquisition device can be an image acquisition device that rotates following the reference object, and the moving direction of the cleaning device can be determined according to the relative position of the reference object and the cleaning device and the rotation direction of the first image acquisition device. If the reference object disappears from the acquired image after several consecutive image acquisitions, the reference object can be re-determined.
  • the moving direction of the cleaning device is determined with reference to the position changes of the object in multiple captured images, which can improve the accuracy and convenience of determining the moving direction of the cleaning device.
  • determining the current moving direction of the cleaning device includes:
  • the cleaning device is a device for cleaning the target cleaning area.
  • the moving path of the cleaning equipment can be planned in advance, and the cleaning equipment can be controlled to perform area cleaning along the moving path through cleaning instructions.
  • the cleaning instruction may indicate the moving direction of the cleaning device, the cleaning operation to be performed, and the like. Therefore, the moving direction of the cleaning device can be determined based on the cleaning instruction.
  • the area information of the target cleaning area can be stored in the cleaning device, which can be an area map of the target cleaning area, in which the range of the target cleaning area, the position of obstacles in the target cleaning area, and the virtual restricted area can be identified.
  • a cleaning instruction can be generated, and the cleaning instruction can be used to instruct the cleaning equipment to clean the moving path of the target cleaning area, which can include the moving direction of the cleaning equipment, the cleaning operation to be performed, and the cleaning frequency (It can be the number of repeated cleaning along the cleaning path), etc.
  • the manner in which the cleaning equipment cleans the area along the movement path may be determined, including the movement manner, so that the moving direction of the cleaning equipment may be determined according to the movement manner of the cleaning equipment.
  • the cleaning device may be a device for automatically performing area cleaning, which may automatically perform area cleaning on the target cleaning area in response to the above cleaning instruction.
  • the cleaning device can also be a device for manually cleaning the area.
  • the cleaning instruction is generated according to the area information of the cleaning area, and the moving direction of the cleaning device is determined according to the cleaning instruction, which can improve the flexibility and convenience of determining the moving direction of the cleaning device.
  • the above method further includes:
  • the moving direction of the cleaning device is the forward direction, it can be controlled to allow the liquid spraying part of the cleaning device to spray liquid to the cleaning part of the cleaning device.
  • the liquid spraying part may be one or more ways for the liquid spraying part to spray liquid to the cleaning part, for example, fixed-point spraying, that is, spraying liquid based on a liquid spraying instruction.
  • the liquid spraying member may also spray liquid to the cleaning member according to a target frequency, and the target frequency may be a preset liquid spraying frequency, or a liquid spraying frequency set by a user.
  • the user can set the liquid spraying rate of the liquid spraying member after the cleaning device is turned on.
  • the current spraying frequency can be displayed on the touch screen of the cleaning device, and the user can set the spraying frequency by clicking on the touch screen, and set the spraying frequency as the target frequency.
  • the cleaning device can spray liquid according to the target frequency.
  • the washing machine can be controlled by the program to spray water at a reasonable frequency during the forward process.
  • water can be sprayed to the roller brush at a frequency of 30 milliliters per minute. If the user thinks that the cleaning area is dirty, the water spray frequency can be set to 50 milliliters per minute on the touch screen of the scrubber, and the scrubber will spray water to the roller brush at a frequency of 50 milliliters per minute.
  • controlling the liquid spraying part of the cleaning device to spray liquid to the cleaning part of the cleaning device according to a target frequency includes:
  • the spraying volume of the liquid spraying part of the cleaning device may be fixed, that is, the liquid spraying volume of each spraying liquid is sprayed according to the fixed liquid spraying volume.
  • the degree of dirt above can be obtained by analyzing the collected images collected by the second image collection device at the front end of the cleaning device.
  • the above-mentioned second image acquisition device may be a camera, a motion camera or other devices with an image acquisition function arranged on the cover plate of the cleaning device or other front positions.
  • the second image acquisition device may be the same acquisition device as the first image acquisition device, or may be a different acquisition device from the first image acquisition device. This is not limited in this embodiment.
  • the second image acquisition device can be used to collect images of the area to be cleaned at the front end of the cleaning device to obtain the target image.
  • the collected image of the target can be analyzed to determine the dirt parameter used to represent the dirt degree of the area to be cleaned.
  • image analysis can be performed on the target acquisition image to obtain a binary image of the target acquisition image.
  • the black pixels in the binary image represent the dirty positions of the area to be cleaned
  • the white pixels represent the clean positions of the area to be cleaned.
  • the dirt parameter of the area to be cleaned can be determined. The larger the ratio of white pixels to black pixels in the binary image, the greater the dirt parameter of the area to be cleaned , the more soiled the area to be cleaned is.
  • the liquid spray volume of the liquid spray element can be determined according to the dirty parameters, and the liquid spray element can be controlled to spray liquid to the cleaning element in the current liquid spray cycle according to the determined liquid spray volume.
  • the amount of liquid sprayed by the liquid spraying parts is positively correlated with the degree of dirt indicated by the dirt parameter, that is, when the dirt parameter is greater, the degree of dirt in the area to be cleaned is higher, and the amount of liquid sprayed by the liquid spraying parts is higher. big.
  • the amount of liquid sprayed by the liquid spraying member is controlled according to the degree of dirt on the ground to be cleaned, so as to improve the cleaning effect of area cleaning and reduce liquid residue.
  • controlling the liquid spraying part of the cleaning device to spray liquid to the cleaning part of the cleaning device according to a target frequency includes:
  • the liquid spraying member in order to improve the cleaning flexibility of the cleaning device, can be controlled to spray liquid through the travel switch.
  • the above-mentioned travel switch can be arranged at the liquid spraying port of the liquid spraying part, and can control the liquid spraying part to spray liquid or stop liquid spraying according to the moving direction of the cleaning equipment.
  • the cleaning device can determine whether the liquid spraying part needs to spray liquid on the cleaning part according to the moving direction of the cleaning device, and if necessary, can send an on command to the travel switch.
  • the limit switch can be opened in response to a turn-on command to turn on the liquid spraying part, so that the liquid spraying part sprays liquid according to a set spraying method (for example, spraying liquid according to a fixed frequency).
  • a disconnection command can be sent to the travel switch.
  • the travel switch can perform a disconnection operation in response to a disconnection command to disconnect the liquid spraying part and not spray liquid to the cleaning part.
  • Fig. 5 is a structural block diagram of an optional cleaning device control device according to an embodiment of the present application. As shown in Fig. 5, the device may include:
  • a determining unit 504 connected to the starting unit 502, for determining the current moving direction of the cleaning device
  • the first control unit 506 is connected with the determination unit 504 and is used for controlling the liquid spraying part of the cleaning device to stop spraying liquid on the cleaning part of the cleaning device when the moving direction is the backward direction.
  • the starting unit 502 in this embodiment can be used to perform the above step S202
  • the determining unit 504 in this embodiment can be used to perform the above step S204
  • the first control unit 506 in this embodiment can be used to Execute the above step S206.
  • the invention solves the problem of poor cleaning effect caused by the sprayed liquid easily remaining on the ground in the control method of the cleaning equipment in the related art, and improves the ground cleaning effect.
  • the determination unit includes:
  • the detection module is used to detect the moving direction through the detection part on the cleaning device.
  • the detection module includes:
  • the first determination sub-module is used to detect the rotation direction of the scroll wheel of the cleaning device through the Hall sensor, and determine the moving direction matching the rotation direction;
  • the second determination sub-module is used to detect the displacement direction of the handle of the cleaning device through the Hall sensor;
  • the third determining submodule is used to determine the moving direction according to the displacement direction of the handle of the cleaning device.
  • the detection module includes:
  • the collection sub-module is used to collect images through the first image collection device of the cleaning device to obtain multiple collection images;
  • the fourth determination sub-module is used to determine the moving direction according to the position changes of the reference object in the multiple captured images.
  • the determination unit includes:
  • a generation module configured to generate a cleaning instruction according to the area information of the target cleaning area, wherein the cleaning instruction is used to instruct the cleaning device to clean the moving path of the target cleaning area;
  • the first determining module is configured to determine the moving direction of the cleaning device along the moving path according to the cleaning instruction.
  • the above-mentioned device also includes:
  • the second control unit is configured to control the water spraying part of the cleaning device to spray liquid to the cleaning part of the cleaning device according to a target frequency when the moving direction is the forward direction after determining the current moving direction of the cleaning device.
  • the second control unit includes:
  • the collection module is used to collect the image of the area to be cleaned at the front end of the cleaning device through the second image collection device in the current liquid spray cycle, so as to obtain the target collection image;
  • the analysis module is used to perform image analysis on the target acquisition image to obtain the dirt parameters corresponding to the area to be cleaned, wherein the image analysis result is used to indicate the degree of dirt in the area to be cleaned;
  • the second determination module is used to determine the liquid injection volume of the liquid injection part according to the contamination parameter, wherein the liquid injection volume is positively correlated with the degree of contamination indicated by the contamination parameter;
  • the control module is used to control the liquid spraying part to spray liquid to the cleaning part according to the water spraying amount.
  • the second control unit includes:
  • a sending module configured to send an on command to a travel switch of the cleaning device, wherein the travel switch is a control switch of the liquid spraying member;
  • a receiving module configured to respond to the switching command, and turn on the travel switch to turn on the liquid spraying element, wherein the liquid spraying element is turned on to the cleaning element according to the target frequency Spray liquid.
  • 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 storage medium is also provided.
  • the foregoing storage medium may be used to execute the program code of any one of the foregoing cleaning device 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 control method is also provided, and the electronic device may be a server, a terminal, or a combination thereof.
  • Fig. 6 is a structural block diagram of an optional electronic device according to an embodiment of the present application. 604 and memory 606 complete mutual communication through communication bus 608, wherein,
  • memory 606 for storing computer programs
  • 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. 6 , 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 606 may include, but is not limited to, the starting unit 502, the determining unit 504, and the first control unit 506 in the control device of the above-mentioned device. In addition, it may also include but not limited to other module units in the control device of the above equipment, which will not be described in detail 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 control of the above-mentioned cleaning device can be a terminal device, and the terminal device can be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer , handheld computers and mobile Internet devices (Mobile Internet Devices, MID), PAD and other terminal equipment.
  • FIG. 6 does not limit the structure of the above-mentioned electronic device.
  • the electronic device may also include more or fewer components than those shown in FIG. 6 (such as a network interface, a display device, etc.), or have a different configuration from that shown in FIG. 6 .
  • 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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Abstract

一种清洁设备（104）的控制方法及装置、存储介质及电子装置，清洁设备（104）的控制方法包括:响应于获取到的启动指令，启动清洁设备（104）（S202）；确定清洁设备（104）当前的移动方向（S204）；在移动方向为后退方向的情况下，控制清洁设备（104）的喷液件停止向清洁设备（104）的清洁件喷洒液体（S206）。解决了清洁设备（104）由于喷洒的液体易残留在地面导致的清洁效果差的问题。

Description

清洁设备的控制方法及装置、存储介质及电子装置
本公开要求如下专利申请的优先权：于2022年1月10日提交中国专利局、申请号为202210022515.6、发明名称为“清洁设备的控制方法及装置、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。
【技术领域】
本申请涉及智能家居领域，具体而言，涉及一种清洁设备的控制方法及装置、存储介质及电子装置。
【背景技术】
目前，在清洁设备(例如，洗地机)在进行区域清洁的过程中，为了有效地将区域清理干净，可以向清洁设备的清洁件进行喷洒液体，例如，以固定频率自动喷水。
然而，对于上述自动喷洒液体的方式，如果喷洒的液体无法被及时使用，则清洁件与地面发生挤压时会将液体残留在地面上，从而导致清洁不完全，区域清洁的效果较差。
由此可见，相关技术中的清洁设备的控制方法，存在由于喷洒的液体易残留在地面导致的清洁效果差的问题。
【发明内容】
本申请的目的在于提供一种清洁设备的控制方法及装置、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控制方法存在由于水渍易残留在地面导致的清洁效果差的问题。
本申请的目的是通过以下技术方案实现：
根据本申请实施例的一个方面，提供了一种清洁设备的控制方法，包括：响应于获取到的启动指令，启动所述清洁设备；确定所述清洁设备当前的移动方向；在所述移动方向为后退方向的情况下，控制所述清洁设备 的喷液件停止向所述清洁设备的清洁件喷洒液体。
在一个示例性实施例中，所述确定所述清洁设备当前的移动方向，包括：通过所述清洁设备上的检测部件检测所述移动方向。
在一个示例性实施例中所述通过所述清洁设备上的检测部件检测所述移动方向，包括：通过霍尔传感器检测所述清洁设备的车轮的转动方向，确定与所述转动方向匹配的所述移动方向，和/或，通过霍尔传感器检测所述清洁设备的手柄组件的位移方向；根据所述清洁设备的手柄组件的位移方向，确定所述移动方向。
在一个示例性实施例中，所述通过所述清洁设备上的检测部件检测所述移动方向，包括：通过所述清洁设备的第一图像采集设备进行图像采集，得到多张采集图像；根据参考对象在所述多张采集图像中的位置变化，确定所述移动方向。
在一个示例性实施例中，所述确定所述清洁设备当前的移动方向，包括：根据目标清洁区域的区域信息，生成清洁指令，其中，所述清洁指令用于指示所述清洁设备清洁所述目标清洁区域的移动路径；根据所述清洁指令，确定所述清洁设备沿着所述移动路径进行移动的所述移动方向。
在一个示例性实施例中，在所述确定所述清洁设备当前的移动方向之后，所述方法还包括：在所述移动方向为前进方向的情况下，控制所述清洁设备的喷液件按照目标频率向所述清洁设备的清洁件喷液。
在一个示例性实施例中，所述控制所述清洁设备的喷液件按照目标频率向所述清洁设备的清洁件喷液，包括：在当前喷液周期内，通过第二图像采集设备对所述清洁设备前端的待清洁区域进行图像采集，得到目标采集图像；对所述目标采集图像进行图像解析，得到与所述待清洁区域对应的脏污参数，其中，所述图像解析结果用于表示所述待清洁区域的脏污程度；根据所述脏污参数，确定所述喷液件的喷液量，其中，所述喷液量与所述脏污参数所表示的脏污程度正相关；控制所述喷液件按照所述喷液量向所述清洁件喷液。
在一个示例性实施例中，所述控制所述清洁设备的喷液件按照目标频率向所述清洁设备的清洁件喷洒液体，包括：向所述清洁设备的行程开关 发送接通命令，其中，所述行程开关为所述喷液件的控制开关；响应于所述接通命令，接通所述行程开关，以接通所述喷液件，其中，接通后的所述喷液件按照所述目标频率向所述清洁件喷洒液体。
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控制装置，包括：启动单元，用于响应于获取到的启动指令，启动所述清洁设备；确定单元，用于确定所述清洁设备当前的移动方向；第一控制单元，用于在所述移动方向为后退方向的情况下，控制所述清洁设备的喷液件停止向所述清洁设备的清洁件喷洒液体。
在一个示例性实施例中，所述确定单元包括：检测模块，用于通过所述清洁设备上的检测部件检测所述移动方向。
在一个示例性实施例中，所述检测模块包括：第一确定子模块，用于通过霍尔传感器检测所述清洁设备的车轮的转动方向，确定与所述转动方向匹配的所述移动方向；第二确定子模块，用于通过霍尔传感器检测所述清洁设备的手柄组件的位移方向；第三确定子模块，用于根据所述清洁设备的手柄组件的位移方向，确定所述移动方向。
在一个示例性实施例中，所述检测模块包括：采集子模块，用于通过所述清洁设备的第一图像采集设备进行图像采集，得到多张采集图像；第四确定子模块，用于根据参考对象在所述多张采集图像中的位置变化，确定所述移动方向。
在一个示例性实施例中，所述确定单元包括：生成模块，用于根据目标清洁区域的区域信息，生成清洁指令，其中，所述清洁指令用于指示所述清洁设备清洁所述目标清洁区域的移动路径；第一确定模块，用于根据所述清洁指令，确定所述清洁设备沿着所述移动路径进行移动的所述移动方向。
在一个示例性实施例中，所述装置还包括：第二控制单元，用于在所述确定所述清洁设备当前的移动方向之后，在所述移动方向为前进方向的情况下，控制所述清洁设备的喷液件按照目标频率向所述清洁设备的清洁件喷液。
在一个示例性实施例中，所述第二控制单元包括：采集模块，用于在 当前喷水周期内，通过第二图像采集设备对所述清洁设备前端的待清洁区域进行图像采集，得到目标采集图像；解析模块，用于对所述目标采集图像进行图像解析，得到与所述待清洁区域对应的脏污参数，其中，所述图像解析结果用于表示所述待清洁区域的脏污程度；第二确定模块，用于根据所述脏污参数，确定所述喷液件的喷液量，其中，所述喷液量与所述脏污参数所表示的脏污程度正相关；控制模块，用于控制所述喷水件按照所述喷液量向所述清洁件喷洒液体。
在一个示例性实施例中，所述第二控制单元包括：发送模块，用于向所述清洁设备的行程开关发送接通命令，其中，所述行程开关为所述喷液件的控制开关；接通模块，用于响应于所述接通命令，接通所述行程开关，以接通所述喷液件，其中，接通后的所述喷液件按照所述目标频率向所述清洁件喷洒液体。
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接口的测试方法。
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接口的测试方法。
在本申请实施例中，采用通过在清洁设备后拉的过程中停止喷液的方式，通过响应于获取到的启动指令，启动清洁设备；确定清洁设备当前的移动方向；在移动方向为后退方向的情况下，控制清洁设备的喷液件停止向所述清洁设备的清洁件喷洒液体，由于结合清洁设备的结构特点，即，前端不设置刮条，在清洁设备后拉的过程中停止喷洒液体，可以避免在后拉时清洁件与地面之间挤出的液体残留地面，从而实现减少地面液体残留的目的，可以达到提高地面清洁效果的技术效果，进而解决了相关技术中的清洁设备的控制方法存在由于喷洒的液体易残留在地面导致的清洁效果差的问题。
【附图说明】
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。
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。
图1是根据本申请实施例的一种可选的清洁设备的控制方法的硬件环境的示意图；
图2是根据本申请实施例的一种可选的清洁设备的控制方法的流程示意图；
图3是根据本申请实施例的一种可选的洗地机的主视图；
图4是根据本申请实施例的一种可选的洗地机的侧视图；
图5是根据本申请实施例的一种可选的清洁设备的控制装置的结构框图；
图6是根据本申请实施例的一种可选的电子装置的结构框图。
【具体实施方式】
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。
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。
根据本申请实施例的一个方面，提供了一种清洁设备的控制方法。可选地，在本实施例中，上述清洁设备的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。清洁设备104可以包括主机和基座(例如，扫地机和基站，洗地机和基座)，主机和基站之间可 以通过网络进行连接，以确定对端的当前状态(例如，电量状态、工作状态、位置信息等)。
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可以包括但不限于：自清洁机器人，例如，自动洗拖布机器人、扫地机器人等，服务器106可以是物联网平台的服务器。
本申请实施例的清洁设备的控制方法可以由终端设备102、清洁设备104或服务器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或清洁设备104执行本申请实施例的清洁设备的控制方法也可以是由安装在其上的客户端来执行。
以由清洁设备104来执行本实施例中的清洁设备的控制方法为例，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：
步骤S202，响应于获取到的启动指令，启动清洁设备。
本实施例中的清洁设备的控制方法可以应用到使用清洁设备进行区域清洁的场景中，使用清洁设备所清洁的区域为目标清洁区域。上述清洁设备可以为手推洗地机、智能洗地机，集洗、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清洁设备，上述目标清洁区域可以是家庭中的室内区域，也可以是其他如办公室、工厂车间内的区域，还可以是其他可以通过清洁设备进行区域清洁的区域。本实施例中对此不做限定。
为使用清洁设备进行区域清洁，可以首先启动清洁设备。启动清洁设备可以是通过启动指令触发的，清洁设备可以获取启动指令，并响应于该启动指令，启动清洁设备的清洁功能。在启动清洁设备进行区域清洁时，可以是接通清洁设备的电源(该电源可以是清洁设备的电池包)，并控制清洁设备的清洁件处于开启状态。上述清洁件可以是滚刷、拖把头，还可以 是其他用于进行区域清洁的部件。
上述启动指令可以通过多种方式获取的。例如，用户可以对清洁设备执行用于触发启动指令的触发操作。清洁设备可以响应于检测到的触发操作，生成启动指令。又例如，用户可以通过对与清洁设备关联的终端设备的设备操作界面中的特定区域或者特定按钮执行触发操作，触发生成启动指令，并将生成的启动指令通过网络发送给清洁设备。清洁设备可以接收到该启动指令。启动指令还可以是通过其他方式获取的，例如，用户还可以通过操作遥控设备上的按钮或者对应区域，触发向清洁设备发送启动指令，清洁设备可以接收遥控设备发送的启动指令。可选地，上述触发操作可以包括但不限于以下至少之一：点击操作，双击操作，长按操作，滑动操作。本实施例中对获取启动指令的方式不做限定。
例如，洗地机的结构可以如图3和图4，图3为洗地机的主视图，图4为洗地机的侧视图。用户可以直接点击洗地机的手柄上的启动按钮、或者点击触控屏上的启动按钮，触发生成启动指令，以启动洗地机。又例如，用户可以通过点击与洗地机关联的手机终端的设备操作界面上的启动按钮，向洗地机发出启动指令，以启动洗地机。
步骤S204，确定清洁设备当前的移动方向。
为了便于清洁设备在清洁的过程中吸入垃圾，清洁设备可以采用清洁件盖板离地、不在清洁件前端设置刮条的结构。由于采用上述的结构，在清洁件后拉时，清洁件与地面挤出的液体会残留在地面上，无法被吸入到清洁设备内，液体残留在地面会影响清洁件的清洁效果。这里，清洁件与地面挤出的液体可以是喷液件向清洁件上所喷洒的液体，例如，清水，添加了清洁液的水等等，本实施例中对此不做限定。
例如，洗地机地刷为方便吸入垃圾，滚刷盖板离地，前端不设置刮条，导致滚刷后拉时滚刷与地面之间挤出的水渍残留地面无法被清理，影响滚刷的清洁效果。
为了避免由于液体残留在地面，影响清洁件的清洁效果，可以根据清洁设备的移动方向控制清洁设备的喷液件进行喷液。在清洁设备进行移动的同时，可以确定清洁设备当前的移动方向，对于不同的移动方向，可以 采用不同的喷液策略。
在本实施例中，可以通过接收到的移动信息来确定清洁设备当前的移动方向。上述的移动信息可以是通过清洁设备自身(例如，清洁设备上的检测部件)获取的移动信息，也可以是通过与清洁设备相关联的设备(例如，相关联的检测部件)获取的移动信息，还可以是通过其他方式获取的移动信息。本实施例中对获取移动信息的方式不做限定。
步骤S206，在移动方向为后退方向的情况下，控制清洁设备的喷液件停止向清洁设备的清洁件喷洒液体。
在清洁设备的移动方向为前进方向时，可以控制清洁设备的喷液件向清洁设备的清洁件喷洒液体，从而可以对目标清洁区域进行清洁。上述喷液件可以是分水器、分液器或者其他具有喷洒液体功能的部件，喷洒的液体可以是清水，带有清洗液的清水等。喷液件可以位于清洁件的顶部，也可以位于清洁件的后侧或者前侧，还可以位于其他能够向清洁件进行喷液、且不影响清洁件移动的位置。
喷液件向清洁件进行喷液的方式可以有一种或多种，例如，喷液件可以向清洁件的顶部进行喷液，可以是向清洁件的前侧或者后侧进行喷液，也可以是向清洁件的底部进行喷液，还可以是向清洁件的其他位置进行喷液。本实施例中对喷液件向清洁件喷液的位置不做限定。
在清洁设备的移动方向为后退方向，此时如果向清洁件进行喷液，则容易导致液体残留于地面，因此，可以控制喷水件不向清洁件进行喷液。如果清洁设备的移动方向在短时间内来回变换，为了保证地面清洁效果，可以控制喷液件不向清洁件喷液，直到清洁设备向前移动的时间超过设定的时间阈值(例如，1s、2s等)。
例如，通过洗地机使用者前推后拉动作的检测来控制地刷喷水情况，可以减少后拉时滚刷上含水量，从而改善后拉过程水渍残留地面的情况。
通过上述步骤S202至步骤S206，响应于获取到的启动指令，启动清洁设备；确定清洁设备当前的移动方向；在移动方向为后退方向的情况下，控制清洁设备的喷液件停止向清洁设备的清洁件喷洒液体，解决了相关技术中的清洁设备的控制方法存在由于喷洒的液体易残留在地面导致的清洁 效果差的问题，提高了地面清洁效果。
在一个示例性实施例中，确定清洁设备当前的移动方向，包括：
S11，通过清洁设备上的检测部件检测移动方向。
在本实施例中，清洁设备上可以布设有一个或多个检测部件，上述一个或者多个检测部件均可用于检测清洁设备的移动方向。如果在清洁设备上仅有一个检测部件，可以将该检测部件检测到的移动方向确定为清洁设备当前的移动方向。如果在清洁设备上布设了多个检测部件，多个检测部件可以检测到多个移动方向，可以对多个移动方向进行分析，确定清洁设备当前的移动方向。
根据多个检测部件检测到的多个移动方向确定清洁设备当前的移动方向的方式可以有多种，例如，可以将出现次数最多的移动方向确定为清洁设备当前的移动方向。又例如，多个检测部件可以采用主备部件的设置方式，如果主检测部件检测到移动方向时，可以将主检测部件检测到的移动方向确定为清洁设备当前的移动方向，否则，可以将备用检测部件检测到的移动方向确定为清洁设备当前的移动方向。本实施例中对此不做限定。
例如，清洁设备前端可以布设有检测部件，用于检测清洁设备的移动信息，通过检测到的移动信息，判断清洁设备的移动方向为前进方向或后退方向。
通过本实施例，通过清洁设备上的检测部件对清洁设备的移动信息进行检测，从而得到清洁设备的移动方向，无需与其他设备进行联动，可以提高移动方向确定的便捷性。
在一个示例性实施例中，通过清洁设备上的检测部件检测移动方向，包括：
S21，通过霍尔传感器检测清洁设备的滚动轮的转动方向，确定与转动方向匹配的移动方向，和/或，
S22，通过霍尔传感器检测清洁设备的手柄组件的位移方向；根据清洁设备的手柄组件的位移方向，确定移动方向。
作为一种可选的实施方式，清洁设备的移动方向可以是基于清洁设备的滚动轮的转动方向确定的，例如，滚动轮逆时针方向转动时，清洁设备 的移动方向为前进方向，滚动轮顺时针方向转动时，清洁设备的移动方向为后退方向。为了检测滚动轮的转动方向，上述检测部件可以包含霍尔传感器。例如，可以通过加速度传感器或者其他形式的霍尔传感器检测洗地机的前推和后拉动作。
该霍尔传感器的数量可以是一个或多个，其可以布设在清洁设备的滚动轮的至少一侧，在滚动轮上的对应侧可以设置多个触发点。在滚动轮进行移动的过程中，上述触发点经过霍尔传感器时会造成磁感应强度的变化，可以通过检测磁感应强度的变化计算得到电压的变化，通过检测输出电压的变化来检测滚动轮的转动方向，进而确定清洁设备的移动方向。
例如，可以通过第一霍尔传感器和第二霍尔传感器检测滚动轮的转动方向。上述的两个霍尔传感器可以在清洁设备上的同一端口正交设置，则第一霍尔传感器输出的电压信号与第二霍尔传感器的电压信号的相位差为90度。如果第一霍尔传感器输出的电压信号的相位比第二霍尔传感器输出的电压信号的相位超前90度，则可以判断滚动轮的转动方向为顺时针方向。如果第二霍尔传感器输出的电压信号的相位比第一霍尔传感器输出的电压信号的相位超前90度，则可以判断滚动轮的转动方向为逆时针。
作为另一种可选的实施方式，可以将霍尔传感器设置在清洁设备的手柄组件上，通过霍尔传感器检测清洁设备的手柄组件的位移方向，进而确定清洁设备的移动方向。手柄组件的位移方向与清洁设备的移动方向是一致的，在手柄前拖或后拉时，可以根据霍尔传感器输出的霍尔电势的大小判断手柄组件的位移方向，进而确定清洁设备的移动方向。
通过本实施例，通过霍尔传感器检测滚动轮的转动方向或者手柄组件的位移方向，进而确定清洁设备的移动方向，可以提高清洁设备移动方向检测的准确性。
在一个示例性实施例中，通过清洁设备上的检测部件检测移动方向，包括：
S31，通过清洁设备的第一图像采集设备进行图像采集，得到多张采集图像；
S32，根据参考对象在多张采集图像中的位置变化，确定移动方向。
清洁设备在移动的过程中，其在目标清洁区域内的位置会发生变化，可以基于清洁设备的位置变化，确定清洁设备的移动方向。例如，在目标清洁区域所在房间内的图像采集设备进行图像采集，确定清洁设备在目标清洁区域内位置变化的方向，如果该方向与清洁设备由前端向后端的方向一致，可以确定清洁设备的移动方向为后退方向，如果该方向与清洁设备由后端向前端的方向一致，可以确定清洁设备的移动方向为前进方向。
为了提高移动方向确定的效率，可以通过清洁设备上的第一图像采集设备所采集到的采集图像，确定清洁设备的移动方向。对应地，上述检测部件可以包含第一图像采集设备。第一图像采集设备可以设置在清洁设备的前端、两侧、或者其他位置，其可以是摄像头、运动相机或者其他具有连续采集图像功能的设备。本实施例中对于第一图像采集设备的设置位置类型不做限定。
第一图像采集设备可以进行多次图像采集，得到多张连续的采集图像，图像采集的频率可以预先配置，例如，每秒采集10张图像，多张连续的采集图像可以是1秒内采集到的图像。通过对多张连续的采集图像中进行分析，确定清洁设备的移动方向。确定清洁设备的移动方向可以是基于参考对象在多张连续的采集图像中的位置变化确定的。上述参考对象可以是多张连续的采集图像中的一个物体，例如，鞋架、垃圾桶、墙壁上的标志性物体等处于静止状态的物体。
在确定出的参考对象之后，可以确定该参考对象在多张连续的采集图像中的位置信息；基于该参考对象在多张连续的采集图像中的位置变化(或者，结合第一图像采集设备的设置位置)，确定出清洁设备的移动方向。参考对象的在采集图像中的位置变化可以是参考对象在采集图像中的所占的位置区域的变化。
作为一种可选的实施方式，第一图像采集设备设置在清洁设备的前端，在多张连续的采集图像中，如果参考对象所占的位置区域的面积逐渐增大，可以确定清洁设备的移动方向为前进方向，如果参考对象所占的位置区域的面积逐渐缩小，可以确定清洁设备的移动方向为后退方向。
作为另一种可选的实施方式，第一图像采集设备设置在清洁设备的两 侧，在多张连续的采集图像中，如果参考对象所占的位置区域由左向右移动，可以确定清洁设备的移动方向为前进方向，如果参考对象所占的位置区域由右向左移动，可以确定清洁设备的移动方向为后退方向。
需要说明的是，第一图像采集设备可以是跟随参考对象进行转动的图像采集设备，根据参考对象与清洁设备的相对位置，以及第一图像采集设备的转动方向，可以确定清洁设备的移动方向。如果在连续多次图像采集之后，参考对象从采集图像中消失，可以重新确定参考对象。
通过本实施例，参考对象在多张采集图像中的位置变化确定清洁设备的移动方向，可以提高清洁设备移动方向确定的准确性和便捷性。
在一个示例性实施例中，确定清洁设备当前的移动方向，包括：
S41，根据目标清洁区域的区域信息，生成清洁指令，其中，清洁指令用于指示清洁设备清洁目标清洁区域的移动路径；
S42，根据清洁指令，确定清洁设备沿着移动路径进行移动的移动方向。
在本实施例中，清洁设备是对目标清洁区域进行清洁的设备。在进行区域清洁时，可以预先规划清洁设备的移动路径，并通过清洁指令控制清洁设备沿着移动路径进行区域清洁。清洁指令可以指示清洁设备的移动方向、所需执行的清洁操作等。因此，可以基于清洁指令，确定清洁设备的移动方向。
清洁设备中可以保存目标清洁区域的区域信息，其可以是目标清洁区域的区域地图，在区域地图中可以标识出目标清洁区域的范围、目标清洁区域中的障碍物位置、虚拟禁区等。根据目标清洁区域的区域信息，可以生成清洁指令，该清洁指令可以用于指示清洁设备清洁目标清洁区域的移动路径，可以包括清洁设备的移动方向、所需执行的清洁操作，还可以包括清洁频率(可以是沿清洁路径进行反复清洁的次数)等。
根据清洁指令，可以确定清洁设备沿着移动路径进行区域清洁的方式，可以包括移动方式，从而可以根据清洁设备的移动方式，确定清洁设备的移动方向。
可选地，清洁设备可以是自动进行区域清洁的设备，响应于上述清洁指令，其可以自动对目标清洁区域进行区域清洁。清洁设备也可以是手动 进行区域清洁的设备，通过生成上述移动路径，可以辅助用户进行区域清洁。如果清洁设备进行区域清洁的实际路径与上述移动路径存在较大偏差，可以通过提示信息提示用户上述规划的移动路径。
通过本实施例，根据清洁区域的区域信息生成清洁指令，并根据清洁指令确定清洁设备的移动方向，可以提高清洁设备移动方向确定的灵活性和便捷性。
在一个示例性实施例中，在确定清洁设备当前的移动方向之后，上述方法还包括：
S51，在移动方向为前进方向的情况下，控制清洁设备的喷液件按照目标频率向清洁设备的清洁件喷洒液体。
在本实施例中，如果清洁设备的移动方向为前进方向，则可以控制允许清洁设备的喷液件向清洁设备的清洁件喷液。喷液件向清洁件进行喷液的方式可以有一种或多种，例如，定点喷液，即，基于喷液指令进行喷液。可选地，喷液件也可以按照目标频率向清洁件喷液，目标频率可以是预设的喷液频率，也可以是用户自行设置的喷液频率。
可选地，用户可以在清洁设备开启后，可以对喷液件的喷液喷率进行设置。例如，清洁设备的触控屏上可以显示当前的喷液频率，用户可以通过点击触控屏对喷液频率进行设置，将喷液频率设置为目标频率。在获取到设置的目标频率之后，清洁设备可以按照目标频率进行喷液。
例如，可以通过程序控制洗地机在前推过程进行合理频次的喷水。在洗地机前进的过程中，可以按照每分钟30毫升的频率向滚刷喷水。如果用户认为清洁区域较脏，可以在洗地机的触控屏上将喷水频率设置为每分钟50毫升，洗地机按照每分钟50毫升的频率向滚刷喷水。
通过本实施例，通过在清洁设备向前移动的过程中，控制喷液件按照目标频率向清洁件喷液，可以减少清洁过程中用户的操作，提高区域清洁的便捷性。
在一个示例性实施例中，控制清洁设备的喷液件按照目标频率向清洁设备的清洁件喷洒液体，包括：
S61，在当前喷液周期内，通过第二图像采集设备对清洁设备前端的待 清洁区域进行图像采集，得到目标采集图像；
S62，对目标采集图像进行图像解析，得到与待清洁区域对应的脏污参数，其中，脏污参数用于表示待清洁区域的脏污程度；
S63，根据脏污参数，确定喷液件的喷液量，其中，喷液量与脏污参数所表示的脏污程度正相关；
S64，控制喷液件按照喷液量向清洁件喷洒液体。
清洁设备的喷液件的喷量可以是固定的，即，每次喷液的喷液量按照固定的喷液量进行喷液。在本实施例中，为了提高区域清洁的灵活性以及清洁效果，可以通过对清洁设备当前喷液周期内待清洁的位置区域的脏污程度进行检测，并按照检测到的脏污程度设置喷液量。
上述脏污程度可以是通过对清洁设备前端的第二图像采集设备所采集的采集图像进行解析得到的。上述第二图像采集设备可以是设置在清洁设备盖板或者其他前端位置上的摄像头、运动相机或者其他具有图像采集功能的设备。第二图像采集设备可以是与第一图像采集设备相同的采集设备，也可以是与第一图像采集设备不同的采集设备。本实施例中对此不做限定。
在当前喷液周期内，可以通过第二图像采集设备对清洁设备前端的待清洁区域进行图像采集，得到目标采集图像。可以对目标采集图像进行解析，确定出用于表示待清洁区域的脏污程度的脏污参数。
例如，可以对目标采集图像进行图像解析，得到目标采集图像的二值图，二值图中的黑色像素点表示待清洁区域的脏污位置，白色像素点为待清洁区域的干净位置。根据上述二值图中黑色像素点与白色像素点的比值，可以确定待清洁区域的脏污参数，二值图白色像素点与黑色像素点的比值越大，待清洁区域的脏污参数越大，待清洁区域的脏污程度越高。
在得到上述脏污参数之后，可以根据脏污参数来确定喷液件的喷液量，并控制喷液件按照确定的喷液量在当前喷液周期内对清洁件进行喷液。喷液件的喷液量与脏污参数所表示的脏污程度正相关，即，当脏污参数越大，所表示待清洁区域的脏污程度越高，则喷液件的喷液量越大。
对于当前喷液周期之后的每一个喷液周期，可以采用类似的方式确定喷液件的喷液量，并控制喷液件按照确定的喷液量对清洁件进行喷液，已 经进行过说明的，在此不做赘述。
通过本实施例，通过对地面的脏污程度进行解析，按照待清洁地面的脏污程度控制喷液件的喷液量，可以提高区域清洁的清洁效果，同时减少液体残留。
在一个示例性实施例中，控制清洁设备的喷液件按照目标频率向清洁设备的清洁件喷洒液体，包括：
S71，向清洁设备的行程开关发送接通命令，其中，行程开关为喷液件的控制开关；
S72，响应于接通命令，接通行程开关，以接通喷液件，其中，接通后的喷液件按照目标频率向清洁件喷洒液体。
在本实施例中，为了提高清洁设备清洁的灵活性，可以通过行程开关控制喷液件进行喷液。上述行程开关可以设置在喷液件的喷液口处，可以根据清洁设备的移动方向控制喷液件进行喷液或停止喷液。
在使用清洁设备进行清洁的过程中，清洁设备可以根据清洁设备的移动方向确定是否需要喷液件向清洁件上喷洒液体，如果需要，可以向行程开关发送接通指令。行程开关可以响应于接通指令，执行打开操作，接通喷液件，使得喷液件按照设定的喷液方式喷洒液体(例如，按照固定频率喷洒液体)。如果不需要，可以向行程开关发送断开指令。行程开关可以响应于断开指令，执行断开操作，断开喷液件，不向清洁件喷洒液体。
通过本实施例，通过控制行程开关来控制喷液件在清洁设备向前移动的过程中进行喷液，在清洁设备向后移动的过程中停止喷液，可以提高区域清洁的便捷性。
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。
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。
根据本申请实施例的又一个方面，还提供了还提供了一种用于实施上述清洁设备的控制方法的清洁设备的控制装置。图5是根据本申请实施例的一种可选的清洁设备的控制装置的结构框图，如图5所示，该装置可以包括：
启动单元502，用于响应于获取到的启动指令，启动清洁设备；
确定单元504，与启动单元502相连，用于确定清洁设备当前的移动方向；
第一控制单元506，与确定单元504相连，用于在移动方向为后退方向的情况下，控制清洁设备的喷液件停止向清洁设备的清洁件喷洒液体。
需要说明的是，该实施例中的启动单元502可以用于执行上述步骤S202，该实施例中的确定单元504可以用于执行上述步骤S204，该实施例中的第一控制单元506可以用于执行上述步骤S206。
通过上述模块，响应于获取到的启动指令，启动清洁设备；确定清洁设备当前的移动方向；在移动方向为后退方向的情况下，控制清洁设备的喷液件停止向清洁设备的清洁件喷洒液体，解决了相关技术中的清洁设备的控制方法存在由于喷洒的液体易残留在地面导致的清洁效果差的问题，提高了地面清洁效果。
在一个示例性实施例中，确定单元包括：
检测模块，用于通过清洁设备上的检测部件检测移动方向。
在一个示例性实施例中，检测模块包括：
第一确定子模块，用于通过霍尔传感器检测清洁设备的滚动轮的转动方向，确定与转动方向匹配的移动方向；
第二确定子模块，用于通过霍尔传感器检测清洁设备的手柄的位移方向；
第三确定子模块，用于根据清洁设备的手柄的位移方向，确定移动方向。
在一个示例性实施例中，检测模块包括：
采集子模块，用于通过清洁设备的第一图像采集设备进行图像采集，得到多张采集图像；
第四确定子模块，用于根据参考对象在多张采集图像中的位置变化，确定移动方向。
在一个示例性实施例中，确定单元包括：
生成模块，用于根据目标清洁区域的区域信息，生成清洁指令，其中，清洁指令用于指示清洁设备清洁目标清洁区域的移动路径；
第一确定模块，用于根据清洁指令，确定清洁设备沿着移动路径进行移动的移动方向。
在一个示例性实施例中，上述装置还包括：
第二控制单元，用于在确定清洁设备当前的移动方向之后，在移动方向为前进方向的情况下，控制清洁设备的喷水件按照目标频率向清洁设备的清洁件喷液。
在一个示例性实施例中，第二控制单元包括：
采集模块，用于在当前喷液周期内，通过第二图像采集设备对清洁设备前端的待清洁区域进行图像采集，得到目标采集图像；
解析模块，用于对目标采集图像进行图像解析，得到与待清洁区域对应的脏污参数，其中，图像解析结果用于表示待清洁区域的脏污程度；
第二确定模块，用于根据脏污参数，确定喷液件的喷液量，其中，喷液量与脏污参数所表示的脏污程度正相关；
控制模块，用于控制喷液件按照喷水量向清洁件喷液。
在一个示例性实施例中，第二控制单元包括：
发送模块，用于向所述清洁设备的行程开关发送接通命令，其中，所述行程开关为所述喷液件的控制开关；
接收模块，用于响应于所述接通命令，接通所述行程开关，以接通所述喷液件，其中，接通后的所述喷液件按照所述目标频率向所述清洁件喷洒液体。
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。
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控制方法的程序代码。
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。
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：
S1，响应于获取到的启动指令，启动清洁设备；
S2，确定清洁设备当前的移动方向；
S3，在移动方向为后退方向的情况下，控制清洁设备的喷液件停止向清洁设备的清洁件喷洒液体。
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。
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。
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。
图6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6所示，包括处理器602、通信接口604、存储器606和通信总线608，其中，处 理器602、通信接口604和存储器606通过通信总线608完成相互间的通信，其中，
存储器606，用于存储计算机程序；
处理器602，用于执行存储器606上所存放的计算机程序时，实现如下步骤：
S1，响应于获取到的启动指令，启动清洁设备；
S2，确定清洁设备当前的移动方向；
S3，在移动方向为后退方向的情况下，控制清洁设备的喷液件停止向清洁设备的清洁件喷洒液体。
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6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。
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。
作为一种示例，上述存储器606中可以但不限于包括上述设备的控制装置中的启动单元502、确定单元504、以及第一控制单元506。此外，还可以包括但不限于上述设备的控制装置中的其他模块单元，本示例中不再赘述。
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。
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。
本领域普通技术人员可以理解，图6所示的结构仅为示意，实施上述清洁设备的控制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6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6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6所示的不同的配置。
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。
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。
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。
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。
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。
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。
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。
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。

Claims (11)

  1. 一种清洁设备的控制方法，其特征在于，包括：
    响应于获取到的启动指令，启动所述清洁设备；
    确定所述清洁设备当前的移动方向；
    在所述移动方向为后退方向的情况下，控制所述清洁设备的喷液件停止向所述清洁设备的清洁件喷洒液体。
  2. 根据权利要求1所述的方法，其特征在于，所述确定所述清洁设备当前的移动方向，包括：
    通过所述清洁设备上的检测部件检测所述移动方向。
  3. 根据权利要求2所述的方法，其特征在于，所述通过所述清洁设备上的检测部件检测所述移动方向，包括：
    通过霍尔传感器检测所述清洁设备的车轮的转动方向，确定与所述转动方向匹配的所述移动方向；和/或
    通过霍尔传感器检测所述清洁设备的手柄的位移方向；根据所述清洁设备的手柄的位移方向，确定所述移动方向。
  4. 根据权利要求2所述的方法，其特征在于，所述通过所述清洁设备上的检测部件检测所述移动方向，包括：
    通过所述清洁设备的第一图像采集设备进行图像采集，得到多张采集图像；
    根据参考对象在所述多张采集图像中的位置变化，确定所述移动方向。
  5. 根据权利要求1所述的方法，其特征在于，所述确定所述清洁设备当前的移动方向，包括：
    根据目标清洁区域的区域信息，生成清洁指令，其中，所述清洁指令用于指示所述清洁设备清洁所述目标清洁区域的移动路径；
    根据所述清洁指令，确定所述清洁设备沿着所述移动路径进行移动的所述移动方向。
  6. 根据权利要求1至5中任一项所述的方法，其特征在于，在所述确定所述清洁设备当前的移动方向之后，所述方法还包括：
    在所述移动方向为前进方向的情况下，控制所述清洁设备的喷液件按照目标频率向所述清洁设备的清洁件喷洒液体。
  7. 根据权利要求6所述的方法，其特征在于，所述控制所述清洁设备的喷液件按照目标频率向所述清洁设备的清洁件喷洒液体，包括：
    在当前喷液周期内，通过第二图像采集设备对所述清洁设备前端的待清洁区域进行图像采集，得到目标采集图像；
    对所述目标采集图像进行图像解析，得到与所述待清洁区域对应的脏污参数，其中，所述图像解析结果用于表示所述待清洁区域的脏污程度；
    根据所述脏污参数，确定所述喷液件的喷液量，其中，所述喷液量与所述脏污参数所表示的脏污程度正相关；
    控制所述喷液件按照所述喷液量向所述清洁件喷洒液体。
  8. 根据权利要求6所述的方法，其特征在于，所述控制所述清洁设备的喷液件按照目标频率向所述清洁设备的清洁件喷洒液体，包括：
    向所述清洁设备的行程开关发送接通命令，其中，所述行程开关为所述喷液件的控制开关；
    响应于所述接通命令，接通所述行程开关，以接通所述喷液件，其中，接通后的所述喷液件按照所述目标频率向所述清洁件喷洒液体。
  9. 一种清洁设备的控制装置，其特征在于，包括：
    启动单元，用于响应于获取到的启动指令，启动所述清洁设备；
    确定单元，用于确定所述清洁设备当前的移动方向；
    第一控制单元，用于在所述移动方向为后退方向的情况下，控制所述清洁设备的喷液件停止向所述清洁设备的清洁件喷洒液体。
  10. 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中任一项所述的方法。
  11. 一种电子装置，包括存储器和处理器，其特征在于，所述存储器中存储有计算机程序，所述处理器被设置为通过所述计算机程序执行权利要求1至8中任一项所述的方法。
PCT/CN2023/070725 2022-01-10 2023-01-05 清洁设备的控制方法及装置、存储介质及电子装置 WO2023131246A1 (zh)

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