WO2023131246A1

WO2023131246A1 - Control method and apparatus for cleaning device, storage medium, and electronic apparatus

Info

Publication number: WO2023131246A1
Application number: PCT/CN2023/070725
Authority: WO
Inventors: 杨彦平
Original assignee: 追觅创新科技(苏州)有限公司
Priority date: 2022-01-10
Filing date: 2023-01-05
Publication date: 2023-07-13
Also published as: CN116439615A

Abstract

A control method and apparatus for a cleaning device (104), a storage medium, and an electronic apparatus. The control method for the cleaning device (104) comprises: starting up the cleaning device (104) in response to an obtained start-up instruction (S202); determining a current moving direction of the cleaning device (104) (S204); when the moving direction is a retreating direction, controlling a liquid spraying member of the cleaning device (104) to stop spraying a liquid on a cleaning member of the cleaning device (104) (S206). The problem of a poor cleaning effect due to a liquid sprayed by the cleaning device (104) being prone to being left on the ground is solved.

Description

Cleaning equipment control method and device, storage medium and electronic device

This disclosure claims the priority of the following patent application: a Chinese patent application submitted to the China Patent Office on January 10, 2022, with the application number 202210022515.6, and the title of the invention is "Control method and device, storage medium and electronic device for cleaning equipment", The entire contents of the aforementioned patent applications are incorporated by reference in this disclosure.

【Technical field】

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.

【Background technique】

At present, in the process of cleaning an area by a cleaning device (for example, a floor scrubber), in order to effectively clean up the area, liquid can be sprayed to the cleaning parts of the cleaning device, for example, water is automatically sprayed at a fixed frequency.

However, for the above-mentioned method of automatically spraying liquid, if the sprayed liquid cannot be used in time, the liquid will remain on the ground when the cleaning element is pressed against the ground, resulting in incomplete cleaning and poor area cleaning effect.

It can be seen that the 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.

【Content of invention】

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.

The purpose of this application is to realize through the following technical solutions:

According to an aspect of an embodiment of the present application, there is provided 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.

In an exemplary embodiment, the determining the current moving direction of the cleaning device includes: detecting the moving direction through a detection component on the cleaning device.

In an exemplary embodiment, 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.

In an exemplary embodiment, 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.

In an exemplary embodiment, 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.

In an exemplary embodiment, after the determination of the current moving direction of the cleaning device, 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.

In an exemplary embodiment, 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.

In an exemplary embodiment, 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.

According to another aspect of the embodiments of the present application, there is also provided 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.

In an exemplary embodiment, the determination unit includes: a detection module, configured to detect the moving direction through a detection component on the cleaning device.

In an exemplary embodiment, 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.

In an exemplary embodiment, 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.

In an exemplary embodiment, 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.

In an exemplary embodiment, 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.

In an exemplary embodiment, 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.

In an exemplary embodiment, 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.

According to still another aspect of the embodiments 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 interface test when running method.

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 The test method for the interface.

In the embodiment of the present application, 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 In the case of controlling 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.

【Description of drawings】

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.

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.

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.

【Detailed ways】

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.

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.

According to one aspect of the embodiments of the present application, a method for controlling a cleaning device is provided. Optionally, in this embodiment, 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 . 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 . 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.).

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, a mobile phone, a tablet computer, etc., and 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., and 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 . Wherein, 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.

Taking the cleaning device 104 to execute the cleaning device control method in this embodiment as an example, 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.

For area cleaning with the cleaning device, 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. When the cleaning equipment is started to clean the area, 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. For example, 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. For another example, 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. For example, 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. Optionally, 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. In this embodiment, there is no limitation on the manner of acquiring the startup instruction.

For example, 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. For another example, 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.

In order to make it easier for the cleaning equipment to suck in garbage during the cleaning process, 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. Here, 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.

For example, in order to facilitate the inhalation of garbage by the floor brush of the floor washing machine, 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.

In order to avoid affecting the cleaning effect of the cleaning parts due to liquid remaining on the ground, 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.

In this embodiment, 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.

When the moving direction of the cleaning device is the forward direction, 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.

There can be one or more ways for the liquid spraying part to spray liquid to the cleaning part. For example, 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. In this embodiment, the position where the liquid spraying member sprays liquid to the cleaning member is not limited.

When the moving direction of the cleaning device is the backward direction, if the liquid is sprayed on the cleaning part at this time, the liquid will easily remain on the ground. Therefore, 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.).

For example, 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.

Through the above steps S202 to S206, start the cleaning device in response to the acquired starting instruction; determine the current moving direction of the cleaning device; The cleaning part sprays the liquid, which solves the problem of poor cleaning effect caused by the sprayed liquid remaining on the ground in the control method of the cleaning equipment in the related art, and improves the ground cleaning effect.

In an exemplary embodiment, determining the current moving direction of the cleaning device includes:

S11, detecting the moving direction through the detection component on the cleaning device.

In this embodiment, 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.

There are many ways to determine the current moving direction of the cleaning device according to the multiple moving directions detected by the multiple detection components. For example, the moving direction with the most occurrences may be determined as the current moving direction of the cleaning device. For another example, 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.

For example, 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.

Through this embodiment, 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.

In an exemplary embodiment, detecting the moving direction through a detection component on the cleaning device includes:

S21, detecting the rotation direction of the scroll wheel of the cleaning device through the Hall sensor, and determining the moving direction matching the rotation direction, and/or,

S22. Detect the displacement direction of the handle assembly of the cleaning device through the Hall sensor; determine the moving direction according to the displacement direction of the handle assembly of the cleaning device.

As an optional implementation, 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. In order to detect the rotation direction of the scroll wheel, the detection component may include a Hall sensor. For example, 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. During the movement of the scroll wheel, when the above trigger points pass through the Hall sensor, the magnetic induction intensity will change. 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.

For example, 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.

As another optional implementation manner, 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. When the handle is pulled forward or backward, 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. .

Through this embodiment, 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.

S31, performing image acquisition by the first image acquisition device of the cleaning device, to obtain multiple acquired images;

S32. Determine the moving direction according to the position changes of the reference object in the multiple captured images.

During the moving process of the cleaning device, its position in the target cleaning area will change, and the moving direction of the cleaning device can be determined based on the position change of the cleaning device. For example, 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.

In order to improve the efficiency of determining the moving 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. Correspondingly, 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.

After the reference object is determined, 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.

As an optional implementation, the first image acquisition device is arranged at the front end of the cleaning device. In multiple consecutive captured images, if the area of the position area occupied by the reference object gradually increases, 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.

As another optional implementation, 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.

It should be noted that 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.

Through this embodiment, 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.

S41. Generate a cleaning instruction according to the area information of the target cleaning area, where the cleaning instruction is used to instruct the cleaning device to clean the moving path of the target cleaning area;

S42. Determine the moving direction of the cleaning device along the moving path according to the cleaning instruction.

In this embodiment, the cleaning device is a device for cleaning the target cleaning area. During area cleaning, 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. According to the area information of the target cleaning area, 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.

According to the cleaning instruction, 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.

Optionally, 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. By generating the above-mentioned moving path, the user can be assisted in cleaning the area. If there is a large deviation between the actual path of the cleaning device for area cleaning and the above-mentioned moving path, the user may be reminded of the above-mentioned planned moving path through a prompt message.

Through this embodiment, 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.

In an exemplary embodiment, after determining the current moving direction of the cleaning device, the above method further includes:

S51, when the moving direction is the forward direction, control the liquid spraying part of the cleaning device to spray liquid to the cleaning part of the cleaning device according to the target frequency.

In this embodiment, if 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. There 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. Optionally, 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.

Optionally, the user can set the liquid spraying rate of the liquid spraying member after the cleaning device is turned on. For example, 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. After obtaining the set target frequency, the cleaning device can spray liquid according to the target frequency.

For example, the washing machine can be controlled by the program to spray water at a reasonable frequency during the forward process. During the forward process of the washing machine, 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.

Through this embodiment, by controlling the liquid spraying member to spray liquid to the cleaning member according to the target frequency during the forward movement of the cleaning device, the user's operations during the cleaning process can be reduced, and the convenience of area cleaning can be improved.

In an exemplary embodiment, 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:

S61, in the current liquid spray cycle, through the second image acquisition device, image acquisition is performed on the area to be cleaned at the front end of the cleaning device to obtain the target acquisition image;

S62, performing image analysis on the image collected by the target to obtain a dirt parameter corresponding to the area to be cleaned, wherein the dirt parameter is used to indicate the degree of dirt of the area to be cleaned;

S63. Determine the liquid injection volume of the liquid spraying part according to the contamination parameter, wherein the liquid injection volume is positively correlated with the degree of contamination indicated by the contamination parameter;

S64, controlling the liquid spraying part to spray liquid to the cleaning part according to the liquid spraying amount.

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. In this embodiment, in order to improve the flexibility and cleaning effect of area cleaning, it is possible to detect the degree of dirt in the area to be cleaned in the current spray cycle of the cleaning device, and set the spray liquid according to the detected degree of dirt. quantity.

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.

In the current liquid spray cycle, 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.

For example, 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, and the white pixels represent the clean positions of the area to be cleaned. According to the ratio of black pixels to white pixels in the above binary image, 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.

After obtaining the above dirty parameters, 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.

For each spray cycle after the current spray cycle, a similar method can be used to determine the liquid spray volume of the liquid spray parts, and control the liquid spray parts to spray liquid to the cleaning parts according to the determined liquid spray volume, which has been explained , which will not be described here.

Through this embodiment, by analyzing the degree of dirt on the ground, 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.

S71, sending a connection command to the travel switch of the cleaning device, wherein the travel switch is a control switch of the liquid spraying part;

S72, in response to the turn-on command, turn on the travel switch to turn on the liquid spraying element, wherein the turned-on liquid spraying element sprays liquid to the cleaning element according to the target frequency.

In this embodiment, in order to improve the cleaning flexibility of the cleaning device, the liquid spraying member 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.

During the cleaning process using the cleaning device, 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). If not needed, 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.

Through this embodiment, by controlling the travel switch to control the liquid spraying member to spray liquid during the forward movement of the cleaning device, and to stop spraying liquid during the backward movement of the cleaning device, the convenience of area cleaning can be improved.

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.

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.

According to still another aspect of the embodiments of the present application, there is also provided a cleaning device control device for implementing the above cleaning device control method. 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 starting unit 502, configured to start the cleaning device in response to the acquired starting instruction;

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.

It should be noted that 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, and the first control unit 506 in this embodiment can be used to Execute the above step S206.

Through the above modules, start the cleaning device in response to the acquired startup instruction; determine the current moving direction of the cleaning device; and control the liquid spraying part of the cleaning device to stop spraying liquid to the cleaning part of the cleaning device when the moving direction is the backward direction 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.

In an exemplary embodiment, the determination unit includes:

The detection module is used to detect the moving direction through the detection part on the cleaning device.

In an exemplary embodiment, 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.

In an exemplary embodiment, 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.

In an exemplary embodiment, 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.

In an exemplary embodiment, 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.

In an exemplary embodiment, 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.

In an exemplary embodiment, 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.

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.

According to still another aspect of the embodiments of the present application, a storage medium is also provided. Optionally, in this embodiment, 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.

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.

Optionally, in this embodiment, the storage medium is configured to store program codes for performing the following steps:

S1, start the cleaning device in response to the acquired starting instruction;

S2, determining the current moving direction of the cleaning device;

S3, when 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.

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.

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.

According to yet another aspect of the embodiments of the present application, 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;

When the processor 602 is used to execute the computer program stored on the memory 606, the following steps are implemented:

S1, start the cleaning device in response to the acquired starting instruction;

S2, determining the current moving direction of the cleaning device;

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. 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. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

As an example, 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.

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.

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.

Those of ordinary skill in the art can understand that the structure shown in Figure 6 is only for illustration, and 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. For example, 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 .

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.

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.

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.

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.

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.

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.

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.

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

A control method for cleaning equipment, characterized by comprising:

activating the cleaning device in response to the acquired activation instruction;

determining the current moving direction of the cleaning device;

When the moving direction is 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 method according to claim 1, wherein the determining the current moving direction of the cleaning device comprises:

The moving direction is detected by a detection component on the cleaning device.
The method according to claim 2, wherein the detecting the moving direction through a detection component on the cleaning device comprises:

Detecting the direction of rotation of the wheels of the cleaning device through a Hall sensor, and determining the direction of movement that matches the direction of rotation; and/or

The displacement direction of the handle of the cleaning device is detected by a Hall sensor; the moving direction is determined according to the displacement direction of the handle of the cleaning device.
The method according to claim 2, wherein the detecting the moving direction through a detection component on the cleaning device comprises:

Image acquisition is performed by the first image acquisition device of the cleaning device to obtain a plurality of acquired images;

The moving direction is determined according to the position changes of the reference object in the plurality of captured images.
The method according to claim 1, wherein the determining the current moving direction of the cleaning device comprises:

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 a movement path of the target cleaning area;

The moving direction in which the cleaning device moves along the moving path is determined according to the cleaning instruction.
The method according to any one of claims 1 to 5, wherein after the determination of the current moving direction of the cleaning device, the method further comprises:

When the moving direction is the forward direction, the liquid spraying part of the cleaning device is controlled to spray liquid to the cleaning part of the cleaning device according to a target frequency.
The method according to claim 6, wherein the 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 comprises:

In the current liquid spray cycle, the second image acquisition device is used to collect images of the area to be cleaned at the front end of the cleaning device to obtain a target acquisition image;

Performing 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;

determining 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 represented by the dirt parameter;

The liquid spraying member is controlled to spray liquid to the cleaning member according to the liquid spraying amount.
The method according to claim 6, wherein the 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 comprises:

sending an on command to the travel switch of the cleaning device, wherein the travel switch is a control switch of the liquid spraying member;

In response to the turn-on command, the travel switch is turned on to turn on the liquid spraying element, wherein the turned-on liquid spraying element sprays liquid to the cleaning element according to the target frequency.
A control device for cleaning equipment, characterized in that it includes:

an activation unit, configured to activate the cleaning device in response to the acquired activation instruction;

a determining unit, configured to determine the current moving direction of the cleaning device;

The first control unit is configured to control the liquid spraying part of the cleaning device to stop spraying liquid to the cleaning part of the cleaning device when the moving direction is a backward direction.
A computer-readable storage medium, characterized in that the computer-readable storage medium includes a stored program, wherein, when the program runs, the method according to any one of claims 1 to 8 is executed.
An electronic device, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 8 through the computer program .