阅读说明：本技术 清洁设备的控制方法、清洁设备以及存储介质 (Control method of cleaning apparatus, and storage medium ) 是由 倪祖根 崔明 郭文强 于 2020-12-15 设计创作，主要内容包括：本申请公开一种清洁设备的控制方法、清洁设备及存储介质,属于清洁技术领域。本申请公开的清洁设备的控制方法中,获取目标电机的功率后,基于预设的第一映射关系,获取行进阻力值,在行进阻力值大于第一阈值时,确定目标电机的调整策略,根据调整策略调节目标电机的功率值,以实现调整行进阻力值的目的。与现有技术相比,本申请计算获取行进阻力值,并在判断行进阻力值大于第一阈值时,确定调整策略以调节清洁设备中的电机功率,从而无需用户手动调节电机档位就能实现对电机功率的调节,使得清洁设备的行进阻力值位于舒适行进阻力值范围内。(The application discloses a control method of a cleaning device, the cleaning device and a storage medium, and belongs to the technical field of cleaning. According to the control method of the cleaning equipment, after the power of the target motor is obtained, the traveling resistance value is obtained based on the preset first mapping relation, when the traveling resistance value is larger than the first threshold value, the adjustment strategy of the target motor is determined, and the power value of the target motor is adjusted according to the adjustment strategy, so that the purpose of adjusting the traveling resistance value is achieved. Compared with the prior art, the method and the device have the advantages that the traveling resistance value is obtained through calculation, when the traveling resistance value is judged to be larger than a first threshold value, the motor power in the cleaning equipment is determined through the adjustment strategy, the motor power can be adjusted without manually adjusting the gear of the motor by a user, and the traveling resistance value of the cleaning equipment is located in the range of the comfortable traveling resistance value.)

1. A control method of a cleaning apparatus, characterized by comprising:

acquiring a power value of a target motor, wherein the power value of the target motor can influence the traveling resistance value of the cleaning equipment;

determining a traveling resistance value of the cleaning equipment according to the power value of the target motor based on a preset first mapping relation;

determining an adjustment strategy for the target motor when the travel resistance value is greater than a first threshold value, wherein the first threshold value is a maximum value in a range of comfortable travel resistance values;

and adjusting the power value of the target motor according to the adjusting strategy.

2. The control method of claim 1, wherein said determining an adjustment strategy for the target motor when the travel resistance value is greater than a first threshold value comprises:

when the advancing resistance value is larger than a first threshold value, determining a power waiting value of the target motor, wherein the vacuum degree of the ground brush port corresponding to the power waiting value is in negative correlation with the advancing resistance value;

determining whether a cleaning value corresponding to the cleaning equipment is smaller than a second threshold value according to the power waiting value, wherein the cleaning value represents the cleaning effect of the cleaning equipment, and the second threshold value is the minimum value in the range of the cleaning effect which the cleaning equipment should reach;

if not, the adjustment strategy comprises that the target motor operates at the power preset value.

3. The control method according to claim 2, wherein the target motor includes at least one of: a floor brush motor, a suction motor; the obtaining of the power value of the target motor includes:

at least one of the power of the floor brush motor and the power of the suction motor is obtained.

4. The control method according to claim 3, wherein the determining of the power ready value of the target motor includes:

determining a power to-be-set value of the floor brush motor based on the current power of the floor brush motor and the power to-be-reduced amplitude value of the floor brush motor, wherein the power to-be-reduced amplitude value of the floor brush motor is determined based on a first preset step length; and/or

Determining a power to-be-set value of the suction motor based on the current power of the suction motor and the power to-be-reduced amplitude value of the suction motor, wherein the amplitude value of the power to-be-set value of the suction motor is determined based on a second preset step length;

determining whether the cleaning value corresponding to the cleaning equipment is smaller than a second threshold value according to the power waiting value comprises the following steps: and determining the cleaning value of the cleaning equipment according to the power to-be-set value of the floor brush motor and/or the power to-be-set value of the suction motor based on a preset second mapping relation, and determining whether the cleaning value is smaller than the second threshold value.

Preferably, after determining whether the cleaning value corresponding to the cleaning device is smaller than the second threshold, the method further includes:

if so, the adjusting strategy comprises that the floor brush motor operates at a first power stored in advance, and the suction motor operates at a second power stored in advance, wherein the first power and the second power respectively meet the floor brush motor power and the suction motor power corresponding to the minimum value in the cleaning effect range;

or

If so, the adjusting strategy comprises that the associated motor runs at a pre-stored third power, the associated motor is a motor which is strongly associated with the traveling resistance value and weakly associated with the cleaning value in the target motor, and the third power is a minimum value of the associated motor which meets the preset condition.

5. The control method of claim 2, wherein after determining whether the cleaning value of the cleaning device is less than a second threshold, further comprising:

if yes, determining that the working environment is the preset environment, and prompting a user to clean the cleaning equipment.

6. The control method according to claim 3, wherein the obtaining of the power of the floor brush motor comprises at least one of the following:

detecting the working current of a ground brush motor, and acquiring the power of the ground brush motor according to the working current of the ground brush motor;

and acquiring the power of the ground brush motor by using the load sensed by the sensor.

7. The control method of claim 6, wherein the magnitude of the load sensed by the sensor comprises at least one of:

detecting the roughness of a cleaning object, and acquiring the load of the cleaning equipment according to the roughness of the cleaning object;

and detecting the material of the cleaning object, and acquiring the load of the cleaning equipment according to the material of the cleaning object.

8. The control method according to claim 4, wherein the preset first mapping relationship comprises: a travel resistance coefficient equal to the sum of the floor brush motor power multiplied by a first coefficient and the suction motor power multiplied by a second coefficient, the travel resistance coefficient characterizing the travel resistance value;

the preset second mapping relationship comprises: the cleaning value is equal to the sum of the power of the floor brush motor multiplied by a third coefficient and the power of the suction motor multiplied by a fourth coefficient;

the step length in the first preset step length and the second preset step length is a difference value, and the values of the first preset step length and the second preset step length include at least one of the following values:

the first preset step length is the third coefficient, and the second preset step length is the fourth coefficient;

the first preset step length is the first coefficient, and the second preset step length is the second coefficient;

specifically, the power waiting value of the target motor corresponds to the traveling resistance value being equal to the first threshold value.

9. A cleaning apparatus, comprising:

the motor power acquisition module is used for acquiring a power value of a target motor, wherein the power value of the target motor can influence the traveling resistance value of the cleaning equipment;

the traveling resistance value determining module is used for determining the traveling resistance value of the cleaning equipment according to the power value of the target motor based on a preset first mapping relation;

an adjustment strategy determination module to determine an adjustment strategy for the target motor when the travel resistance value is greater than a first threshold, wherein the first threshold is a maximum value in a range of comfortable travel resistance values;

and the power adjusting module is used for adjusting the power value of the target motor according to the adjusting strategy.

10. A computer-readable storage medium, characterized in that a computer program is stored on the computer storage medium, which computer program, when being executed by a processor, carries out the steps of the control method according to any one of claims 1 to 8.

Technical Field

The present disclosure relates to the field of cleaning technologies, and in particular, to a control method for a cleaning device, and a storage medium.

Background

With the development of society, the living standard of people is continuously improved, and the requirements on living and living environments are higher and higher. The use of cleaning devices in daily life is also becoming more and more popular.

The following problems are encountered when the cleaning device having a dust-collecting effect is used: when cleaning device's motor was with higher gear operation, then cleaning device's suction is great, and the adsorption affinity between cleaning device's scrubbing brush and the cleaning object is great, leads to cleaning device's resistance value of marcing also bigger, and then leads to hard uncomfortable to cleaning device's push-and-pull, needs the user to manually adjust cleaning device's motor gear in order to adjust motor power, and then reduces adsorption affinity and frictional force.

However, it is very inconvenient to manually adjust the gear of the motor.

Disclosure of Invention

The application discloses a control method of a cleaning device, the cleaning device and a storage medium, the control method can automatically adjust the power of a motor according to the traveling resistance value of the cleaning device, and therefore the traveling resistance value of the cleaning device can be in a comfortable range without manually adjusting the gear of the motor by a user.

In order to solve the above problems, the following technical solutions are adopted in the present application:

in a first aspect, the present application provides a control method of a cleaning apparatus, the control method comprising:

acquiring a power value of a target motor, wherein the power value of the target motor can influence the traveling resistance value of the cleaning equipment; determining a traveling resistance value of the cleaning equipment according to the power value of the target motor based on a preset first mapping relation; determining an adjustment strategy for the target motor when the travel resistance value is greater than a first threshold value, wherein the first threshold value is a maximum value in a range of comfortable travel resistance values; and adjusting the power value of the target motor according to the adjusting strategy.

Optionally, when the running resistance value is greater than a first threshold, determining an adjustment strategy of the target motor includes:

when the advancing resistance value is larger than a first threshold value, determining a power waiting value of the target motor, wherein the vacuum degree of the ground brush port corresponding to the power waiting value is in negative correlation with the advancing resistance value;

determining whether a cleaning value corresponding to the cleaning equipment is smaller than a second threshold value according to the power waiting value, wherein the cleaning value represents the cleaning effect of the cleaning equipment, and the second threshold value is the minimum value in the range of the cleaning effect which the cleaning equipment should reach;

if not, the adjustment strategy comprises that the target motor operates at the power preset value.

Optionally, the target motor includes at least one of: a floor brush motor, a suction motor; the obtaining of the power value of the target motor includes:

at least one of the power of the floor brush motor and the power of the suction motor is obtained.

Optionally, the determining the power to-be-set value of the target motor includes:

determining a power to-be-set value of the floor brush motor based on the current power of the floor brush motor and the power to-be-reduced amplitude value of the floor brush motor, wherein the power to-be-reduced amplitude value of the floor brush motor is determined based on a first preset step length; and/or

Determining a power to-be-set value of the suction motor based on the current power of the suction motor and the power to-be-reduced amplitude value of the suction motor, wherein the amplitude value of the power to-be-set value of the suction motor is determined based on a second preset step length;

determining whether the cleaning value corresponding to the cleaning equipment is smaller than a second threshold value according to the power waiting value comprises the following steps: and determining the cleaning value of the cleaning equipment according to the power to-be-set value of the floor brush motor and/or the power to-be-set value of the suction motor based on a preset second mapping relation, and determining whether the cleaning value is smaller than the second threshold value.

Optionally, after determining whether the cleaning value corresponding to the cleaning device is smaller than the second threshold, the method further includes:

if so, the adjusting strategy comprises that the floor brush motor operates at a first power stored in advance, and the suction motor operates at a second power stored in advance, wherein the first power and the second power respectively meet the floor brush motor power and the suction motor power corresponding to the minimum value in the cleaning effect range;

or

If so, the adjusting strategy comprises that the associated motor runs at a pre-stored third power, the associated motor is a motor which is strongly associated with the traveling resistance value and weakly associated with the cleaning value in the target motor, and the third power is a minimum value of the associated motor which meets the preset condition.

Optionally, after determining whether the cleaning value of the cleaning device is smaller than the second threshold, the method further includes:

if yes, determining that the working environment is the preset environment, and prompting a user to clean the cleaning equipment.

Optionally, the obtaining of the power of the ground brush motor includes at least one of the following:

detecting the working current of a ground brush motor, and acquiring the power of the ground brush motor according to the working current of the ground brush motor;

and acquiring the power of the ground brush motor by using the load sensed by the sensor.

Optionally, the load magnitude sensed by the sensor includes at least one of:

detecting the roughness of a cleaning object, and acquiring the load of the cleaning equipment according to the roughness of the cleaning object;

and detecting the material of the cleaning object, and acquiring the load of the cleaning equipment according to the material of the cleaning object.

Optionally, the preset first mapping relationship includes: a travel resistance coefficient equal to the sum of the floor brush motor power multiplied by a first coefficient and the suction motor power multiplied by a second coefficient, the travel resistance coefficient characterizing the travel resistance value;

the preset second mapping relationship comprises: the cleaning value is equal to the sum of the power of the floor brush motor multiplied by a third coefficient and the power of the suction motor multiplied by a fourth coefficient;

the step length in the first preset step length and the second preset step length is a difference value, and the values of the first preset step length and the second preset step length include at least one of the following values:

the first preset step length is the third coefficient, and the second preset step length is the fourth coefficient;

the first preset step is the first coefficient, and the second preset step is the second coefficient.

Optionally, the power waiting value of the target motor is equal to the first threshold value corresponding to the traveling resistance value.

In a second aspect, the present application provides a cleaning apparatus comprising: the motor power acquisition module is used for acquiring a power value of a target motor, wherein the power value of the target motor can influence the traveling resistance value of the cleaning equipment; the traveling resistance value determining module is used for determining the traveling resistance value of the cleaning equipment according to the power value of the target motor based on a preset first mapping relation; an adjustment strategy determination module to determine an adjustment strategy for the target motor when the travel resistance value is greater than a first threshold, wherein the first threshold is a maximum value in a range of comfortable travel resistance values; and the power adjusting module is used for adjusting the power value of the target motor according to the adjusting strategy.

In a third aspect, the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the control method described above.

Compared with the prior art, the beneficial effects of this application are as follows:

according to the control method of the cleaning equipment, after the power of the target motor is obtained, the traveling resistance value is obtained based on the preset first mapping relation, when the traveling resistance value is larger than the first threshold value, the adjustment strategy of the target motor is determined, and the power value of the target motor is adjusted according to the adjustment strategy, so that the purpose of adjusting the traveling resistance value is achieved. Compared with the prior art, the method and the device have the advantages that the traveling resistance value is obtained through calculation, when the traveling resistance value is judged to be larger than a first threshold value, the motor power in the cleaning equipment is determined through the adjustment strategy, the motor power can be adjusted without manually adjusting the gear of the motor by a user, and the traveling resistance value of the cleaning equipment is located in the range of the comfortable traveling resistance value.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 is a flowchart of a control method of a first cleaning apparatus according to an embodiment of the present application;

FIG. 2 is a flowchart of a second control method of a cleaning apparatus according to an embodiment of the present application;

FIG. 3 is a flowchart of a control method of a third cleaning apparatus according to an embodiment of the present application;

FIG. 4 is a flowchart of a control method of a fourth cleaning apparatus according to an embodiment of the present application;

FIG. 5 is a block diagram of a cleaning device according to an embodiment of the present disclosure.

Description of the figure numbering:

500-a cleaning device; 510-a motor power acquisition module; 520-a resistance to travel value determination module; 530-adjustment policy determination module; 540-power conditioning module.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

According to the requirement of a user on comfortable push-pull force, in order to solve the problem that the power of a motor in the cleaning equipment is inconvenient to adjust manually by the user, manufacturers of the cleaning equipment with the dust collection function provide some solutions, which can be divided into the following two methods: (1) a manual air-release valve is added on the dust-collecting pipeline, when a user feels that the suction force of the floor brush is too large to push the dust collector, the air-release valve can be pushed open to reduce the suction force of the floor brush; (2) the pressure switch is additionally arranged on the pipeline of the dust collector, the pipeline is automatically opened when the pressure in the pipeline exceeds a certain value, the pressure in the pipeline is in direct proportion to the suction force, the suction force is also large when the pressure is large, the pressure is released after the pressure switch is opened, the suction force is reduced, and a user has better experience and obtains comfortable push-pull force. However, both of the above methods can be considered to release a portion of the suction force, but releasing the generated suction force obviously wastes a portion of the electric energy.

Therefore, the control method of the cleaning equipment provided by the application can not only avoid the need of manually adjusting the gear of the motor by a user, but also avoid electric energy waste in the process of adjusting the suction force of the cleaning equipment.

The cleaning device of the embodiment of the present application includes, but is not limited to, a vacuum cleaner or a sweeping robot, which are classified by types. The cleaning device may be any device having a suction motor, a suction port, and capable of generating suction on the surface of the cleaning object for cleaning purposes. The cleaning device may be a device with a floor brush motor, a floor brush opening, or a device with bristles that contact the cleaning object.

In the embodiment of the present invention, both the positive correlation and the negative correlation are for the entire data, and represent the general trend of the data relationship, but are not limited to a specific interval of the data. Positive correlation includes the special case of a proportional ratio and negative correlation includes the special case of an inverse ratio.

According to the cleaning device provided by the embodiment of the invention, the larger the vacuum degree of the ground brush opening of the cleaning equipment is, the stronger the negative pressure in the cleaning equipment is, and the larger the suction force is.

The first embodiment is as follows:

in the embodiment of the application, the cleaning device is taken as a cleaning device held by a user as an example, and of course, the cleaning device may not be the cleaning device held by the user. Fig. 1 is a flowchart of a control method of a cleaning device according to an embodiment of the present disclosure, in which an execution subject includes, but is not limited to, a cleaning device or a mobile terminal.

Under the condition that the vacuum degree of the floor brush opening is kept unchanged, the traveling resistance value of the cleaning equipment is changed along with the change of the cleaning environment, and the larger the surface roughness of the cleaning object is or the denser the foreign matters on the surface are, the larger the traveling resistance value is. And under the condition that the cleaning environment is kept unchanged, the traveling resistance value of the cleaning equipment is changed along with the change of the vacuum degree of the ground brush opening, and the larger the vacuum degree of the ground brush opening is, the larger the traveling resistance value is. The cleaning environment refers to parameters related to the surface roughness of the cleaning object and the density of the foreign matters on the surface of the cleaning object, which cannot be actively adjusted by the cleaning device. Therefore, in order to make the travel resistance value of the cleaning device within a comfortable travel resistance value range, the vacuum degree of the ground brush opening can be adjusted by adjusting the target parameter which can be adjusted and controlled on the cleaning device. In this application, the target parameter is a power value of the target motor.

In the embodiment of the present application, the comfortable traveling resistance value range may be a numerical range obtained through experience or a lot of experiments in the development stage and stored in the cleaning apparatus, or may be a numerical range input by the user himself, or may be a numerical range determined from traveling resistance values when the cleaning apparatus is used in the near future.

As shown in fig. 1, the first embodiment of the control method of the present embodiment includes the steps of:

s102: a power value of a target motor is obtained, and the power value of the target motor can influence the traveling resistance value of the cleaning equipment.

S104: and determining the traveling resistance value of the cleaning equipment according to the power value of the target motor based on a preset first mapping relation.

S106: determining an adjustment strategy for the target motor when the travel resistance value is greater than a first threshold value, wherein the first threshold value is a maximum value in a range of comfortable travel resistance values.

S108: and adjusting the power value of the target motor according to the adjusting strategy.

In the embodiment of the application, after the power of the target motor is obtained, the traveling resistance value is obtained based on a preset first mapping relation, when the traveling resistance value is larger than a first threshold value, an adjustment strategy of the target motor is determined, and the power value of the target motor is adjusted according to the adjustment strategy, so that the purpose of adjusting the traveling resistance value is achieved. Compared with the prior art, the method and the device have the advantages that the traveling resistance value is obtained through calculation, when the traveling resistance value is judged to be larger than a first threshold value, the motor power in the cleaning equipment is determined through the adjustment strategy, the motor power can be adjusted without manually adjusting the gear of the motor by a user, and the traveling resistance value of the cleaning equipment is located in the range of the comfortable traveling resistance value. Moreover, the control method of the embodiment of the application can not cause electric energy waste.

The first threshold value differs for different cleaning devices, which can be determined experimentally for each type of device, e.g. 50N, 55N or 60N, etc.; the first threshold value may also be the same for different cleaning devices, with a comfortable user's running resistance value being determined according to a number of experiments or criteria.

A second implementation of the control method of this embodiment includes the steps of: s202, S204, S206 and S208. S204 may refer to S104, and S208 may refer to S108.

In one embodiment, S202, in addition to referring to S102, the target motor in S202 includes at least one of: a floor brush motor, a suction motor, or other motor that can affect the travel resistance value of the cleaning device. Correspondingly, obtaining the power of the target motor comprises obtaining at least one of the power of the ground brush motor and the power of the suction motor.

Specifically, the rotation speed of the suction motor is positively correlated with the vacuum degree of the floor brush opening of the cleaning device, and the larger the rotation speed of the suction motor is, the larger the suction force of the cleaning device is, and the larger the vacuum degree of the corresponding floor brush opening is. The rotating speed of the ground brush motor is positively correlated with the vacuum degree of the ground brush opening.

In the following section of the embodiments of the present application, a control method of a cleaning apparatus is described by taking an example in which a target motor includes a floor brush motor and a suction motor.

Wherein, acquire scrubbing brush motor power, include following at least one:

s2021: and detecting the working current of the ground brush motor, and acquiring the power of the ground brush motor according to the working current of the ground brush motor.

S2022: and acquiring the power of the ground brush motor by using the load sensed by the sensor.

The working current of the floor brush motor is positively correlated with the load, the working voltage of the floor brush motor can be determined after the working current of the floor brush motor is obtained, and then the power of the floor brush motor is obtained through calculation. And sensing the load of the cleaning equipment in the current working environment by using a sensor, and acquiring the power of the ground brush motor according to the data detected by the sensor. Of course, the power of the floor brush motor can also be determined by combining the two ways of S2021 and S2022.

In one embodiment, S2022 includes at least one of:

detecting the roughness of a cleaning object, and acquiring the load of the cleaning equipment according to the roughness of the cleaning object;

and detecting the material of the cleaning object, and acquiring the load of the cleaning equipment according to the material of the cleaning object.

The roughness of the cleaning object can be detected by the floor brush, or can be detected by sensors arranged on the floor brush and the suction inlet. The material of the cleaning object may be determined by a sensor provided on the floor brush or the suction port.

Wherein, obtaining suction motor power includes: and detecting the working current of the suction motor, and acquiring the power of the suction motor according to the working current of the suction motor.

In S204, except referring to S104, a preset first mapping relationship is obtained by performing an experiment on the cleaning device. In one embodiment, the preset first mapping relationship includes: the travel resistance coefficient is equal to a sum of the floor brush motor power multiplied by a first coefficient and the suction motor power multiplied by a second coefficient, wherein the travel resistance coefficient represents a travel resistance value of the cleaning appliance. Of course, when the cleaning apparatus does not have the floor brush motor, the preset first mapping relationship is a mapping relationship between the traveling resistance coefficient and the suction motor power.

Specifically, the first mapping relationship may be X ═ a × ground brush motor power + B × suction motor power. Wherein X is a coefficient of travel resistance, A is a first coefficient, and B is a second coefficient. The values for a and B may be obtained experimentally or empirically, and may vary from cleaning apparatus to cleaning apparatus. For example, a may take on the value 0.9, 1.0 or 1.1 and B may take on the value 1.1, 1.2 or 1.3.

It is to be understood that, before performing S204, a correspondence relationship between the power value of the target motor and the traveling resistance value of the cleaning apparatus needs to be constructed to obtain the first mapping relationship. In this process, it is necessary to obtain a traveling resistance value of the cleaning apparatus in addition to the power value of the target motor.

In order to detect the traveling resistance value applied to the cleaning device during traveling, the present embodiment introduces three detection methods, and the traveling resistance value may be determined based on one of the methods, or may be determined by combining two or three of the methods.

A first travel resistance value determination method includes: acquiring an electrical signal of a contact member in the cleaning device, the contact member being for contacting a cleaning object; a travel resistance value of the cleaning device is determined from the electrical signal.

The contact element may be a rotatable component of the cleaning device, such as a roller brush or a traveling wheel, and the corresponding electrical signal is a driving electrical signal of the contact element, and the driving electrical signal may be an output current, an output voltage or an output power of a rotating motor for driving the roller brush or the traveling wheel to rotate.

The contact element may also be a non-rotatable component, such as a diamond stylus or a ground brush, and the corresponding electrical signal is an electrical signal converted by a sensor for monitoring deformation or displacement of the contact element, and the electrical signal may be an output voltage, an output current, or an inductance or a resistance.

When the contact member is a roller brush or a traveling wheel, and the output current of a rotating motor for driving the roller brush or the traveling wheel to rotate is selected as the driving electric signal of the roller brush, the traveling resistance value applied when the cleaning device travels can be determined by using the pre-divided current section, that is, the surface roughness of the cleaning object and the concentration of foreign matters on the surface of the cleaning object can be determined by using the pre-divided current section.

When the contact member is a diamond stylus or a floor brush, a traveling resistance value received while the cleaning apparatus travels may be determined using pre-divided electrical signal sections, that is, the surface roughness of the cleaning object and the concentration of foreign substances on the surface of the cleaning object may be determined using pre-divided current sections.

In the embodiment of the present application, the surface roughness of the cleaning object and the density of the foreign matters on the surface of the cleaning object are determined based on the electrical signal, and the traveling resistance value of the cleaning device is determined based on at least one of the surface roughness and the density of the foreign matters.

Of course, the traveling resistance value of the cleaning device may be determined not based on the electric signal of the contact member, that is, by means of a member that does not contact the cleaning object.

A second travel resistance value determination method includes: the cleaning object is photographed by an image pickup device, and a traveling resistance value of the cleaning device is confirmed based on the photographed image. In analyzing the image taken by the image taking device, only the traveling resistance value caused by the surface roughness of the cleaning object may be analyzed, only the traveling resistance value caused by the foreign matter on the surface of the cleaning object may be analyzed, or both the traveling resistance values caused by the surface roughness and the surface foreign matter concentration of the cleaning object may be analyzed.

A third method of determining a travel resistance value, comprising: the current traveling resistance value of the cleaning device is determined by detecting the density of the foreign matters on the surface of the current cleaning object based on a sensor (such as a piezoelectric sheet) arranged in the suction pipeline for detecting the density of the dust or the foreign matters.

As shown in fig. 3, a third implementation manner of the control method according to the embodiment of the present application includes S302, S304, S306, and S308. Wherein, the step S302 can refer to S102, the step S304 can refer to S104, and the step S308 can refer to S108. S306 specifically includes the following steps: including S3061, S3062, S3063, S3064 and S3065.

S3061: and when the traveling resistance value is larger than a first threshold value, determining a power preset value of the target motor. Since the target motor in the cleaning apparatus may be a suction motor, a floor brush motor, or other motor that can affect the amount of travel resistance.

Wherein, the vacuum degree of the ground brush port corresponding to the power waiting value is inversely related to the advancing resistance value; the power waiting value is smaller than the power value of the target motor corresponding to the first threshold value.

When the target motor comprises a ground brush motor, the power to-be-set value of the ground brush motor can be determined based on the current power of the ground brush motor and the power to-be-reduced amplitude value of the ground brush motor. Wherein the power amplitude value to be reduced of the ground brush motor can be determined based on a first preset step length. For example, the current power of the floor brush motor is Z1, the power to-be-reduced amplitude value of the floor brush motor is Z2, and the power to-be-set value Z3 is Z1-Z2. The value of Z2 can be fixed or variable according to the need, for example, when the power of the floor brush motor has a large influence on the traveling resistance value, the value of Z2 can be small; and vice versa.

When the target motor includes the suction motor, the power waiting value of the suction motor may be determined based on the current power of the suction motor and the power waiting amplitude value of the suction motor. Wherein the value of the amplitude to be reduced of the power drawn into the motor may be determined based on a second preset step size. For example, the current power of the suction motor is Z4, the amplitude value of the power to be reduced of the suction motor is Z5, and the power is set to be Z6 to Z4-Z5. The value of Z5 may be fixed or variable as required, for example, when the power of the suction motor has a large influence on the traveling resistance value, the value of Z5 may be small; and vice versa.

In one embodiment, the cleaning apparatus may include both the suction motor and the floor brush motor, and only the amplitude value of the power to be reduced of the suction motor may be determined while the floor brush motor remains unchanged, only the amplitude value of the power to be reduced of the floor brush motor may be determined while the suction motor remains unchanged, and both the amplitude value of the power to be reduced of the suction motor and the amplitude value of the power to be reduced of the floor brush motor may be determined.

In an embodiment, the power of the floor brush motor and the power of the suction motor may be reduced simultaneously according to a preset ratio, for example, the power of the floor brush motor is reduced based on a first preset step length, and the power of the suction motor is reduced based on a second preset step length, where the ratio of the power of the floor brush motor to the power of the suction motor is the ratio of the first preset step length to the second preset step length; the values of the first preset step length and the second preset step length can be equal or unequal; of course, the power of the floor brush motor and the power of the suction motor may not be reduced simultaneously according to the preset proportion.

S3062: and determining whether a cleaning value corresponding to the cleaning equipment is smaller than a second threshold value according to the power waiting value, wherein the cleaning value represents the cleaning effect of the cleaning equipment, and the second threshold value is the minimum value in the range of the cleaning effect which the cleaning equipment should reach.

In an embodiment, the cleaning value of the cleaning device may be determined according to at least one of the power setting value of the floor brush motor or the power setting value of the suction motor based on the preset second mapping relationship, and whether the cleaning value is smaller than the second threshold value may be determined. Because the power values of the floor brush motor and the suction motor can influence the cleaning effect of the cleaning equipment, whether the cleaning effect of the cleaning equipment reaches the minimum value in the cleaning effect range which the cleaning equipment should reach can be calculated if the target motor runs according to the power preset value.

Referring to the preset first mapping relationship, the preset second mapping relationship in the embodiment of the present application is also obtained by performing an experiment on the cleaning device. The preset second mapping relationship comprises: the cleaning value is equal to the sum of the power of the floor brush motor multiplied by a third coefficient and the power of the suction motor multiplied by a fourth coefficient, wherein the cleaning value represents the cleaning effect of the cleaning equipment.

For example, the second mapping relationship is Y ═ C × ground brush motor power + D × suction motor power. Wherein Y is a cleaning value, C is a third coefficient, and D is a fourth coefficient. The values for C and D can be obtained experimentally, which can vary for different cleaning devices. For example, C may take on the value 0.7, 0.8 or 0.9 and D may take on the value 1.4, 1.5 or 1.6.

S3063: if not, the adjustment strategy comprises that the target motor operates at the power preset value.

If the cleaning value is not less than the second threshold value, the target motor of the surface cleaning apparatus can be operated at its power setting, so that a better cleaning effect can be achieved on the basis of a reduction in the travel resistance value.

S3063 may further include returning to S304, that is, considering that the current power waiting value may still cause the traveling resistance value to be greater than the first threshold value, directly returning to S304 to calculate the traveling resistance value corresponding to the power waiting value, and if the traveling resistance value is greater than the first threshold value, determining the adjustment strategy of the target motor again. Of course, it is also possible to return to S302 or S304 again after S308, that is, after determining the power preset value, and adjusting the power value of the target motor according to the power preset value, determine the traveling resistance value of the cleaning device again.

S3064: if so, the adjusting strategy comprises that the floor brush motor operates at a first power stored in advance, and the suction motor operates at a second power stored in advance, wherein the first power and the second power respectively meet the floor brush motor power and the suction motor power corresponding to the minimum value in the cleaning effect range; or if so, the adjusting strategy comprises that the associated motor runs at a pre-stored third power, the associated motor is a motor which is strongly associated with the traveling resistance value and weakly associated with the cleaning value in the target motor, and the third power is the minimum value of the associated motor which meets the preset condition. Wherein the preset condition is that the cleaning value is equal to the second threshold value.

In one embodiment, if the cleaning value of the cleaning device is less than the second threshold, it indicates that the power waiting value of the target motor is not appropriate, and to solve the problem that the traveling resistance value is greater than the first threshold, the floor brush motor may be driven to operate at the first power stored in advance, and the suction motor may be driven to operate at the second power stored in advance, that is, the power set previously, and obviously, the first power and the second power may enable the cleaning effect of the cleaning device to meet the minimum requirement. The first power and the second power may be obtained through experiments, respectively, and the values are previously stored in the cleaning device or the mobile terminal. For example, the first power is 60W, 70W or 80W, and the second power is 630W, 650W or 670W. It is understood that the second threshold and the first power and the second power should satisfy a preset second mapping relationship.

In another embodiment, it is determined that the cleaning value of the cleaning device is smaller than the second threshold, which indicates that the power waiting value of the target electrode is not appropriate, and in order to reduce the travel resistance value and make the cleaning value larger than the second threshold, the associated motor may be operated at a third power stored in advance, where the associated motor refers to a motor of the target motors that is strongly associated with the travel resistance value and weakly associated with the cleaning value, and obviously, reducing the power value of the associated motor may significantly reduce the travel resistance value without a substantial reduction in the cleaning value, where the third power is a minimum power value at which the travel resistance value is smaller than the first threshold and the cleaning value is larger than the second threshold.

S3065: if yes, determining that the working environment is the preset environment, and prompting a user to clean the cleaning equipment. Specifically, if the cleaning device is in a normal use state in a normal environment, the cleaning value smaller than the second threshold may be caused by more foreign matters in the floor brush or the dust cup, and the user may be prompted to clean, for example, parts of the floor brush or the dust cup of the cleaning device, which may affect the cleaning effect due to more foreign matters, may be cleaned.

Wherein, S3064 and S3065 can be performed simultaneously without being divided into front and rear.

It should be noted that, in S3061, the step length of the first preset step length and the second preset step length may be a difference value, for example, the power of the floor brush motor is E before being reduced, and the power is a value obtained by subtracting the first preset step length from E after being reduced; of course, the step length of the first preset step length and the second preset step length may be a ratio, and the ratio is smaller than 1, for example, the power of the floor brush motor is E before being reduced, and the product of E and the first preset step length is obtained after being reduced.

In the embodiment of the application, before and after the power of the floor brush motor and the power of the suction motor are reduced, the influence degree of the floor brush motor and the suction motor on the cleaning effect is the same, the first preset step length and the second preset step length can be both difference values, the first preset step length is the third coefficient, the second preset step length is the fourth coefficient, in other words, the first preset step length is C, and the second preset step length is D. Or, the first preset step is a multiple of the third coefficient, the second preset step is a multiple of the fourth coefficient, and so on, if the first preset step is 2C, the second preset step is 2D.

As a modification, in order to enable the influence degree of the floor brush motor and the suction motor on the traveling resistance value to be the same before and after the power of the floor brush motor and the power of the suction motor are reduced, the step lengths in the first preset step length and the second preset step length may be both different values, the first preset step length is the first coefficient, the second preset step length is the second coefficient, in other words, the first preset step length is a, and the second preset step length is B. Or, the first preset step is a multiple of the first coefficient, the second preset step is a multiple of the second coefficient, and so on, if the first preset step is 3A, the second preset step is 3B. Of course, the first preset step length and the second preset step length may be other values, and are not described in detail.

In one embodiment, the power value of the target motor on the cleaning device may be continuously adjusted, that is, the power value of the suction motor or the power value of the floor brush motor may be continuously adjusted, that is, the power value of the suction motor or the floor brush motor may be continuously changed within a range.

In another embodiment, the power value of the target motor on the cleaning device can be adjusted steplessly, that is, the power value of the suction motor or the power value of the floor brush motor cannot be adjusted continuously, that is, the power value of the suction motor or the floor brush motor can only be set to specific values, and each power value of the target motor corresponds to each gear. Therefore, the value of the first preset step should be associated with the power difference between the gears of the brush motor on the cleaning device, and the value of the second preset step should be associated with the power difference between the gears of the suction motor on the cleaning device.

As shown in fig. 4, a fourth implementation manner of the control method according to the embodiment of the present application includes S402, SF04, S406, and S408.

Wherein, the step S402 can refer to S102, the step S404 can refer to S104, and the step S408 can refer to S108. In S406, the method includes: determining an adjustment strategy for the target motor when the travel resistance value is greater than a first threshold value, wherein the first threshold value is a maximum value in a comfortable travel resistance value range, and the adjustment strategy comprises that a power waiting value of the target motor is equal to the first threshold value corresponding to the travel resistance value. In other words, when the traveling resistance value is greater than the first threshold value, the power of the target motor is to be set to be equal to the first threshold value corresponding to the traveling resistance value, that is, if the target motor operates with the power to be set to be equal to the first threshold value, the traveling resistance value is equal to the first threshold value, and then the problem that the traveling resistance value exceeds the first threshold value is solved.

It should be understood that the power value of the target motor may be adjusted by adjusting the rotational speed of the target motor. In general, the power value of the floor brush motor or the power value of the suction motor is positively correlated with the traveling resistance value and also positively correlated with the cleaning value.

The control method of the cleaning equipment provided by the embodiment of the application can realize the control of the traveling resistance value of the cleaning equipment without manually adjusting the gear of the motor by a user and wasting electric energy, so that the user can obtain a more comfortable push-pull effect and the cleaning effect is ensured. For the cleaning equipment, when the travelling resistance value is within the comfortable travelling resistance range, the push-pull force applied to the cleaning equipment by the corresponding user is also within the comfortable range, and the user can have good experience when pushing the cleaning equipment.

An embodiment of the present application further provides a cleaning apparatus, including: the device comprises a ground brush motor, a suction motor, a ground brush motor driving module, a suction motor driving module, a main control module and a ground brush current and load detection module.

The floor brush current and load detection module is used for detecting the current of the floor brush motor in operation and the roughness and material information of the cleaning object. The main control module obtains the current of the ground brush motor, the roughness and the material information of the cleaning object, calculates the power of the ground brush motor, and can calculate the advancing resistance value of the cleaning equipment by combining the power of the suction motor. When the traveling resistance value is larger than the first threshold value, the main control module controls at least one of the floor brush motor driving module or the suction motor driving module so as to adjust at least one of the floor brush motor power or the suction motor power. Therefore, it can be understood that the execution main body of the control method in the first embodiment may be the main control module in this embodiment.

An embodiment of the present application further provides a cleaning apparatus, and fig. 5 is a schematic block diagram of the cleaning apparatus 500 provided in the embodiment of the present application, where the cleaning apparatus includes:

a motor power obtaining module 510, configured to obtain a power value of a target motor, where the power value of the target motor can affect a traveling resistance value of the cleaning device;

a traveling resistance value determining module 520, configured to determine a traveling resistance value of the cleaning device according to the power value of the target motor based on a preset first mapping relationship;

an adjustment strategy determination module 530 for determining an adjustment strategy for the target motor when the travel resistance value is greater than a first threshold value, wherein the first threshold value is a maximum value in a range of comfortable travel resistance values;

and the power adjusting module 540 is configured to adjust the power value of the target motor according to the adjustment strategy.

In one embodiment, the adjustment policy determination module 530 is configured to:

when the traveling resistance value is larger than a first threshold value, determining a power waiting value of the target motor;

determining whether a cleaning value corresponding to the cleaning equipment is smaller than a second threshold value according to the power waiting value, wherein the cleaning value represents the cleaning effect of the cleaning equipment, and the second threshold value is the minimum value in the range of the cleaning effect which the cleaning equipment should reach;

if not, the adjustment strategy comprises that the target motor operates at the power preset value.

In one embodiment, the target motor comprises at least one of: a floor brush motor, a suction motor; the obtaining of the power value of the target motor includes:

at least one of the power of the floor brush motor and the power of the suction motor is obtained.

In one embodiment, the adjustment policy determination module 530 is configured to:

determining a power to-be-set value of the floor brush motor based on the current power of the floor brush motor and the power to-be-reduced amplitude value of the floor brush motor, wherein the power to-be-reduced amplitude value of the floor brush motor is determined based on a first preset step length; and/or

Determining a power to-be-set value of the suction motor based on the current power of the suction motor and the power to-be-reduced amplitude value of the suction motor, wherein the amplitude value of the power to-be-set value of the suction motor is determined based on a second preset step length;

determining whether the cleaning value corresponding to the cleaning equipment is smaller than a second threshold value according to the power waiting value comprises the following steps: and determining the cleaning value of the cleaning equipment according to the power to-be-set value of the floor brush motor and/or the power to-be-set value of the suction motor based on a preset second mapping relation, and determining whether the cleaning value is smaller than the second threshold value.

In one embodiment, the adjustment strategy determination module 530 is further configured to determine that the cleaning value corresponding to the cleaning device is less than the second threshold,

the adjustment strategy comprises that the floor brush motor operates at a first power stored in advance, and the suction motor operates at a second power stored in advance, wherein the first power and the second power respectively satisfy the floor brush motor power and the suction motor power corresponding to the minimum value in the cleaning effect range;

or

The adjustment strategy comprises that the associated motor runs at a prestored third power, the associated motor is a motor which is strongly associated with the traveling resistance value and weakly associated with the cleaning value in the target motor, and the third power is the minimum value of the associated motor which meets the preset condition.

In an embodiment, the adjustment strategy determining module 530 is further configured to determine that the working environment is the preset environment after determining that the cleaning value corresponding to the cleaning device is smaller than the second threshold, and prompt the user to clean the cleaning device.

In one embodiment, the motor power harvesting module 510 is configured to at least one of:

detecting the working current of a ground brush motor, and acquiring the power of the ground brush motor according to the working current of the ground brush motor;

and acquiring the power of the ground brush motor by using the load sensed by the sensor.

In one embodiment, the motor power harvesting module 510 is further configured to at least one of:

detecting the roughness of a cleaning object, and acquiring the load of the cleaning equipment according to the roughness of the cleaning object;

and detecting the material of the cleaning object, and acquiring the load of the cleaning equipment according to the material of the cleaning object.

In one embodiment, the preset first mapping relationship includes: a travel resistance coefficient equal to the sum of the floor brush motor power multiplied by a first coefficient and the suction motor power multiplied by a second coefficient, the travel resistance coefficient characterizing the travel resistance value;

the preset second mapping relationship comprises: the cleaning value is equal to the sum of the power of the floor brush motor multiplied by a third coefficient and the power of the suction motor multiplied by a fourth coefficient;

the step length in the first preset step length and the second preset step length is a difference value, and the values of the first preset step length and the second preset step length include at least one of the following values:

the first preset step length is the third coefficient, and the second preset step length is the fourth coefficient;

the first preset step is the first coefficient, and the second preset step is the second coefficient.

In one embodiment, the adjustment strategy determination module 530 is configured to cause the power treat value of the target motor to correspond to the resistance to travel value being equal to the first threshold value.

The cleaning device of the embodiment of the application can realize the processes in the figures 1-4 and achieve the same technical effect.

The application further provides a cleaning device, the cleaning device includes a memory, a processor, and a control program of the cleaning device, which is stored in the memory and can be run on the processor, and when the control program of the cleaning device is executed by the processor, the control program of the cleaning device implements each process of the control method embodiment of the cleaning device, and can achieve the same technical effect, and is not described herein again to avoid repetition.

The present application also provides an electronic device, comprising a processor, a memory, and a program or instructions stored on the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the processes of fig. 1-4. The electronic device may be a mobile terminal or the like for controlling the cleaning device.

The present application further provides a computer-readable storage medium, in which a control program of the cleaning device is stored, and when the control program of the cleaning device is executed by the processor, the process of the control method is implemented, and the same technical effect can be achieved, and details are not repeated here to avoid repetition. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.