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CN-118141289-B - Control method of cleaning equipment and cleaning equipment

CN118141289BCN 118141289 BCN118141289 BCN 118141289BCN-118141289-B

Abstract

The application discloses a control method of cleaning equipment and the cleaning equipment, and relates to the field of intelligent cleaning, wherein the method comprises the steps of determining material information of a target object in a cleaning area, wherein the material information is used for representing the material of the target object; further, the initial cleaning parameters corresponding to the cleaning area can be determined based on the material information and an initial model, wherein the initial model is determined based on known training data and is used for obtaining the initial cleaning parameters of the cleaning equipment based on the initial data, and further, the cleaning area is cleaned based on the initial cleaning parameters. Through the determination of the material information, the material information is input into the initial model to obtain corresponding cleaning parameters, the cleaning area is further cleaned based on the cleaning parameters, the cleaning of different materials and different dirt levels is realized, and the cleaning effect of the cleaning equipment is improved.

Inventors

  • HUANG YONGFENG
  • LIU YUDONG

Assignees

  • 深圳市优必选科技股份有限公司

Dates

Publication Date
20260508
Application Date
20240326

Claims (5)

  1. 1. A control method of a cleaning apparatus, comprising: Acquiring initial data corresponding to a cleaning area, wherein the initial data at least comprises material identification data and resistance data, the material identification data is determined by the acquired ultrasonic data and shooting data, the shooting data at least comprises an image corresponding to the cleaning area or a video corresponding to the cleaning area, and the resistance data is determined by the acquired rotating speed data and current data; determining material information of a target object in the cleaning area based on the material identification data and the resistance data, wherein the material information is used for representing the material of the target object; determining initial cleaning parameters corresponding to the cleaning area based on the material information and an initial model, wherein the initial model is determined based on known training data; cleaning the cleaning area based on the initial cleaning parameters, and determining a first cleaning degree of the cleaning area; if the first cleaning degree does not reach the preset cleaning degree, adjusting the initial cleaning parameter, and determining a second cleaning degree corresponding to the cleaning region based on the adjusted cleaning of the cleaning region by the initial cleaning parameter; and when the second cleaning degree reaches the preset cleaning degree, adjusting the initial model based on the corresponding material information and the adjusted initial cleaning parameters, and determining a target model.
  2. 2. The control method of a cleaning apparatus according to claim 1, wherein after determining the first degree of cleaning of the cleaning region, the method further comprises: adjusting the initial model based on the first degree of cleanliness to determine a target model; determining a target cleaning parameter based on the target model, and cleaning the cleaning region based on the target cleaning parameter.
  3. 3. The control method of a cleaning apparatus according to claim 1, wherein the initial data further includes positioning data, the method further comprising: constructing a space map of the cleaning area corresponding to a space to be cleaned based on the positioning data, wherein the space to be cleaned comprises the cleaning area; After the determining of the material information of the cleaning area, the method further comprises: determining the association relation between the corresponding target object of the material information and the space map; And updating the space map based on the association relation so that the cleaning equipment cleans based on the updated space map.
  4. 4. A cleaning device, comprising a sensor module, a cleaning module, a model module and a control module; the sensor module is used for acquiring initial data corresponding to a cleaning area, wherein the cleaning area is an area corresponding to the position of cleaning equipment, and comprises an ultrasonic sensor, a rotating speed sensor, a current sensor and a camera, wherein the ultrasonic sensor is used for acquiring ultrasonic data of a target object in the cleaning area, the rotating speed sensor is used for detecting rotating speed data of a motor in the cleaning equipment, the current sensor is used for detecting current data of the motor, and the camera is used for acquiring shooting data, and the shooting data at least comprises an image corresponding to the cleaning area or a video corresponding to the cleaning area; The initial data at least comprises material identification data and resistance data, wherein the material identification data is determined by the ultrasonic data and the shooting data, and the resistance data is determined by the rotating speed data and the current data; the control module is used for executing the steps of determining the material information of the target object in the cleaning area, sending the material information to the model module, wherein the material information is determined by the initial data, and the material information is used for representing the material of the target object; the cleaning module is used for cleaning the cleaning area based on the initial cleaning parameters; the model module is used for determining initial cleaning parameters corresponding to the cleaning area based on the material information and an initial model, wherein the initial model is determined based on known training data; The control module is further configured to determine a first cleaning degree of the cleaning area, adjust the initial cleaning parameter if the first cleaning degree does not reach a preset cleaning degree, send the material information and the adjusted initial cleaning parameter to the model module, determine a second cleaning degree corresponding to the cleaning area, and adjust the initial model to determine a target model based on the corresponding material information and the adjusted initial cleaning parameter when the second cleaning degree reaches the preset cleaning degree.
  5. 5. The cleaning apparatus of claim 4, wherein the control module is further configured to perform: receiving target cleaning parameters fed back by the model module, and sending the target cleaning parameters to the cleaning module; the cleaning module is used for cleaning the cleaning area based on the target cleaning parameters; the model module is further configured to determine a target model based on adjusting the initial model, and determine a target cleaning parameter based on the target model.

Description

Control method of cleaning equipment and cleaning equipment Technical Field The application relates to the field of intelligent cleaning, in particular to a control method of cleaning equipment and the cleaning equipment. Background Along with the development of artificial intelligence, more and more artificial intelligent devices enter the life of people, and cleaning equipment is used as main artificial intelligent devices in daily life, so that cleaning work can be automatically completed. In the related art, in a scene to be cleaned, the cleaning device generally performs cleaning of the entire scene in a single operation mode corresponding to a preset cleaning mode, however, the ground in the scene tends to be complex, for example, the ground laying floors of the respective areas are different in a home scene, resulting in poor cleaning effect of the cleaning device on the partial areas. Disclosure of Invention The application provides a control method of cleaning equipment and the cleaning equipment, which can solve the technical problem that the cleaning equipment has poor cleaning effect on partial areas in the whole scene. In a first aspect, a control method of a cleaning device is provided, which includes determining material information of a target object in a cleaning area, wherein the material information is used for representing a material of the target object, determining an initial cleaning parameter corresponding to the cleaning area based on the material information and an initial model, wherein the initial model is a model determined based on known training data, and cleaning the cleaning area based on the initial cleaning parameter. It should be appreciated that the initial model is a model determined based on known training data, and that the cleaning parameters corresponding to the cleaning area, e.g., initial cleaning parameters, etc., are determined based on the initial model that has been trained, while providing more accurate cleaning parameters, data processing speed is also improved. The control method of the cleaning equipment obtains corresponding cleaning parameters by determining the material information and inputting the material information into the initial model, cleans the cleaning area based on the cleaning parameters, cleans different materials and different dirt levels, and improves the cleaning effect of the cleaning equipment. In one possible implementation, a first degree of cleaning of the cleaning region is determined after the cleaning region is cleaned based on the initial cleaning parameter, the initial model is adjusted based on the first degree of cleaning, a target model is determined, the target cleaning parameter is determined based on the target model, and the cleaning region is cleaned based on the target cleaning parameter. In this case, in one possible implementation manner, the method further includes adjusting an initial cleaning parameter if the first cleaning degree does not reach the preset cleaning degree, determining a second cleaning degree corresponding to the cleaning region based on the cleaning of the cleaning region by the adjusted initial cleaning parameter, and adjusting the initial model to determine the target model based on the corresponding material information and the adjusted initial cleaning parameter when the second cleaning degree reaches the preset cleaning degree. The initial model is adjusted by analyzing the corresponding cleaning degree in the actual use process, for example, analyzing the relation between the first cleaning degree and the preset cleaning degree, so that the adjusted target model is more suitable for the scene of user application, and the cleaning effect is further improved. In one possible implementation, determining material information of a target in a cleaning region includes: Acquiring initial data corresponding to the cleaning region, wherein the initial data at least comprises material identification data, the material identification data is data acquired for the material of the target object, determining the material information of the cleaning region based on the material identification data, or And determining the material information of the cleaning area based on the material identification data and the resistance data. Different material information determining methods can determine the corresponding material information determining process according to actual application, wherein the accuracy of material information determination is different and the determined processing speed is different. In this case, in one possible implementation, the initial cleaning parameters corresponding to the cleaning area may be determined based on the texture information, the initial data, and the initial model, where the initial data may also include information regarding the degree of dirt on the target in the cleaning area. In one possible implementation, the initial data includes ultrasonic data, shooting dat