CN-121987085-A - Cleaning device control method, apparatus, device, storage medium, and program product

CN121987085ACN 121987085 ACN121987085 ACN 121987085ACN-121987085-A

Abstract

The application provides a cleaning equipment control method, a cleaning equipment control device, cleaning equipment control equipment, a storage medium and a program product, and relates to the technical field of intelligent equipment. The cleaning device comprises a first rotating mechanism, a second rotating mechanism, a first scraping strip and a second scraping strip, wherein the first rotating mechanism and the second rotating mechanism are used for driving the cleaning device to move, the method comprises the steps of obtaining first speed information of the first rotating mechanism and second speed information of the second rotating mechanism, wherein the first speed information indicates a first speed value and first direction information, the second speed information indicates a second speed value and second direction information, a first movement state of the cleaning device is determined based on the first speed information and the second speed information, and the first scraping strip and the second scraping strip are controlled based on the first movement state of the cleaning device. The method is used for improving the motion state judgment precision of the cleaning equipment, so that the cleaning efficiency and the stability of the cleaning equipment are improved.

Inventors

Shang biao
ZHANG MENGJIE
GAO CHAO
HU CHENG
Tian Songzhao
ZHOU XIAOFENG
TIAN CHUNYONG
WANG LI

Assignees

窗前明净科技(苏州)有限公司

Dates

Publication Date: 20260508
Application Date: 20260317

Claims (11)

1. A cleaning device control method, wherein the cleaning device includes a first rotating mechanism, a second rotating mechanism, a first scraping bar and a second scraping bar, the first rotating mechanism and the second rotating mechanism are used for driving the cleaning device to move, the method comprises: Acquiring first speed information of the first rotating mechanism and second speed information of the second rotating mechanism, wherein the first speed information indicates a first speed value and first direction information, and the second speed information indicates a second speed value and second direction information; Determining a first motion state of the cleaning device based on the first speed information and the second speed information; the first and second wiper strips are controlled based on a first motion state of the cleaning device.
2. The method of claim 1, wherein the determining a first motion state of the cleaning device based on the first speed information and the second speed information comprises: If the first speed value in the first speed information is greater than a speed threshold value, the second speed value in the second speed information is greater than the speed threshold value, and the first direction information in the first speed information and the second direction information in the second speed information are in the same direction, determining that the first motion state is forward; If the first speed value in the first speed information is smaller than the opposite number of the speed threshold value, the second speed value in the second speed information is smaller than the opposite number of the speed threshold value, and the first direction information in the first speed information and the second direction information in the second speed information are in the same direction, determining that the first motion state is backward; if the first speed value in the first speed information is smaller than the opposite number of the speed threshold value, the second speed value in the second speed information is larger than the speed threshold value, and the first direction information in the first speed information and the second direction information in the second speed information are opposite, determining that the first movement direction is left turn; If the first speed value in the first speed information is larger than the speed threshold value, the second speed value in the second speed information is smaller than the opposite number of the speed threshold value, and the first direction information in the first speed information and the second direction information in the second speed information are opposite, determining that the first movement direction is a right turn; And if the first speed value in the first speed information is smaller than the speed threshold absolute value and the second speed value in the second speed information is smaller than the speed threshold absolute value, determining that the first movement direction is static.
3. The method of claim 2, wherein the controlling the first and second wiper strips based on the motion state of the cleaning device comprises: The first scraping bar and the second scraping bar are controlled based on a first motion state of the cleaning device and target information, wherein the target information comprises a count value, and the count value is used for indicating the number of times of direction inconsistency, and the direction inconsistency refers to that in the motion state determined based on the speed information of the first rotating mechanism and the speed information of the second rotating mechanism, the direction is inconsistent with the executing direction of the cleaning device.
4. A method according to claim 3, wherein controlling the first and second wiper strips based on the first motion state of the cleaning device and target information comprises: controlling the first scraping strip and the second scraping strip by adopting the first motion state under the condition that the count value reaches a frequency threshold value; and in the case that the count value does not reach the frequency threshold, controlling the first scraping bar and the second scraping bar by adopting the motion state which is being executed by the cleaning device.
5. The method according to claim 3 or 4, wherein in case the movement state of the cleaning device comprises a left or right turn, the target information further comprises a ratio of the first speed value to the second speed value; the controlling the first and second wiper strips based on the first motion state of the cleaning device and target information includes: Determining a second motion state of the cleaning device based on the ratio in the case that the motion state of the cleaning device based on the first motion state comprises a left turn or a right turn; And controlling the first scraping strip and the second scraping strip by adopting the second motion state.
6. The method of claim 5, wherein determining a second motion state of the cleaning device based on the ratio comprises: Calculating a ratio of a first speed value in the first speed information to a second speed value in the second speed information based on the first speed value in the first speed information being greater than an absolute value of the speed threshold and the second speed value in the second speed information being greater than an absolute value of the speed threshold; if the ratio is greater than the absolute value of the preset ratio threshold and the second speed value in the second speed information is greater than the absolute value of the first speed value in the first speed information, determining that the second movement direction is left turning; if the ratio is greater than the absolute value of a preset ratio threshold and the first speed value in the first speed information is greater than the absolute value of the second speed value in the second speed information, determining that the second movement direction is right-turning; if the ratio is smaller than or equal to the absolute value of a preset ratio threshold, and the first speed value in the first speed information and the second speed value in the second speed information are both positive numbers, determining that the second movement direction is forward; And if the ratio is smaller than or equal to the absolute value of the preset ratio threshold, and the first speed value in the first speed information and the second speed value in the second speed information are both negative numbers, determining that the second movement direction is backward.
7. The method of any one of claims 1-4, wherein the first rotating mechanism includes a first drive wheel and a first driven wheel, the second rotating mechanism includes a second drive wheel and a second driven wheel, the first speed information is speed information of the first drive wheel, and the second speed information is speed information of the second drive wheel.
8. The utility model provides a cleaning equipment controlling means, its characterized in that, cleaning equipment includes first rotary mechanism, second rotary mechanism, first scraping strip and second scraping strip, first rotary mechanism with second rotary mechanism is used for driving cleaning equipment motion includes: The device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring first speed information of the first rotating mechanism and second speed information of the second rotating mechanism, wherein the first speed information indicates a first speed value and first direction information, and the second speed information indicates a second speed value and second direction information; A determining module for determining a first motion state of the cleaning device based on the first speed information and the second speed information; and the control module is used for controlling the first scraping strip and the second scraping strip based on the first motion state of the cleaning equipment.
9. An electronic device comprising a processor and a memory communicatively coupled to the processor; The memory stores computer-executable instructions; The processor executes computer-executable instructions stored in the memory to implement the method of any one of claims 1 to 7.
10. A computer readable storage medium having stored therein computer executable instructions which when executed by a processor are adapted to carry out the method of any one of claims 1 to 7.
11. A computer program product comprising a computer program which, when executed by a processor, implements the method of any one of claims 1 to 7.

Description

Cleaning device control method, apparatus, device, storage medium, and program product Technical Field The present application relates to the field of intelligent devices, and in particular, to a cleaning device control method, apparatus, device, storage medium, and program product. Background Cleaning devices are widely used in domestic, commercial and industrial environments. Existing cleaning devices typically rely on a wheel drive system and a wiper strip assembly to work cooperatively, but the degree of matching of the motion of the cleaning device to the wiper strip assembly affects cleaning efficiency and cleaning device life. Therefore, how to control the cleaning device is of great importance. Currently, existing cleaning equipment control methods are mainly based on static control of the start and stop of the wiper strip with a single speed threshold. The method mainly controls the scraping strip according to a preset rule, for example, the scraping strip is in an operating state when the cleaning equipment advances, and is in a non-operating state when the cleaning equipment is stationary. However, the existing cleaning apparatus control method results in low accuracy of determination of the motion state of the existing cleaning apparatus, and poor cleaning efficiency and stability of the cleaning apparatus. Disclosure of Invention The application provides a cleaning equipment control method, a cleaning equipment control device, a cleaning equipment control equipment, a storage medium and a program product, which are used for achieving the effect of improving the motion state judgment precision of the cleaning equipment so as to improve the cleaning efficiency and the stability of the cleaning equipment. In a first aspect, the present application provides a cleaning apparatus control method, where the cleaning apparatus includes a first rotation mechanism, a second rotation mechanism, a first scraping strip, and a second scraping strip, where the first rotation mechanism and the second rotation mechanism are used to drive the cleaning apparatus to move, and the method includes: Acquiring first speed information of the first rotating mechanism and second speed information of the second rotating mechanism, wherein the first speed information indicates a first speed value and first direction information, and the second speed information indicates a second speed value and second direction information; Determining a first motion state of the cleaning device based on the first speed information and the second speed information; the first and second wiper strips are controlled based on a first motion state of the cleaning device. In a possible embodiment, the determining the first motion state of the cleaning device based on the first speed information and the second speed information includes: If a first speed value in the first speed information is greater than the speed threshold, a second speed value in the second speed information is greater than the speed threshold, and the first direction information in the first speed information and the second direction information in the second speed information are in the same direction, determining that the first motion state is forward; If the first speed value in the first speed information is smaller than the opposite number of the speed threshold value, the second speed value in the second speed information is smaller than the opposite number of the speed threshold value, and the first direction information in the first speed information and the second direction information in the second speed information are in the same direction, determining that the first motion state is backward; if the first speed value in the first speed information is smaller than the opposite number of the speed threshold value, the second speed value in the second speed information is larger than the speed threshold value, and the first direction information in the first speed information and the second direction information in the second speed information are opposite, determining that the first movement direction is left turn; If the first speed value in the first speed information is larger than the speed threshold value, the second speed value in the second speed information is smaller than the opposite number of the speed threshold value, and the first direction information in the first speed information and the second direction information in the second speed information are opposite, determining that the first movement direction is a right turn; And if the first speed value in the first speed information is smaller than the speed threshold absolute value and the second speed value in the second speed information is smaller than the speed threshold absolute value, determining that the first movement direction is static. In a possible embodiment, the controlling the first and second wiper strips based on the motion state of the cleaning device includes: The first scraping b