CLEANING DEVICE AND CONTROL METHOD THEREOF, AND COMPUTER-READABLE STORAGE MEDIUM

Abstract

Disclosed are a cleaning device and a control method thereof, and a computer-readable storage medium. The cleaning device includes a device body, a cleaning module and a thickness measurement module. The cleaning module is provided on the device body and is provided with a water outlet and a water suction port, the water outlet is configured to discharge water toward the carpet, and the water suction port is configured to suck water from the carpet. The thickness measurement module is provided on the device body and is configured to obtain the thickness parameter of the carpet. The cleaning module is configured to control the outflow of the water outlet and/or the suction power of the water suction port according to the thickness parameter.

Description

TECHNICAL FIELD

The present application relates to the technical field of cleaning machines, and in particular to a cleaning device and a control method thereof, and a computer-readable storage medium.

BACKGROUND

For cleaning device that uses water washing to clean carpets, during the process of cleaning the carpet, the carpet is usually wetted first, and then the water in the carpet is sucked away to achieve the cleaning effect.

Since carpets have different thicknesses, thicker carpets require more water to clean. However, the outflow of the cleaning device is uniform and stable, resulting in incomplete cleaning due to insufficient water for overly thick carpets and too long drying time after cleaning due to excessive water for too thin carpets, which reduces the user experience.

SUMMARY

The main purpose of the present application is to provide a cleaning device, aiming to detect the thickness of the carpet through a thickness measurement module, and then adjusts the outflow of the water outlet according to the thickness of the carpet to improve the cleaning effect of the carpet.

In order to achieve the above purpose, the cleaning device of the present application includes:

• • a device body;
  • a cleaning module provided on the device body and provided with a water outlet and a water suction port, the water outlet is configured to discharge water toward a carpet, and the water suction port is configured to suck water from the carpet; and
  • a thickness measurement module provided in the device body, the thickness measurement module is configured to obtain a thickness parameter of the carpet, and the cleaning module is configured to control an outflow of the water outlet and/or a suction power of the water suction port according to the thickness parameter.

In an embodiment, the device body is provided with a floating member, the floating member is movably provided on the device body and maintains a state of being close to a surface of the carpet, so as to adapt the thickness parameter;

• • the thickness measurement module comprises a first sensor fixed to the device body, and the first sensor is opposite to the floating member and is configured to detect a distance between the floating member and the first sensor.

In an embodiment, the device body includes a sewage tank, the floating member is configured as a floating suction nozzle that communicates with the cleaning module and the sewage tank, and the floating suction nozzle is provided with the water suction port and is rotatably provided on the device body, to allow the water suction port to maintain a state of being close to the surface of the carpet.

In an embodiment, a rotational connection position of the floating suction nozzle and the device body is provided adjacent to a communication port where the floating suction nozzle is communicated with the sewage tank, a distance between the water suction port and the rotational connection position is greater than a distance between the communication port and the rotational connection position, and the first sensor is provided adjacent to the water suction port.

In an embodiment, the thickness measurement module includes a second sensor, and the second sensor is provided tilted or vertically downward and is configured to measure a distance between the device body and a surface of the carpet.

In an embodiment, the second sensor is provided on a side of the device body and is configured as a line laser sensor, the line laser sensor is configured to project a horizontal line laser parallel to a side surface of the device body towards the carpet, and/or the line laser sensor is configured to project a vertical line laser on a vertical surface towards the carpet.

In an embodiment, the second sensor is provided at a bottom of the device body and is vertically opposite to the surface of the carpet.

In an embodiment, the thickness measurement module includes a current detector, the device body is provided with driving wheels, the current detector is configured to obtain a current signal of the driving wheels, and the thickness measurement module is configured to obtain the thickness parameter according to the current signal.

In addition, in order to achieve the above purpose, the present application also provides a method for controlling a cleaning device as described above, and the method includes:

• • obtaining a thickness parameter collected by a thickness measurement module of the cleaning device;
  • controlling a cleaning module of the cleaning device to operate at a preset gear according to the thickness parameter, multiple preset gears are provided, and the cleaning module at each of the preset gears has different outflow and/or suction power; and
  • controlling the cleaning device to clean a carpet at a selected preset gear.

In an embodiment, the thickness measurement module is configured as a sensor, the cleaning module includes a floating suction nozzle, and obtaining the thickness parameter collected by the thickness measurement module of the cleaning device including:

• • obtaining, by a processor, a ground height of a device body of the cleaning device and storing, by the processor, the ground height in the memory;
  • obtaining, by a sensor, a distance between the sensor and the floating suction nozzle or a distance between the device body and a surface of the carpet, as a thickness signal; and
  • comparing, by the processor, the ground height with the thickness signal to obtain the thickness parameter.

In an embodiment, the sensor is configured as a line laser sensor, and obtaining, by the sensor, the distance between the device body and the surface of the carpet as the thickness signal includes:

• • projecting, by a transmitting end of the line laser sensor, a horizontal line laser and/or a vertical line laser on the surface of the carpet;
  • obtaining, by a receiving end of the line laser sensor, a position parameter and a reflectivity parameters of the horizontal line laser or the vertical line laser; and
  • obtaining, by the processor, the thickness signal based on the position parameter, and/or obtaining, by the processor, a type of the carpet based on the reflectivity parameter.

In an embodiment, controlling the cleaning module of the cleaning device to operate at the preset gear according to the thickness parameter includes:

obtaining, by a processor, a standard distance that the cleaning device moves and storing the standard distance in the memory;

• • based on the thickness parameter, determining, by the processor, an outflow of a water outlet of the cleaning module in the standard distance as standard outflow, the thickness parameter is positively correlated with the standard outflow; and
  • based on the standard outflow, determining, by the processor, a suction power of a water suction port of the cleaning module as a standard suction power, the standard outflow is positively correlated with the standard suction power.

In addition, in order to achieve the above purpose, the present application also provides a computer-readable storage medium, a cleaning control program is stored on the computer-readable storage medium, and the method for controlling the cleaning device as described above is implemented when the cleaning control program is executed by a processor.

In the technical solution of the present application, the thickness measurement module is provided on the device body, and is communicated with the cleaning module. When the cleaning device cleans the carpet, the thickness measurement module detects the current thickness of the carpet, and the cleaning module controls the water outlet to flow out an appropriate outflow, or controls the water suction port to provide an appropriate suction power, or both according to the current thickness of the carpet. That is, for thicker carpets, the outflow of the water outlet is larger, or the suction power provided by the water suction port is also larger, or both the outflow of the water outlet and the suction power from the water suction port are larger; for thinner carpets, the outflow of the water outlet is smaller, or the suction power provided by the water suction port is also small, or both the outflow of the water outlet and the suction power from the water suction port are small. This enables the cleaning device to have good cleaning effects on carpets of various thicknesses, improving the user experience.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to describe the technical solutions in the embodiments of the present application or in the related art more clearly, the accompanying drawings required to be used in the description of the embodiments or the related art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a cleaning device according to an embodiment of the present application.

FIG. 2 is a schematic structural diagram of a cleaning device according to another embodiment of the present application.

FIG. 3 is a control logic diagram of the cleaning device in another embodiment of the present application.

FIG. 4 is a flow chart of the method for controlling the cleaning device according to an embodiment of the present application.

FIG. 5 is a detailed flow chart of step S100 in FIG. 4.

FIG. 6 is a detailed flow chart of step S120 in FIG. 5.

FIG. 7 is a detailed flow chart of step S200 in FIG. 4.

FIG. 8 is a system control logic diagram of the cleaning device according to an embodiment of the present application.

The realization of the purpose, functional features and advantages of the present application will be further described in conjunction with the embodiments, with reference to the accompanying drawings.

DETAILED DESCRIPTION OF THE EMBODIMENTS

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some rather than all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts fall within the scope of the present application. It should be understood that the specific embodiments described here are only used to explain the present application and are not intended to limit the present application.

It should be noted that all directional indications (such as up, down, left, right, front, back . . . ) in the embodiments of the present application are only used to explain the relative positional relationship, movement conditions, etc., between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indication will also change accordingly.

In addition, if there are descriptions related to “first”, “second”, etc. in the embodiments of the present application, the descriptions of “first”, “second”, etc. are only for descriptive purposes and cannot be understood as indicating or implicating the relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined with “first” and “second” can explicitly or implicitly include at least one of these features. In addition, the meaning of “and/or” appearing in the entire text includes three parallel solutions. Taking “A and/or B” as an example, it includes solution A, or solution B, or a solution that satisfies both A and B. In addition, the technical solutions in various embodiments can be combined with each other, but it must be based on the realization by those skilled in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that such a combination of technical solutions does not exist, and is not within the scope of the present application.

The present application provides a cleaning device.

In the embodiment of the present application, referring to FIG. 1 to FIG. 3 and FIG. 8, the cleaning device includes a device body 100, a cleaning module 20 and a thickness measurement module 40.

The cleaning module 20 is provided on the device body 100 and is provided with a water outlet 130 and a water suction port 111. The water outlet 130 is configured to discharge water toward a carpet, and the water suction port 111 is configured to suck water from the carpet.

The thickness measurement module 40 is provided on the device body 100 and is configured to obtain the thickness parameter of the carpet. The cleaning module 20 controls the outflow of the water outlet 130 and/or the suction power of the water suction port 111 according to the thickness parameter.

In the technical solution of the present application, the thickness measurement module 40 is provided on the device body 100, and the thickness measurement module 40 is connected to the cleaning module 20. When the cleaning device cleans the carpet, the thickness measurement module 40 detects the current thickness of the carpet, the cleaning module 20 controls the water outlet 130 to flow out a suitable outflow according to the current thickness of the carpet, or controls the water suction port 111 to provide a suitable suction power. Alternatively, when the water outlet 130 flows out the suitable outflow, the water suction port 111 also provides the suitable suction power, that is, for thicker carpets, the outflow of the water outlet 130 is larger, or the suction power provided by the water suction port 111 is also larger, or both the outflow of the water outlet and the suction power from the water suction port are larger; for thinner carpets, the outflow of the water outlet 130 is small, or the suction power provided by the water suction port 111 is also small, or both the outflow of the water outlet and the suction power from the water suction port are small. This enables the cleaning device to have good cleaning effects on carpets with various thicknesses, improving the user experience. The thickness of the carpet is positively correlated with the water absorption capacity of the carpet. The thicker the carpet, the greater the water absorption capacity of the carpet, and the greater the water consumption of cleaning the carpet. During the cleaning process of the carpet, a ratio of the water sucked by the water suction port 111 to the water flowing out of the water outlet 130 is between 0.3 and 0.9, which is a good return water ratio and can ensure the cleaning effect of the carpet. It should be noted that the cleaning device can be configured as a carpet cleaning robot, which can achieve autonomous action control and autonomous cleaning of the carpet. The cleaning device can also be configured as a manual cleaning device to avoid manual adjustment of the outflow and the suction power by a user, which can improve the user's experience. In this embodiment, the cleaning device is configured as a carpet cleaning robot, on the traveling route of the cleaning device, the water outlet 130 is provided in front of the water suction port 111.

In an embodiment, the cleaning module 20 has cleaning components such as roller brushes and rollers for cleaning carpets. These components can be provided in the water outlet 111 to clean the carpet at the position of the water outlet 111. These components can also be provided between the water suction port 111 and the water outlet 130, after wetting the carpet with the water outlet 111, the cleaning component is used to clean the carpet. The thickness parameter of the carpet reflects the thickness of the carpet. Under the same thickness parameter, the water consumption for cleaning carpets with different materials will be different. Whether it is the same type of carpet or different types of carpets, the thickness parameter is positively correlated with the water consumption for cleaning the carpet.

In an embodiment, please refer to FIG. 1, the device body 100 is provided with a floating member (not shown in the figure). The floating member is movably provided on the device body 100 and can maintain a state of being attached to the surface of the carpet to adapt to the thickness parameter. The thickness measurement module 40 includes a first sensor 200 fixed on the device body 100. The first sensor 200 is opposite to a floating nozzle 110 and configured to detect the distance between the floating nozzle 110 and the first sensor 200. Specifically, the device body 100 can be provided with the floating member on the front side of the cleaning device in the forward direction, or on the back side or left and right sides. The floating member can fit the surface of the carpet and correspond to carpets of different thicknesses. The first sensor 200 on the device body 100 detects that the distance between the floating member and the first sensor 200 is different. The thicker the carpet, the greater the distance between the first sensor 200 and the floating member. In this way, the cleaning device of this embodiment can control the cleaning module 20 to flow out an appropriate outflow and provide an appropriate suction power according to different thicknesses of the carpets. In addition, if the floating member is provided on the front side of the device body 100, it can reflect the carpet thickness on the current path in advance, reserve the cleaning adjustment time for the cleaning module 20, ensure the timeliness of the cleaning adjustment of the cleaning device, and better adapt to different thicknesses on the carpet, thereby improving the accuracy and cleaning effect of cleaning the carpet.

In this embodiment, please refer to FIG. 1, the device body 100 includes a sewage tank 120. The floating member is configured as a floating suction nozzle 110 connected between the cleaning module 20 and the sewage tank 120. The floating suction nozzle 110 is provided with a water suction port 111 and is rotatably provided on the device body 100, so that the water suction port 111 can maintain a state of being in contact with the surface of the carpet. It should be noted that due to the weight of the cleaning device and the relatively soft nature of the carpet, when the cleaning device cleans the carpet, the weight of the cleaning device is concentrated on the device body 100, so that the wheels under the device body 100 sink into the bottom of the carpet. The floating suction nozzle 110 can float relative to the device body 100, resulting in a smaller force of the floating suction nozzle 110 acting on the surface of the carpet, so that the water suction port 111 on the floating suction nozzle 110 can fit on the surface of the carpet without sinking into the carpet, or the depth of sinking into the carpet is shallow. It can be understood that for carpets of different thicknesses, the movement range of the floating suction nozzle 110 relative to the device body 100 will be different, that is, the thicker the carpet, the greater the distance between the floating suction nozzle 110 and the first sensor 200. In this way, for carpets of different thicknesses, the distance between the first sensor 200 and the floating suction nozzle 110 in the cleaning device will be different, so that the distance between the first sensor 200 and the floating suction nozzle 110 is detected by the first sensor 200, which indirectly reflects the current thickness of the carpet. This allows the cleaning module 20 to control the water outlet 130 to flow out a suitable outflow and control the water suction port 111 to provide suitable suction power to ensure the cleaning effect of the carpet. In addition, the first sensor 200 in this embodiment detects the floating suction nozzle 110, thereby utilizing the original components in the cleaning device that can reflect the thickness of the carpet and avoiding providing a separate component that reflects the thickness of the carpet, which can reduce costs. Without loss of generality, during the process of cleaning the carpet by the cleaning device, the floating suction nozzle 110 can remain close to the surface of the carpet to ensure the cleaning effect on carpets of different thicknesses or carpets with uneven surfaces. The floating suction nozzle 110 can also be set only to follow the thickness of the carpet without maintaining conformity to the surface of the carpet. Specifically, the first sensor 200 is configured as a ranging sensor such as a position sensitive detector (PSD) sensor, a point laser sensor or an infrared sensor.

In this embodiment, please refer to FIG. 1, the rotational connection position of the floating suction nozzle 110 and the device body 100 is located adjacent to the communication port (not shown in the figure) between the floating suction nozzle 110 and the sewage tank 120. The distance between the water suction port 111 and the rotational connection position is greater than the distance between the communication port and the rotational connection position, and the first sensor 200 is provided adjacent to the water suction port 111. It can be understood that the floating amplitude of the floating suction nozzle 110 at the water suction port 111 is greater than the floating range at the communication port. The first sensor 200 is provided adjacent to the water suction port 111 of the floating suction nozzle 110, which amplifies the display of changes in carpet thickness during the floating process of the floating suction nozzle 110, and reduces the detection error of the first sensor 200 and the accuracy requirements for the first sensor 200, so that the first sensor 200 can more accurately reflect the thickness of the carpet. As a result, the accuracy of the outflow and suction power control of the cleaning device for carpets of different thicknesses can be improved, and the cleaning effect and user experience can be ensured. In addition, during the floating process of the floating suction nozzle 110, the deformation amplitude of the connection between the floating suction nozzle 110 and the sewage tank 120 is relatively low, ensuring the tightness of the connection between the floating suction nozzle 110 and the sewage tank 120. Moreover, due to the low requirement for the elastic capacity of the connection between the floating suction nozzle 110 and the sewage tank 120, most elastic materials on the market are suitable, thereby reducing the production costs. In other embodiments, the distance between the water suction port 111 and the rotational connection position can be smaller than the distance between the communication port and the rotational connection position, and the first sensor 200 can be provided adjacent to the communication port, or the first sensor 200 can be configured as an angle sensor, for detecting the rotation angle of the floating suction nozzle 110 at the rotation connection position to adapt to the thickness of the carpet.

In another embodiment, please refer to FIG. 2, the thickness measurement module 40 includes a second sensor 300, the second sensor 300 is tilted or vertically downward and is used to measure the distance between the device body 100 and the surface of the carpet. Without loss of generality, the device body 100 is provided with wheels to meet the moving requirements of the cleaning device. Due to the weight of the cleaning device and the relatively soft characteristics of the carpet, when the cleaning device cleans the carpet, the wheels of the cleaning device will sink into the bottom of the carpet. Therefore, for carpets of different thicknesses, the distance between the device body 100 and the surface of the carpet will also be different. In particular, when the wheels of the cleaning device sink deeper into a certain carpet, it not only reflects that the carpet is thicker, but also reflects that the carpet is highly absorbent. In this way, the second sensor 300 is provided on the device body 100. The second sensor 300 measures the distance between the second sensor 300 and the surface of the carpet, and compares the distance with the distance between the second sensor 300 and the bottom of the wheels to obtain the thickness parameter of the carpet. The larger the thickness parameter, the thicker the carpet. When the distance between the second sensor 300 and the surface of the carpet is larger, the outflow and suction power of the cleaning module 20 will be greater, so that the cleaning device has good cleaning effects on carpets of various thicknesses, improving the user experience.

In this embodiment, referring to FIG. 2, the second sensor 300 is provided on the side of the device body 100 and is configured as a line laser sensor. The line laser sensor can project a horizontal line laser parallel to the side surface of the device body 100 towards the carpet, and/or the line laser sensor can project a vertical line laser on a vertical plane towards the carpet. It should be noted that the laser emitted by the line laser sensor forms a laser line on the surface of the carpet, which can detect multiple points on the surface of the carpet. The multiple points of the laser line are distributed in a straight line, which facilitates the calculation and analysis of the reflected laser light, thereby improving the reliability and accuracy of detecting thickness of the carpet. Specifically, the second sensor 300 is provided on the front side of the device body 100. For the horizontal line laser on the surface of the carpet, the distance between each reflection point and the device body 100 is equal. That is, the horizontal line laser increases the calculated coverage area of the carpet under the preset distance with the device body 100, thereby improving the accuracy of the second sensor 300 in detecting the thickness of the carpet. For the vertical line laser on the surface of the carpet, the distance that it reflects and returns to the line laser sensor changes proportionally, which accurately reflects the changes in the thickness of the carpet on the forward path of the cleaning device. While ensuring the reliability of detecting the thickness of the carpet, it also provides reliable information on carpet thickness changes for the cleaning device. The line laser sensor can project only a horizontal line laser, or only a vertical line laser, or both a horizontal line laser and a vertical line laser, or the projected line laser has components relative to the horizontal line laser and components relative to the vertical line laser. In addition, the line laser sensor can also determine the laser reflectivity on the surface of the carpet. Different reflectivities correspond to carpets of different materials, thereby more accurately controlling the outflow and suction power of the cleaning module 20 and ensuring the cleaning effect of the cleaning device on the carpet.

In this embodiment, referring to FIG. 2, the line laser sensor can be a sensor configured by the cleaning device for obstacle avoidance. That is, in this embodiment, the position information for analyzing the laser of the sensor for obstacle avoidance on the surface of the carpet is added to the processor 10, to obtain the thickness of the carpet, which avoids providing a separate line laser sensor to measure the thickness of the carpet, thereby reducing costs. In other embodiments, the line laser sensor can also be provided separately to measure the thickness of the carpet.

In other embodiments, the second sensor 300 is provided at the bottom of the device body 100, and is vertically opposite to the surface of the carpet. It can be understood that in this embodiment, the second sensor 300 is configured as an infrared sensor, a laser sensor or a PSD sensor, and the second sensor 300 is vertically opposite to the surface of the carpet. By calculating the time from emission of the measurement medium by the second sensor 300 to reception of the measurement medium, the distance between the second sensor 300 and the surface of the carpet can be obtained, which reduces the requirements for the second sensor 300, and also improves the reliability and accuracy of the data measured by the second sensor 300, making it easier for the cleaning module 20 to accurately control the outflow and suction power according to the thickness of the carpet. Without loss of generality, when the second sensor 300 is provided at the bottom of the device body 100, the bottom of the device body 100 is concave upwards, so that an effective measurement distance is formed between the second sensor 300 and the surface of the carpet. In other embodiments, the second sensor 300 can also be provided on the side surface of the device body 100 and form an effective measurement distance with the surface of the carpet, thereby ensuring the reliability and accuracy of the data measured by the second sensor 300 and also reducing the accuracy requirements for the second sensor 300.

In another embodiment, referring to FIG. 3, the thickness measurement module 40 includes a current detector 400. The device body 100 is provided with driving wheels 140. The current detector 400 is configured to obtain the current signal of the driving wheel 140 and the thickness measurement module 40 obtains the thickness parameter according to the current signal. It should be noted that the driving wheel 140 of the cleaning device will encounter resistance in the carpet. For the thicker carpet, the driving wheel 140 sinks deeper and the area where the driving wheel 140 contacts the surface of the carpet is larger, resulting in greater resistance encountered by the driving wheel 140. When the resistance encountered by the driving wheel 140 is greater, the current flowing through the driving motor of the driving wheel 140 is usually increased to ensure that the speed of the driving wheel 140 remains stable. In this way, the current detector 400 detects the current flowing through the driving wheel 140 to generate a current signal. In carpets with different thicknesses, the current detector 400 will generate current signals with different values, thereby obtaining the thickness of the carpet currently being cleaned by the cleaning device. This control the cleaning module 20 to flow out an appropriate outflow and provide an adaptive suction power.

In an embodiment, the cleaning device can be configured with a floating suction nozzle 110, a first sensor 200, a second sensor 300 and a current detector 400. A first set of thickness measurement modules is formed by the floating suction nozzle 110 and the first sensor 200, a second set of thickness measurement modules is formed by the second sensor 300, and a third set of thickness measurement modules is formed by the current detector 400 and the driving wheel 140. During the operation of the cleaning device, the cleaning device can run at least one of the first set of thickness measurement modules, the second set of thickness measurement modules and the third set of thickness measurement modules. According to the difference in reliability and accuracy of the three sets of thickness measurement modules 40 in measuring the thickness of the carpet, different weight ratios can be applied to the thickness information obtained by the first, second and third sets of thickness measurement modules. For example, the weight of the thickness information obtained by the first set of thickness measurement modules can be 0.7 to 0.9, the weight of the thickness information obtained by the second set of thickness measurement modules can be 0.1 to 0.2, and the weight of the thickness information obtained by the third set of thickness measurement modules can be 0.05 to 0.1. In this way, the reliability and accuracy of the thickness parameters obtained by the thickness measurement module 40 can be improved, ensuring that the outflow flowing out and the suction power provided by the cleaning module 20 can better adapt to the current thickness of the carpet, thereby improving the cleaning effect of the cleaning device on the carpet.

The present application also provides a method for controlling the cleaning device. The cleaning device in the control method of this embodiment is the aforementioned cleaning device. Since this cleaning device adopts all the technical solutions of the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here.

In order to facilitate the description of the method for controlling the cleaning device, the structure of the cleaning device of the hardware operating environment involved in the embodiment of the present application is first described. As shown in FIG. 8, the cleaning device can include: a cleaning module 20; a thickness measurement module 40; a processor 10, such as central processing unit 10 (CPU); a communication bus 50 and a memory 30. The communication bus 50 is configured to realize the communication connection between these components. The memory 30 can be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 30 can optionally be a storage device independent of the aforementioned processor 10. A cleaning control program that can be executable on the processor 10 is stored in the memory 30, and when the cleaning control program is executed by the processor 10, the method for controlling the cleaning device in the technical solution of the present application can be implemented.

Those skilled in the art can understand that the memory 30 as a computer storage medium can include an operating system, a network communication module and a node positioning program. The operating system is a program that manages and controls the hardware and software resources of the node positioning system, and supports the operation of the node positioning program and other software and/or programs. The network communication module is configured to implement communication between components within the memory 30, as well as communication with other hardware and software in the node positioning system.

For the control method for cleaning device provided by the embodiments of the present application, referring to FIG. 4 to FIG. 7, the method for controlling the cleaning device includes:

• • step S100, obtaining the thickness parameter collected by the thickness measurement module 40 of the cleaning device;
  • step S200, controlling the cleaning module 20 of the cleaning device to operate at a preset gear according to the thickness parameter; there are multiple preset gears, and the cleaning module 20 in each preset gear has different outflow and/or suction power; and
  • step S300, controlling the cleaning device to clean the carpet at a selected preset gear.

In this way, after obtaining the thickness parameter of the carpet collected by the thickness measurement module 40, the processor 10 analyzes the thickness parameter to obtain the current thickness of the carpet to be cleaned, and then controls the cleaning module 20 to flow out an appropriate outflow or provide an adapted suction power, or both. Finally, the processor 10 controls the cleaning device to clean the current carpet at a preset gear adapted to the current thickness of the carpet, so that the cleaning device can have good cleaning effects on carpets of various thicknesses, improving the user experience. The preset gear of the cleaning module 20 is adapted to the thickness of the carpet, which can ensure that the ratio of the water sucked by the water suction port 111 to the water flowing out of the water outlet 130 is a good water return ratio, such as between 0.3 and 0.9.

In this embodiment, referring to FIG. 5, the thickness measurement module 40 is configured as a sensor, the cleaning module 20 includes a floating suction nozzle 110, and step S100 specifically includes:

• • step S110, obtaining, by the processor 10, the ground height of the device body 100 of the cleaning device, and storing the ground height in the memory 30;
  • step S120, obtaining, by the sensor, the distance between the sensor and the floating suction nozzle 110 or the distance between the device body 100 and the surface of the carpet as a thickness signal; and
  • step S130, comparing, by the processor 10, the ground height and the thickness signal to obtain the thickness parameter.

In an embodiment, the ground height of the device body 100 is the distance from the bottom of the device body 100 to the bottom of the wheels. Due to the weight of the cleaning device and the relatively soft nature of the carpet, when the cleaning device cleans the carpet, the wheels of the cleaning device can be recessed relative to the surface of the carpet. In this way, for the floating suction nozzle 110, the water suction port 111 on the floating suction nozzle 110 needs to suck the water in the carpet on the surface of the carpet without sinking into the carpet. It can be understood that for carpets of different thicknesses, the movement amplitude of the floating suction nozzle 110 relative to the device body 100 will vary, that is, the thicker the carpet, the greater the distance between the floating suction nozzle 110 and the sensor. That is, when the sensor is opposite to the floating suction nozzle 110, the thickness signal is the distance between the sensor and the floating suction nozzle 110. For the surface of the carpet, for carpets of different thicknesses, the distance between the device body 100 and the surface of the carpet will vary. In particular, when the wheels of the cleaning device sink deeper into a certain carpet, it not only reflects that the carpet is thicker, but also reflects the strong water absorption of the carpet. That is, when the sensor is opposite to the surface of the carpet, the thickness signal is the distance between the device body 100 and the surface of the carpet. Therefore, the thickness signal acquired by the sensor can be converted into the distance between the bottom of the device body 100 and the surface of the carpet.

After obtaining the thickness signal generated by the sensor, the processor 10 can compare the thickness signal with the ground height of the device body 100 to obtain the thickness parameter of the carpet, that is, obtain the current thickness of the carpet, thereby controlling the cleaning module 20 to clean the current carpet at an adapted preset level, ensuring the cleaning effect of the carpet and the user experience.

In this embodiment, referring to FIG. 6, the sensor is configured as a line laser sensor, and step S120 specifically includes:

• • step S121, projecting, by the transmitting end of the line laser sensor, a horizontal line laser and/or a vertical line laser on the surface of the carpet;
  • step S122, obtaining, by the receiving end of the line laser sensor, the position parameter and reflectivity parameter of the horizontal line laser or the vertical line laser; and
  • step S123, obtaining, by the processor 10, the thickness signal based on the position parameter, and/or obtaining, by the processor 10, a type of the carpet based on the reflectivity parameter.

In an embodiment, referring to FIG. 6, the laser emitted by the line laser sensor forms a laser line on the surface of the carpet, which can detect multiple points on the surface of the carpet. The multiple points of the laser line are distributed in a straight line, which facilitates the calculation and analysis of the reflected laser, thereby improving the reliability and accuracy of detecting the thickness and type of the carpet. In this embodiment, the second sensor 300 is provided on the front side of the device body 100. For the horizontal line laser on the surface of the carpet, the distance that it reflects back to the line laser sensor is equal, and each point on the horizontal line laser can equally reflect the thickness and type of the carpet parts at the same distance from the device body 100, in order to improve the accuracy of detecting the thickness and type of the carpet. For the vertical line laser on the surface of the carpet, the distance that it reflects back to the line laser sensor changes proportionally, which accurately reflects the changes in the thickness and type of the carpet on the forward path of the cleaning device. While ensuring the reliability of detecting the thickness and type of the carpet, it also provides reliable information of the changes in the thickness and type of the carpet for the cleaning device. The line laser sensor can project only horizontal line lasers or only vertical line lasers, or both horizontal line lasers and vertical line lasers; the different reflectivities of lasers on the surface of the carpet correspond to carpets made of different materials.

During this process, referring to FIG. 6, the transmitting end of the line laser sensor projects a line laser on the surface of the carpet, and then the line laser is reflected back to the receiving end of the line laser sensor. The processor 10 analyzes the thickness signal of the current carpet according to the position parameter carried by the reflected line laser, and obtains the thickness parameter of the current carpet based on the thickness signal. At the same time, the processor 10 also synchronously analyzes the type of the current carpet according to the reflectivity parameter carried by the reflected line laser. In this way, the cleaning device knows the thickness and type of the current carpet. The processor 10 can better control the cleaning module 20 to operate at the appropriate preset gear, that is, to flow out an appropriate outflow and provide an appropriate suction power, ensuring the cleaning effect on the current carpet.

In an embodiment, referring to FIG. 7, step S200 specifically includes:

• • step S210, obtaining, by the processor 10, the standard distance that the cleaning device moves and storing the standard distance in the memory 30;
  • step S220, based on the thickness parameter, determining, by the processor 10, the outflow of the water outlet 130 of the cleaning module 20 in the standard distance as the standard outflow; the thickness parameter is positively correlated with the standard outflow; and
  • step S230, determining, by the processor 10, the suction power of the water suction port 111 of the cleaning module 20 as the standard suction power based on the standard outflow; the standard outflow is positively correlated with the standard suction power.

In an embodiment, referring to FIG. 7, the standard distance can be set to 100 mm or 10 mm. After defining the standard distance, the processor 10 can set different outflows according to carpets of different thicknesses. That is, at a standard distance, carpets with different thicknesses can have different standard outflows. After the standard outflow suitable for the current thickness of the carpet flows out of the water outlet 130, the processor 10 can select the standard suction power according to the current standard outflow, that is, corresponding to different standard outflow, there will be different standard suction powers. In this way, it is ensured that the standard outflow of the water outlet 130 can adapt to the current thickness of the carpet at a standard distance, ensuring that there is enough water to clean the carpet, and at the same time, it also ensures that the standard suction power provided by the water suction port 111 can adapt to the current standard outflow, thereby ensuring that the cleaning device has a good return water ratio and the cleaned carpet is in a good dryness and improving the user experience.

The present application also proposes a computer-readable storage medium. The above-mentioned computer program product includes a computer-readable program medium on which a cleaning control program is stored. The above-mentioned computer program is operable to cause the computer to execute some or all of the steps of any method described in the above-mentioned control method. That is, the specific implementation of the computer-readable storage medium of the present application is basically the same as the embodiments of the node positioning method described above, and will not be repeated here.

As a computer-readable storage medium, any combination of one or more computer-readable media can be used. The computer-readable storage medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared or semiconductor system, apparatus or device, or any combination thereof. More specific examples (non-exhaustive list) of computer-readable storage media include: electrical connection with one or more wires, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CDROM), optical memory, magnetic memory, or any suitable combination of the above. As used herein, a computer-readable storage medium can be any tangible medium that contains or stores a program, which can be used by or in connection with an instruction execution system, apparatus, or device.

Program code contained on the computer-readable storage medium can be transmitted using any appropriate medium, including but not limited to wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

It should be noted that, in this article, the terms “comprise”, “include” or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article or device that includes a series of elements not only includes those elements, but also includes other elements not expressly listed or inherent to the process, method, article or device. Without further limitation, an element defined by the statement “includes a . . . ” does not exclude the presence of additional identical elements in the process, method, article or device that includes that element.

Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus the necessary general hardware platform, of course, by hardware, but in many cases the former is better implementation.

The above are only some embodiments of the present application, and are not intended to limit the scope of the present application. Any equivalent structures or equivalent process transformations made using the contents of the description and the accompanying drawings of the present application, or direct or indirect applications in other related technical fields, are all included in the scope of the present application.

Claims

1. A cleaning device, comprising: a device body;a cleaning module provided on the device body and provided with a water outlet and a water suction port, wherein the water outlet is configured to discharge water toward a carpet, and the water suction port is configured to suck water from the carpet; anda thickness measurement module provided in the device body, wherein the thickness measurement module is configured to obtain a thickness parameter of the carpet, and the cleaning module is configured to control an outflow of the water outlet and/or a suction power of the water suction port according to the thickness parameter.

2. The cleaning device of claim 1, wherein the device body is provided with a floating member, the floating member is movably provided on the device body and maintains a state of being close to a surface of the carpet, so as to adapt the thickness parameter; the thickness measurement module comprises a first sensor fixed to the device body, and the first sensor is opposite to the floating member and is configured to detect a distance between the floating member and the first sensor.

3. The cleaning device of claim 2, wherein the device body comprises a sewage tank, the floating member is configured as a floating suction nozzle that communicates with the cleaning module and the sewage tank, and the floating suction nozzle is provided with the water suction port and is rotatably provided on the device body, to allow the water suction port to maintain a state of being close to the surface of the carpet.

4. The cleaning device of claim 3, wherein a rotational connection position of the floating suction nozzle and the device body is provided adjacent to a communication port where the floating suction nozzle is communicated with the sewage tank, a distance between the water suction port and the rotational connection position is greater than a distance between the communication port and the rotational connection position, and the first sensor is provided adjacent to the water suction port.

5. The cleaning device of claim 1, wherein the thickness measurement module comprises a second sensor, and the second sensor is provided tilted or vertically downward and is configured to measure a distance between the device body and a surface of the carpet.

6. The cleaning device of claim 5, wherein the second sensor is provided on a side of the device body and is configured as a line laser sensor, the line laser sensor is configured to project a horizontal line laser parallel to a side surface of the device body towards the carpet, and/or the line laser sensor is configured to project a vertical line laser on a vertical surface towards the carpet; or the second sensor is provided at a bottom of the device body and is vertically opposite to the surface of the carpet.

7. The cleaning device of claim 1, wherein the thickness measurement module comprises a current detector, the device body is provided with driving wheels, the current detector is configured to obtain a current signal of the driving wheels, and the thickness measurement module is configured to obtain the thickness parameter according to the current signal.

8. A method for controlling the cleaning device of claim 1, comprising: obtaining a thickness parameter collected by a thickness measurement module of the cleaning device;controlling a cleaning module of the cleaning device to operate at a preset gear according to the thickness parameter, wherein multiple preset gears are provided, and the cleaning module at each of the preset gears has different outflow and/or suction power; andcontrolling the cleaning device to clean a carpet at a selected preset gear.

9. The method of claim 8, wherein the thickness measurement module is configured as a sensor, the cleaning module comprises a floating suction nozzle, and obtaining the thickness parameter collected by the thickness measurement module of the cleaning device comprising: obtaining, by a processor, a ground height of a device body of the cleaning device and storing, by the processor, the ground height in the memory;obtaining, by a sensor, a distance between the sensor and the floating suction nozzle or a distance between the device body and a surface of the carpet, as a thickness signal; andcomparing, by the processor, the ground height with the thickness signal to obtain the thickness parameter.

10. The method of claim 9, wherein the sensor is configured as a line laser sensor, and obtaining, by the sensor, the distance between the device body and the surface of the carpet as the thickness signal comprises: projecting, by a transmitting end of the line laser sensor, a horizontal line laser and/or a vertical line laser on the surface of the carpet;obtaining, by a receiving end of the line laser sensor, a position parameter and a reflectivity parameters of the horizontal line laser or the vertical line laser; andobtaining, by the processor, the thickness signal based on the position parameter, and/or obtaining, by the processor, a type of the carpet based on the reflectivity parameter.

11. The method of claim 8, wherein controlling the cleaning module of the cleaning device to operate at the preset gear according to the thickness parameter comprises: obtaining, by a processor, a standard distance that the cleaning device moves and storing the standard distance in the memory;based on the thickness parameter, determining, by the processor, an outflow of a water outlet of the cleaning module in the standard distance as standard outflow, wherein the thickness parameter is positively correlated with the standard outflow; andbased on the standard outflow, determining, by the processor, a suction power of a water suction port of the cleaning module as a standard suction power, wherein the standard outflow is positively correlated with the standard suction power.

12. A non-transitory computer-readable storage medium, wherein a cleaning control program is stored on the non-transitory computer-readable storage medium, and the method for controlling the cleaning device of claim 8 is implemented when the cleaning control program is executed by a processor.