CN115852635A

CN115852635A - Cleaning device, control method, device, system and medium for clothes treatment device

Info

Publication number: CN115852635A
Application number: CN202310196071.2A
Authority: CN
Inventors: 周磊磊; 王海峰; 王裕庆; 苏忠城
Original assignee: Wuxi Little Swan Electric Co Ltd
Current assignee: Wuxi Little Swan Electric Co Ltd; Hubei Midea Washing Machine Co Ltd
Priority date: 2023-03-03
Filing date: 2023-03-03
Publication date: 2023-03-28
Anticipated expiration: 2043-03-03
Also published as: WO2024183223A1; CN115852635B

Abstract

The application discloses a cleaning device, a control method, a control device, a control system and a control medium of a clothes treatment device. The control method of the mobile cleaning device includes: acquiring a request instruction sent by a clothes treatment device, wherein the request instruction is sent by the clothes treatment device under the condition that notification information needs to be sent to a user; and controlling the mobile cleaning device to send out notification information according to the request command. According to the technical scheme provided by the embodiment of the application, when the clothes treatment device needs to send the notification information to the user, the request instruction can be sent to the movable cleaning device, the movable cleaning device acquires the request instruction and sends the notification information according to the request instruction, so that the notification information can be timely output to the user when the clothes treatment device needs to send the notification information to the user.

Description

Cleaning device, control method, device, system and medium for clothes treatment device

Technical Field

The present disclosure relates to the field of cleaning apparatus technology, and more particularly, to a method for controlling a mobile cleaning device, a method for controlling a laundry treatment device, a control device, a cleaning system, and a computer-readable storage medium.

Background

Clothes treatment devices such as washing machines, dryers or washing and drying integrated machines are increasingly used in thousands of households, become common household appliances, and are increasingly used in daily life. Meanwhile, the user has higher and higher requirements on the convenience and the intellectualization of the clothes treatment device.

In the related art, when the laundry treating apparatus needs to send the notification information to the user, the success rate of outputting the notification information to the user in time is low, for example, when the laundry treating apparatus malfunctions or finishes the laundry treating process, the user may not know that the laundry treating apparatus malfunctions or the laundry treating process has ended in time, and when the user knows that the laundry treating apparatus malfunctions or the laundry treating process has ended, the laundry is often left in the laundry treating apparatus for too long time, which brings inconvenience to the user.

Disclosure of Invention

The embodiment of the application provides a control method of a mobile cleaning device, a control method of a clothes treatment device, a control device, a cleaning system and a computer readable storage medium, so as to overcome the defect that the success rate of outputting notification information to a user in time is low when the clothes treatment device needs to send the notification information to the user in the related art. The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview and is intended to neither identify key/critical elements nor delineate the scope of such embodiments. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.

According to an aspect of an embodiment of the present disclosure, there is provided a method of controlling a mobile cleaning apparatus, including:

acquiring a request instruction sent by a clothes treatment device, wherein the request instruction is sent by the clothes treatment device under the condition that notification information needs to be sent to a user;

and controlling the mobile cleaning device to send out notification information according to the request command.

In some embodiments of the present disclosure, the controlling the mobile cleaning apparatus to send the notification message according to the request command includes:

and controlling the mobile cleaning device to move to a notification position according to the requirement instruction, and sending out the notification information.

In some embodiments of the present disclosure, the controlling the mobile cleaning apparatus to send the notification message according to the request command further includes a notification position obtaining process, where the notification position obtaining process includes:

acquiring the current position of a user and/or one or more preset positions of the user;

and taking the current position of the user and/or one or more preset positions of the user as the informing position.

In some embodiments of the application, the obtaining the current location of the user includes:

acquiring a surrounding environment image;

under the condition that the image of the user exists in the surrounding environment image, taking the acquisition position of the surrounding environment image as the current position of the user;

or taking the actual position of the user as the current position of the user;

or taking the position away from the position where the user is located by a preset distance as the current position of the user.

In some embodiments of the present application, the obtaining the current location of the user includes:

acquiring the position of a user terminal;

and if the user terminal is located in the reachable area of the mobile cleaning device, determining the current position of the user according to the location of the user terminal.

In some embodiments of the present application, if the user terminal is located within the reachable area of the mobile cleaning apparatus, determining the current location of the user according to the location of the user terminal includes:

controlling the mobile cleaning apparatus to move to a location of the user terminal in a case where the location of the user terminal is within an reachable area of the mobile cleaning apparatus;

acquiring a surrounding environment image of the position where the user terminal is located;

under the condition that the image of the user exists in the surrounding environment image, taking the position of the user terminal as the current position of the user;

or taking the actual position of the user as the current position of the user;

or taking the position away from the position of the user by a preset distance as the current position of the user.

acquiring sound information of surrounding environment;

and determining the current position of the user according to the ambient sound information.

In some embodiments of the present application, the controlling the mobile cleaning apparatus to move to the notification position and issuing the notification message includes:

controlling the mobile cleaning device to move to the current position of the user and sending out notification information;

and under the condition that the reply of the user is not received, controlling the mobile cleaning device to move to one preset position of the user, or to move to a plurality of preset positions of the user according to a preset sequence or a random sequence, and sending out notification information.

In some embodiments of the present disclosure, the controlling the mobile cleaning device to move to a preset position of the user or to a plurality of preset positions of the user in a preset sequence or a random sequence without receiving a user reply and sending a notification message includes:

circularly executing the informing step under the condition that the user reply is not received;

the informing step comprises:

controlling the mobile cleaning device to move to all preset positions of the user and respectively sending out notification information;

and if the user reply is obtained, finishing the circulation and executing the informing step.

In some embodiments of the present application, the request instruction is issued by the laundry treating apparatus in case of starting or finishing a laundry treating process or a malfunction of the laundry treating apparatus itself.

In some embodiments of the present application, the control method further comprises:

determining whether an object to be cleaned exists on a path between the real-time position of the mobile cleaning device and the informing position;

and in the case that the cleaning object exists, cleaning the cleaning object in the process of controlling the mobile cleaning device to move to the informing position, or cleaning the cleaning object after sending the informing information.

In some embodiments of the present application, before the obtaining of the request instruction issued by the laundry treatment apparatus, the control method further includes:

and controlling the mobile cleaning device to be in communication connection with the clothes treatment device.

According to another aspect of an embodiment of the present disclosure, there is provided a control apparatus of a mobile cleaning apparatus, including:

a request instruction acquisition module for acquiring a request instruction sent by a clothes treatment device, wherein the request instruction is sent by the clothes treatment device under the condition that notification information needs to be sent to a user;

and the control module is used for controlling the mobile cleaning device to send out notification information according to the requirement instruction.

According to another aspect of embodiments of the present application, there is provided a control method of a laundry treating apparatus, including:

the method comprises the steps that a request instruction is sent to a mobile cleaning device when a clothes treatment device needs to send notification information to a user, so that the mobile cleaning device sends the notification information according to the request instruction.

According to another aspect of embodiments of the present application, there is provided a control device of a laundry treating device, including:

and the request instruction sending module is used for sending a request instruction to the mobile cleaning device under the condition that the clothes treatment device needs to send the notification information to the user, so that the mobile cleaning device sends the notification information according to the request instruction.

According to another aspect of an embodiment of the present application, there is provided a cleaning system including a laundry treating apparatus and a mobile cleaning apparatus;

the clothes processing device is used for sending a request instruction to the mobile cleaning device under the condition that notification information needs to be sent to a user;

the movable cleaning device is used for acquiring a request instruction sent by the clothes processing device and sending out notification information according to the request instruction.

According to another aspect of embodiments of the present application, there is provided a computer-readable storage medium having a computer program stored thereon, the computer program being executable by a processor to implement the method of any one of the above.

The technical scheme provided by one aspect of the embodiment of the application can have the following beneficial effects:

according to the technical scheme provided by the embodiment of the application, when the clothes treatment device needs to send the notification information to the user, the request instruction can be sent to the movable cleaning device, and the movable cleaning device sends the notification information according to the request instruction, so that the notification information can be timely output to the user when the clothes treatment device needs to send the notification information to the user.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a flowchart illustrating a method for controlling a mobile cleaning apparatus according to an embodiment of the present disclosure.

Fig. 2 is a flowchart illustrating a method for controlling a mobile cleaning apparatus according to an embodiment of the present disclosure.

Fig. 3 is a flowchart illustrating a method for controlling a mobile cleaning apparatus according to another embodiment of the present disclosure.

Fig. 4 is a block diagram illustrating a control device of a mobile cleaning device according to an embodiment of the present disclosure.

Fig. 5 is a flowchart illustrating a control method of a laundry treatment apparatus according to an embodiment of the present application.

Fig. 6 is a block diagram illustrating a structure of a control device of a laundry treatment device according to an embodiment of the present invention.

Fig. 7 is a schematic structural diagram of a cleaning system according to an embodiment of the present application.

Fig. 8 is a schematic diagram of a computer-readable storage medium according to an embodiment of the present application.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.

It should be noted that all the directional indicators (such as upper, lower, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.

In the present invention, unless otherwise explicitly stated or limited, the terms "connected", "fixed", and the like are to be understood broadly, for example, "fixed" may be fixedly connected, may be detachably connected, or may be integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

The technical scheme is provided in the embodiment of the application, when the clothes treatment device needs to send the notification information to the user, a request instruction can be sent to the movable cleaning device, the movable cleaning device acquires the request instruction, acquires the notification position according to the request instruction, moves to the notification position and sends the notification information, and therefore the notification information can be timely output to the user when the clothes treatment device needs to send the notification information to the user.

The embodiment of the present disclosure provides a method for controlling a mobile cleaning device, which may be performed by a control device of the mobile cleaning device, the control device of the mobile cleaning device may be integrated in the mobile cleaning device, and the mobile cleaning device in a home may be in communication with a laundry treatment device in the home, for example, the communication may be implemented through networking. Fig. 1 is a flowchart illustrating a method for controlling a mobile cleaning apparatus according to an embodiment of the present disclosure, referring to fig. 1, the method for controlling the mobile cleaning apparatus includes:

and S10, acquiring a request instruction sent by the clothes treatment device.

In the embodiment of the present application, the request instruction may be issued by the laundry treating apparatus in case that notification information needs to be issued to the user. The informing information may be used to inform the user of the related information of the laundry treating apparatus. For example, the request command may be issued by the laundry treating apparatus in case of starting or completing the laundry treating process or malfunction of the laundry treating apparatus itself. The laundry treatment apparatus may be, for example, a washing machine, a dryer, or a washing and drying machine, and the mobile cleaning apparatus may be, for example, a mobile cleaning apparatus such as a floor cleaning robot, an automatic carpet washing machine, or an automatic floor washing machine.

Taking a clothes processing device as a washing machine and a mobile cleaning device as a sweeping robot as an example, the clothes processing process may be a clothes washing process, when the washing machine finishes the clothes washing process or the washing machine fails, the washing machine needs to send notification information of finishing the clothes washing process or the failure of the washing machine to a user, the washing machine sends a request instruction, and the sweeping robot receives the request instruction sent by the washing machine.

And S20, controlling the mobile cleaning device to send out notification information according to the request command.

In some embodiments, controlling the mobile cleaning apparatus to transmit the notification message according to the request command may include: and controlling the mobile cleaning device to send out notification information according to the requirement instruction when the mobile cleaning device is not in place or moves on the cleaning path.

When the mobile cleaning device is in an in-situ stationary state or when the mobile cleaning device moves on a cleaning path, since the mobile cleaning device, such as a sweeper, has a voice module, a voice signal can be sent out with a large volume, and the notification information sent out by the mobile cleaning device can be easily heard by a user, thereby greatly improving the probability that the user can obtain the notification information in time. Therefore, the clothes treatment device sends the informing information through the movable cleaning device, and the success rate of timely obtaining the informing information by a user is greatly improved.

In addition, the laundry treating apparatus, such as a washing machine, a dryer, or a washing and drying machine, is usually fixedly installed at a certain position, for example, the washing machine is usually placed in a toilet. The mobile cleaning device can move to different positions when working, and can move to the next position to perform cleaning after completing the cleaning work at one position. For example, in the case of a floor sweeper, the floor sweeper is typically moved from room to room for cleaning and multiple rooms of the room are typically reached. Therefore, the range of motion of the mobile cleaning device during operation is much larger than the range of the position of the laundry treatment device, and the probability that the mobile cleaning device is in a close state with the user or in the same room is much larger than the probability that the user is in a close state with the laundry treatment device or in the same room. Therefore, the probability of obtaining the informing information by the user is greatly improved by controlling the movable cleaning device to send the informing information according to the required instruction, and the probability of obtaining the current relevant information of the clothes treatment device by the user is greatly improved.

In some embodiments, controlling the mobile cleaning apparatus to send the notification message according to the request command may include: and controlling the mobile cleaning device to move to the informing position according to the request command, and sending out informing information.

In some embodiments, controlling the mobile cleaning apparatus to transmit the notification message according to the request command may further include a notification location acquisition process, which may include: acquiring the current position of a user and/or one or more preset positions of the user; the current position of the user and/or one or more preset positions of the user are used as the informing positions.

For example, after receiving the request command from the laundry treatment device, the mobile cleaning device may determine that the mobile cleaning device needs to push the notification message to the notification location of the user, and then control the mobile cleaning device to move to the notification location according to the request command to send the notification message.

Taking the mobile cleaning device as a sweeping robot as an example, since the sweeping robot can automatically move and has a positioning function, the informing position where the mobile cleaning device is required to send the informing information to the user can be determined first.

In some embodiments, the current location of the user may be obtained and used as the notification location, and then the mobile cleaning device may be controlled to move to the current location of the user to send the notification message according to the request command.

In some embodiments, one or more preset locations of the user may be obtained and used as the notification location, and then the mobile cleaning device may be controlled to move to the one or more preset locations of the user to send out the notification information according to the command. The preset location may be, for example, a frequent location of the user, and may include, for example, at least one of a living room, a balcony, a kitchen, a study, a bedroom, and the like. One or more preset positions may be previously stored in the mobile cleaning apparatus. For example, each room in the room may be set as a preset position, or at least one user-frequently-located position in the room may also be selected as the preset position.

In some embodiments, in order to avoid a situation that the user cannot receive the notification information in time due to the movement of the user position, after the current position of the user and the one or more preset positions of the user are obtained, the current position of the user and the one or more preset positions of the user may be both used as the notification positions, and then the mobile cleaning device is moved to the notification positions to send the notification information to the user.

For example, after the notification position is determined, the mobile cleaning device may be controlled to move to the notification position according to a request command, and a notification message may be issued, so as to output the notification message to a user, so that the user may know information about the laundry treatment device.

In some specific examples, the notification information may be, for example, a voice notification information and/or a text display notification information. The function of sending the notification information can be realized by a function module of the mobile cleaning device, or by an additionally arranged function module. For example, the voice may be played through a speaker in the mobile cleaning device to inform the user of the voice, or the text may be displayed on a display screen in the mobile cleaning device to inform the user of the text, or the voice may be played through the speaker and the text may be displayed on the display screen. The user can obtain the notification information by hearing the sound played by the loudspeaker and/or seeing the characters displayed on the display screen.

The notification position is a position where the mobile cleaning apparatus is required to move to reach and send out a notification message. Taking the sweeping robot as an example, the sweeping robot generally has an informing function, and can send out informing information, for example, sending out informing information by playing voice through a speaker provided in the sweeping robot and/or displaying text information through a display provided in the sweeping robot, so that the informing information can be sent out without performing a complicated structural design or additionally adding a functional module to the sweeping robot, and sending out informing information at an informing position, thereby facilitating a user to timely and effectively know the informing information that the clothes processing device needs to send to the user, for example, whether the clothes processing device has a fault or not, and the like.

In the related art, after the laundry treating apparatus completes the laundry treating process or malfunctions, even if the user is at home, if the user is not in the vicinity of the laundry treating apparatus or the user does not hear the prompt sound of the laundry treating apparatus, the user cannot know in time that the laundry treating apparatus has completed the laundry treating process or malfunctions. When a user knows that the laundry treatment apparatus is out of order or the laundry treatment process is finished, the laundry is often placed in the laundry treatment apparatus for too long time, which brings inconvenience to the user, for example, the inconvenience may include that the laundry is placed in the washing machine for too long time, which may cause the life of the laundry to be shortened, or the user may not dry the laundry in a pre-planned time in time due to not taking out the laundry in the washing machine in time, which affects the user to wear the laundry or take in the laundry according to the pre-plan, etc.

According to the technical scheme provided by the embodiment of the application, the movable cleaning device can receive the requirement instruction sent by the clothes treatment device to the movable cleaning device, wherein the requirement instruction is sent to the movable cleaning device when the clothes treatment device needs to send the notification information to a user, the movable cleaning device obtains the notification position after receiving the requirement instruction, then the movable cleaning device can be controlled to move to the notification position according to the requirement instruction, and the notification information is sent out, so that the user can timely and effectively know the notification information which needs to be sent to the user by the clothes treatment device. For example, the user may be informed in time that the laundry treating apparatus is out of order or starts the laundry treating process or has completed the laundry treating process. If the clothes treatment device breaks down, the user can be reminded to maintain the clothes treatment device in time, and if the clothes treatment process is finished, the user can be reminded to take out the clothes in time, so that the probability of overlong clothes in the clothes treatment device is greatly reduced, and a plurality of inconvenient conditions caused by overlong clothes in the clothes treatment device are greatly reduced.

In some embodiments, the request instruction is issued by the laundry treating apparatus when the laundry treating process is started or completed or the laundry treating apparatus malfunctions. This can give a request command to the mobile cleaning device after the laundry treating device completes the laundry treating process or the laundry treating device malfunctions. The mobile cleaning device acquires the informing position after acquiring the request instruction, then controls the mobile cleaning device to move to the informing position according to the request instruction, and sends informing information, thereby being capable of timely informing a user that the clothes treatment device is in failure or starts the clothes treatment process or finishes the clothes treatment process. If the clothes treatment device fails, the user can be reminded to maintain the clothes treatment device in time, and if the clothes treatment process is finished, the user can be reminded to take the clothes out of the clothes treatment device in time, so that the probability of the long-time placement of the clothes in the clothes treatment device is greatly reduced.

Fig. 2 is a flowchart illustrating a method for controlling a mobile cleaning apparatus according to an embodiment of the present disclosure, and referring to fig. 2, the method for controlling a mobile cleaning apparatus includes:

s10, acquiring a request instruction sent by the clothes treatment device, wherein the request instruction is sent by the clothes treatment device under the condition that notification information needs to be sent to a user.

S21, acquiring the current position of the user and/or one or more preset positions of the user.

The mobile cleaning device can acquire the current position of the user and/or one or more preset positions of the user according to the request instruction sent by the clothes treatment device. The preset location may be, for example, a user's usual location, and may include, for example, at least one of a living room, a balcony, a kitchen, a study, and a bedroom. In order to quickly and accurately inform the user of the notification information, the embodiment of the application can also determine the current position of the user. The embodiment of the present application does not limit the determination method of the current location of the user.

And S22, taking the current position of the user and/or one or more preset positions of the user as the informing position.

When the user is at home, the user may be in any of the rooms, living room, bedroom, balcony, kitchen, study, toilet, and so one or more preset locations may be used as the notification locations. The embodiment of the present application may store one or more preset positions, such as a living room, a bedroom, a balcony, a kitchen, a study room, a toilet, etc., in the mobile cleaning device in advance.

In some embodiments, each room in the room may be set to a preset position, so that the mobile cleaning apparatus moves to each room to issue an informing message to inform a user.

In some embodiments, the user-presence location in the room may be selected as the preset location, so that the mobile cleaning device informs the user by sending an informing message to the user-presence location.

In some embodiments, if the current location of the user is used as the notification location, the mobile cleaning apparatus may directly move to the current location of the user to transmit the notification information, thereby outputting the notification information to the user.

In some embodiments, in order to prevent the user from being unable to receive the notification message in time due to the movement of the user's location, the current location and one or more preset locations of the user may be used as notification locations, so that the mobile cleaning device transmits the notification message to the user.

And S23, controlling the mobile cleaning device to move to the informing position according to the requirement instruction, and sending out informing information.

According to the technical scheme provided by the embodiment of the application, the current position of the user and/or one or more preset positions of the user are/is obtained, the current position of the user and/or the one or more preset positions of the user are/is used as the informing position, the mobile cleaning device is controlled to move to the informing position and send the informing information according to the required instruction, the condition that the clothes treatment process of the clothes treatment device is finished or the condition that the clothes treatment device is in fault is conveniently and effectively informed to the user in time, and the method is simple and easy to implement.

In addition, according to the technical scheme provided by the embodiment of the application, the informing position can be determined by utilizing the positioning function of the mobile cleaning device, and the informing function of the mobile cleaning device sends the informing information (for example, the informing information is sent by the way that the mobile cleaning device plays voice through a speaker and/or displays text information through a display), so that the informing information can be timely sent to a user without additionally arranging related functional modules, devices or parts in the clothes treatment device and the mobile cleaning device and without arranging complex computer running programs in the clothes treatment device and the mobile cleaning device, and the design complexity of the clothes treatment device and the mobile cleaning device is not increased.

In some embodiments, in step S21, acquiring the current location of the user may include: acquiring a surrounding environment image; and under the condition that the image of the user exists in the surrounding environment image, taking the acquired position of the surrounding environment image as the current position of the user, or taking the actual position of the user as the current position of the user, or taking the position away from the position of the user by a preset distance as the current position of the user.

Specifically, the acquiring of the surrounding image may be realized by, for example, an image capturing device (e.g., a camera or the like) disposed on the mobile cleaning device, and the surrounding image is identified, and if the user's image is identified to exist in the surrounding image, it is determined that the position where the surrounding image is acquired is the current position of the user.

Taking the sweeping robot as an example, the sweeping robot takes a picture of the surrounding environment through its own camera to obtain an image of the surrounding environment, for example, an image in a living room, a study room, a bedroom, a kitchen, etc., compares the image of the surrounding environment with the image of the user, and determines the acquisition position of the image of the surrounding environment, that is, the current position of the user, if the image of the user is identified in the image of the surrounding environment. For example, if the sweeping robot recognizes an image of the user in a picture taken in the kitchen, it may be determined that the current location of the user is the kitchen.

In some embodiments, in a case where it is determined that the image of the user exists in the surrounding image, the actual location of the user is calculated from the surrounding image, and the actual location of the user is used as the current location of the user.

Taking the sweeping robot as an example, the sweeping robot takes a picture of the surrounding environment through its own camera to obtain an image of the surrounding environment, for example, to obtain images in rooms such as a living room, a study, a bedroom, a kitchen, and a balcony, compares the image of the surrounding environment with the image of the user, and if the image of the user is identified in the image of the surrounding environment, calculates the actual location of the user according to the image of the surrounding environment, and uses the actual location of the user as the current location of the user. For example, if the sweeping robot recognizes an image of the user from a picture taken in a living room, and calculates the actual position of the user on a balcony according to the image, it can be determined that the current position of the user is the balcony.

In some embodiments, when it is determined that the image of the user exists in the surrounding image, the actual location of the user is calculated according to the surrounding image, and a location that is a preset distance away from the location of the user is used as the current location of the user. For example, a location on a connection line between the mobile cleaning device and the user, which is a preset distance from the location where the user is actually located, is used as the current location of the user.

Taking the sweeping robot as an example, the sweeping robot takes a picture of the surrounding environment through a camera of the sweeping robot to obtain a surrounding environment image, the surrounding environment image is compared with the image of the user, if the image of the user is identified in the surrounding environment image, the actual position of the user is calculated according to the surrounding environment image, and if the preset distance is 5 meters, the position, which is 5 meters away from the user, on the connection line between the sweeping robot and the user is taken as the current position of the user.

According to the technical scheme provided by the embodiment of the application, when the surrounding environment image is identified to exist in the surrounding environment image by acquiring the surrounding environment image (for example, shooting the surrounding environment image through a camera of the mobile cleaning device), the acquired position of the surrounding environment image or the position where the user actually exists or the position where the user exists is taken as the current position of the user at a preset distance from the position where the user exists. Namely, the current position of the user can be accurately obtained by identifying the surrounding environment image, comparing the surrounding environment image with the image of the user and identifying the image of the user from the surrounding environment image, and the method is simple and easy to implement.

In some embodiments, in step S21, acquiring the current location of the user may include: acquiring sound information of surrounding environment; the current location of the user is determined from the ambient sound information.

In some specific examples, obtaining ambient sound information may be accomplished, for example, by a sound collection device such as a microphone, a sound recording device, or the like. For example, the ambient sound information may be collected by a microphone or the like provided in the mobile cleaning apparatus.

In some specific examples, the ambient sound information may include at least one of tone color information, volume information, or orientation information of a sound source, for example.

The embodiment of the application can determine whether the source of the sound comes from the user according to the ambient sound information.

In some specific examples, whether the obtained ambient sound information is from the user may be determined from the timbre information.

In some specific examples, the distance between the sound source of the ambient sound information and the mobile cleaning device may be determined according to the volume information, and the closer the distance between the sound source and the mobile cleaning device, the greater the volume of the collected sound, and the farther the distance between the sound source and the mobile cleaning device, the smaller the volume of the collected sound.

In some specific examples, the orientation information of the ambient sound information may be determined from the orientation information of the sound source.

The technical scheme provided by the embodiment of the application can determine the current position of the user according to the sound information of the surrounding environment, is simple and easy to implement, and can accurately acquire the current position of the user.

In some embodiments, in step S21, acquiring the current location of the user may include: acquiring the position of a user terminal; if the user terminal is located within the reachable area of the mobile cleaning apparatus, the current location of the user is determined according to the location of the user terminal.

The reachable area of the mobile cleaning apparatus may be preset and stored in a storage device of the mobile cleaning apparatus, for example, a reachable area, i.e., an area that the mobile cleaning apparatus can reach, and may be, for example, a reachable range marked on a preset electronic map. In particular, users often carry mobile terminals of electronic devices such as mobile phones, tablet computers, and the like with them. Therefore, after the mobile cleaning device obtains the required command, the location of the user terminal can be obtained. If the user terminal is located within the reachable area of the mobile cleaning device, it indicates that the mobile terminal is located within the reachable area of the mobile cleaning device, and since the mobile terminal is usually carried by the user, the location of the user terminal can be used as the current location of the user. Therefore, the technical scheme provided by the embodiment of the application can determine the current position of the user through the position of the user terminal, and is simple and easy to implement.

In some embodiments, the step of: determining the current location of the user according to the location of the user terminal if the location of the user terminal is within the reachable area of the mobile cleaning apparatus may include:

controlling the mobile cleaning device to move to the location of the user terminal according to a request command under the condition that the location of the user terminal is within the reachable area of the mobile cleaning device; acquiring a surrounding environment image of a position where a user terminal is located; and under the condition that the image of the user exists in the surrounding environment image, taking the position of the user terminal as the current position of the user, or taking the actual position of the user as the current position of the user, or taking the position away from the position of the user by a preset distance as the current position of the user.

In particular, although mobile terminals are typically carried around by users, sometimes mobile terminals may not be carried around by users. Therefore, whether the user is at the location of the mobile terminal can be determined by the location of the mobile terminal. And if the user terminal is located in the reachable area of the mobile cleaning device, controlling the mobile cleaning device to move to the location of the user terminal according to the required instruction, and then acquiring the surrounding environment image of the location of the user terminal. The mobile cleaning device identifies the surrounding environment image, and if the image of the user is identified in the surrounding environment image, the position of the user terminal is determined to be the current position of the user, or the actual position of the user is taken as the current position of the user, or the position which is away from the position of the user by a preset distance is taken as the current position of the user.

According to the technical scheme provided by the embodiment of the application, after the mobile cleaning device moves to the position of the user terminal, the position of the user terminal is used as the current position of the user by obtaining the surrounding environment image of the position of the user terminal, or the actual position of the user is used as the current position of the user, or the position away from the position of the user by the preset distance is used as the current position of the user if the user image is identified to exist in the surrounding environment image. Therefore, the current position of the user can be further determined, so that the situation that the position of the user terminal is located in the reachable area of the mobile cleaning device but the user is not located at the position of the mobile terminal due to the fact that the mobile terminal is not carried by the user is avoided, and the accuracy of judging the current position of the user can be further improved.

Fig. 3 is a flowchart illustrating a method for controlling a mobile cleaning apparatus according to another embodiment of the present disclosure, and as shown in fig. 3, the method for controlling a mobile cleaning apparatus includes:

and S10, acquiring a request instruction sent by the clothes treatment device.

And S24, controlling the mobile cleaning device to move to the current position of the user according to the requirement instruction, and sending out notification information.

In some specific examples, the current location of the user may be determined by the mobile cleaning device, and then the mobile cleaning device is controlled to move to the current location of the user according to the request command and a notification message is issued.

And S25, under the condition that the user reply is not received, controlling the mobile cleaning device to move to a preset position according to a required instruction, or moving to a plurality of preset positions according to a preset sequence or a random sequence, and sending out notification information.

Because the user is likely to move at any time and the location of the user is likely to change at any time, the following may occur: when the mobile cleaning apparatus moves to the predetermined current location of the user, the user has moved to another location away from the current location determined by the mobile cleaning apparatus at this time. In this case, the user cannot receive the notification message by the mobile cleaning apparatus issuing the notification message, and the mobile cleaning apparatus cannot receive the user reply. Any feedback information of the user belongs to the user reply, such as user images, user voice, user operation and the like.

When the user is at home, the user may be located in any one of rooms such as a living room, a bedroom, a balcony, a kitchen, a study room and a toilet, so that the user can be easily found and informed by using one or more preset positions as informing positions, and the user can timely and effectively know that the laundry treatment process is completed or the laundry treatment device is in a failure state. Therefore, if the user reply is not received, the mobile cleaning device is controlled to move to one or more preset positions according to the request command, and the notification message is sent.

According to the technical scheme, the preset position and the current position of the user can be used as the informing position together, the user can be accurately found, informing information is sent to the user, the user can timely and effectively know that the clothes processing process is finished or the clothes processing device fails, and effectiveness and accuracy of sending the informing information to the user are improved.

In some embodiments, if a plurality of preset positions are used as the notification positions, a notification sequence of the preset positions may be preset, and then the mobile cleaning device is controlled to sequentially move to the preset positions according to the notification sequence to send the notification information; or the mobile cleaning device can be controlled to sequentially move to each preset position according to a random sequence to send the notification information.

In some embodiments, the step S25, in the case that the user reply is not received, instructing the mobile cleaning device to move to one preset position of the user or to move to a plurality of preset positions of the user in a preset sequence or a random sequence according to the request, and sending the notification message, may include: circularly executing the informing step under the condition that the user reply is not received;

the informing step may include: and controlling the mobile cleaning device to move to all preset positions of the user according to the request command, and sending out notification information.

If the user reply is obtained, the step of circularly executing and informing is finished. Any feedback information of the user belongs to the user reply, such as user images, user voice, user operation and the like.

Specifically, the mobile cleaning device is controlled to move to the current position of the user according to the request command, and a notification message is issued. If the reply message of the user is not received, the mobile cleaning device is controlled to move to one or more preset positions of the user to send out a notification message according to the request command. If the mobile cleaning device sequentially moves to each preset position to send out the notification information and does not receive the reply information of the user, the mobile cleaning device can be circularly controlled to sequentially move to each preset position again to send out the notification information. If the reply information of the user is received, the step of informing the circulation execution is ended. Any feedback information of the user belongs to the user reply, such as user images, user voice, user operation and the like. The predetermined location includes, for example, one of a living room, a bedroom, a balcony, a kitchen, a study, and a toilet. Although the user may be in a moving state, since the indoor space is limited and the user's activity area is limited, the user can be found and informed by controlling the mobile cleaning apparatus to move back and forth in a predetermined user position in a cyclic manner.

Since the user may be in a moving state, it is difficult to determine the current location of the user in real time, for example, the current location of the user is determined at the current time, but the user may have moved to another location after the mobile cleaning device has moved to the location, which makes it inconvenient for the mobile cleaning device to find the user accurately in time. According to the technical scheme provided by the embodiment of the application, the mobile cleaning device is controlled to circularly move at least one preset position to inform, and the indoor space is limited, so that the range of motion of a user is limited, the mobile cleaning device can accurately find the user and send the informing information to the user when circularly informing, and the effectiveness and the accuracy of sending the informing information to the user are improved.

In some embodiments, if the mobile cleaning apparatus moves to each predetermined location in turn to send out the notification message, but none of the notification messages is received from the user, the mobile cleaning apparatus may be controlled to return to the base station.

In some embodiments, the method of controlling a mobile cleaning apparatus may further include: determining whether an object to be cleaned exists on a path between the real-time position of the mobile cleaning device and the informing position; and in the case that the cleaning object exists, cleaning the cleaning object while controlling the mobile cleaning device to move to the informing position, or cleaning the cleaning object after sending the informing information.

For example, taking the mobile cleaning device as a sweeping robot as an example, if some paper scraps are found in a path between the real-time position and the notification position of the sweeping robot, and the paper scraps belong to an object to be cleaned, the sweeping robot is controlled to sweep the paper scraps in the process of moving to the notification position, or the paper scraps are swept after the notification information is sent.

The technical scheme that this application embodiment provided, when there is the thing of waiting to clean on the route between the real-time position of portable clean device confirmed and the position of telling of portable clean device, at the in-process that the portable clean device of control removed the position of telling, can treat the thing of waiting to clean through portable clean device, can realize like this that the in-process that the portable clean device removed the position of telling clears up should waiting to clean, thereby make portable clean device both can send the information of telling to the user, still can not delay portable clean device and to indoor clear up clean operation.

Since it takes a certain time for the mobile cleaning device to clean the object to be cleaned, in order to prevent a delay in issuing the notification message to the user by the mobile cleaning device, the object to be cleaned may be cleaned by the mobile cleaning device after the mobile cleaning device is moved to the notification position and the notification message is issued. Therefore, the diversity of schemes for cleaning the objects to be cleaned by the mobile cleaning device can be improved.

In some embodiments, before acquiring the request command issued by the laundry treatment device in step S10, the control method may further include: controlling the movable cleaning device to be in communication connection with the clothes treatment device.

In some specific examples, a communication connection may be established between the laundry treating apparatus and the mobile cleaning apparatus, so that the laundry treating apparatus can send a request command to the mobile cleaning apparatus to enable the mobile cleaning apparatus to obtain the notification position when the laundry treating process is completed or the mobile cleaning apparatus malfunctions. For example, the laundry treating apparatus may transmit a matching correlation signal to the mobile cleaning apparatus to search for the mobile cleaning apparatus. After the mobile cleaning device receives the matching association signal, a matching confirmation signal is sent to the clothes treatment device. The clothes treatment device completes the communication connection with the mobile cleaning device after receiving the matching confirmation signal.

In some embodiments, the laundry treating apparatus may transmit a matching association signal to the mobile cleaning apparatus to establish a communication connection with the mobile cleaning apparatus when the laundry treating apparatus is in an operating state; the communication connection with the mobile cleaning device may be established by transmitting the matching association signal to the mobile cleaning device at a preset frequency regardless of the current operation state of the laundry treating device.

In some embodiments, it may also be possible to search for the mobile cleaning device by sending a matching association signal to the mobile cleaning device, for example, at a first frequency, when the laundry treatment device is in an operating state. When the clothes treating device is in the non-working state, for example, the matching correlation signal is sent to the mobile cleaning device at the second frequency to search the mobile cleaning device. Wherein the first frequency is greater than the second frequency. The first frequency is set to be larger than the second frequency, so that the communication connection between the clothes treatment device and the mobile cleaning device can be established as soon as possible when the clothes treatment device is in a working state.

Based on the same inventive concept, the embodiment of the application also provides a control device of the mobile cleaning device. Fig. 4 is a block diagram illustrating a control apparatus of a mobile cleaning apparatus according to an embodiment of the present disclosure, and referring to fig. 4, the control apparatus of the mobile cleaning apparatus includes a request instruction acquiring module 10 and a control module 20.

A request instruction obtaining module 10, configured to obtain a request instruction sent by the laundry processing apparatus, where the request instruction is sent by the laundry processing apparatus when notification information needs to be sent to a user.

And the control module 20 is used for controlling the mobile cleaning device to send out notification information according to the request instruction.

In one embodiment, the request command may be issued by the laundry treating apparatus in case of starting or completing the laundry treating process or malfunction of the laundry treating apparatus itself.

In some embodiments, the control module 20 may be further configured to control the mobile cleaning device to move to an informing position according to the request command, and to send the informing message.

In some embodiments, for example, the control module 20 may also be used to implement a notification location acquisition process that includes: acquiring the current position of a user and/or one or more preset positions of the user; the current position of the user and/or one or more preset positions of the user are used as the informing positions.

In some embodiments, the control module 20 may also be used, for example, to: acquiring a surrounding environment image; under the condition that the image of the user exists in the surrounding environment image, taking the acquisition position of the surrounding environment image as the current position of the user; or taking the actual position of the user as the current position of the user; or taking the position away from the position where the user is located by a preset distance as the current position of the user.

In some embodiments, the control module 20 may also be used, for example, to: acquiring the position of a user terminal; and if the user terminal is located in the reachable area of the mobile cleaning device, determining the current position of the user according to the location of the user terminal.

In some embodiments, the control module 20 may also be used, for example, to: controlling the mobile cleaning apparatus to move to a location of the user terminal in a case where the location of the user terminal is within an reachable area of the mobile cleaning apparatus; acquiring a surrounding environment image of the position where the user terminal is located; and under the condition that the image of the user exists in the surrounding environment image, taking the position of the user terminal as the current position of the user, or taking the actual position of the user as the current position of the user, or taking the position away from the position of the user by a preset distance as the current position of the user.

In some embodiments, the control module 20 may also be used, for example, to: acquiring sound information of the surrounding environment; and determining the current position of the user according to the ambient environment sound information.

In some embodiments, the control module 20 may also be used, for example, to: controlling the mobile cleaning device to move to the current position of the user and sending out notification information; and under the condition that the reply of the user is not received, controlling the mobile cleaning device to move to one preset position of the user, or to move to a plurality of preset positions of the user according to a preset sequence or a random sequence, and sending out notification information.

In some embodiments, the control module 20 may also be used, for example, to: circularly executing the informing step under the condition that the user reply is not received; the informing step comprises: controlling the mobile cleaning device to move to all preset positions of the user and respectively sending out notification information; and if the user reply is obtained, finishing the circulation and executing the informing step.

In some embodiments, the request command is issued by the laundry treating apparatus in case of starting or completing the laundry treating process or malfunction of the laundry treating apparatus itself.

In some embodiments, the control module 20 may also be used, for example, to: determining whether an object to be cleaned exists on a path between the real-time position of the mobile cleaning device and the informing position; and in the case that the cleaning object exists, cleaning the cleaning object in the process of controlling the mobile cleaning device to move to the informing position, or cleaning the cleaning object after giving the informing information.

In some embodiments, the control module 20 may also be used, for example, to: before a request command sent by the clothes treatment device is obtained, the mobile cleaning device is controlled to be in communication connection with the clothes treatment device.

The embodiment of the application also provides a control method of a clothes treatment device, which can be executed by the control device of the clothes treatment device, the control device of the clothes treatment device can be integrated in the clothes treatment device, the clothes treatment device can be in communication connection with a mobile cleaning device in a home, for example, the communication connection can be realized through networking, the networking mode can include, for example, wiFi network connection, and the like, and the method can be specifically selected according to actual needs. The clothes treatment device can implement the control method of the clothes treatment device provided by the embodiment of the application. Fig. 5 is a schematic flowchart of a control method of a laundry treatment apparatus according to an embodiment of the present application, and as shown in fig. 5, the control method of the laundry treatment apparatus according to the embodiment of the present application includes the following steps:

and S30, sending a request instruction to the mobile cleaning device under the condition that the clothes treatment device needs to send the notification information to the user, so that the mobile cleaning device sends the notification information according to the request instruction.

In one embodiment, a request command is sent to the mobile cleaning device in case that the laundry treating device starts a laundry treating process or finishes the laundry treating process or malfunctions itself, so that the mobile cleaning device acquires an informing position, moves to the informing position, and sends out informing information.

Specifically, the laundry treating apparatus transmits a request command to the mobile cleaning apparatus when a laundry treating process is started or completed or a malfunction occurs in itself. The mobile cleaning device receives the request command, determines a notification position, and controls the mobile cleaning device to move to the notification position according to the request command, so that the mobile cleaning device sends a notification message at the notification position.

In some embodiments, the laundry treatment device may be, for example, a washing machine, a dryer, a washer dryer, or the like, and the mobile cleaning device may be, for example, a mobile cleaning apparatus such as a floor cleaning robot, an automatic carpet washing machine, or an automatic floor washing machine.

Taking a clothes processing device as a washing machine and a mobile cleaning device as a sweeping robot as an example, when the washing machine finishes a clothes washing process or the washing machine breaks down, the washing machine generates a request instruction and sends the request instruction to the sweeping robot, so that the sweeping robot obtains a notification position according to the request instruction, moves to the notification position and sends notification information.

In the related art, after the laundry treating apparatus completes the laundry treating process or malfunctions, even if the user is at home, if the user is not near the laundry treating apparatus or the user does not hear the prompt sound of the laundry treating apparatus, the user cannot timely know that the laundry treating apparatus has completed the laundry treating process or that the laundry treating apparatus malfunctions. When the user knows that the laundry treating apparatus is out of order or the laundry treating process is finished, the laundry is often left in the laundry treating apparatus for a long time, which brings inconvenience to the user. According to the technical scheme provided by the embodiment of the application, when the clothes treatment device starts the clothes treatment process or finishes the clothes treatment process or breaks down, the request instruction can be sent to the movable cleaning device. After the mobile cleaning device obtains the request instruction, the mobile cleaning device obtains the informing position based on the request instruction, moves to the informing position and sends out informing information, thereby informing the user that the clothes treatment device has a fault or the clothes treatment process is completed in time so as to remind the user to maintain the clothes treatment device in time or take out clothes from the clothes treatment device in time. For example, if the clothes treatment device is in failure, the user can be reminded to maintain the clothes treatment device in time, and if the clothes treatment process is finished, the user can be reminded to take out the clothes in time, so that the probability of overlong clothes in the clothes treatment device is greatly reduced, and various adverse conditions caused by overlong clothes in the clothes treatment device are greatly reduced.

Based on the same inventive concept, the embodiment of the application also provides a control device of the clothes treatment device. Fig. 6 is a block diagram illustrating a control device of a laundry treatment apparatus according to an embodiment of the present invention, and as shown in fig. 6, the control device of the laundry treatment apparatus includes a request command transmitting module 30. A request instruction transmitting module 30, configured to transmit a request instruction to the mobile cleaning device when the laundry treating device needs to transmit notification information to a user, so that the mobile cleaning device transmits the notification information according to the request instruction. The request instruction may be issued by the laundry treating apparatus in case of starting or finishing a laundry treating course or a malfunction of itself.

In some embodiments, the control device of the laundry treating apparatus may further include a malfunction detection module for detecting whether the laundry treating apparatus malfunctions, for example. If the malfunction detection module detects that the laundry treating apparatus malfunctions, the request command transmission module 30 may transmit a request command to the mobile cleaning apparatus so that the mobile cleaning apparatus acquires an informing position according to the request command, moves to the informing position, and transmits informing information.

In some embodiments, the control device of the laundry treating apparatus may further include, for example, a laundry treating state detecting module for detecting whether the laundry treating apparatus completes the laundry treating process. In case that the laundry treatment state detection module detects that the laundry treatment apparatus has completed the laundry treatment process, the request instruction transmission module 30 may transmit a request instruction to the mobile cleaning apparatus, so that the mobile cleaning apparatus acquires the notification position according to the request instruction, moves to the notification position, and transmits the notification information.

The embodiment of the application also provides a cleaning system. Fig. 7 is a schematic structural diagram of a cleaning system according to an embodiment of the present disclosure, and as shown in fig. 7, the cleaning system includes a laundry treating device 1 and a mobile cleaning device 2. In the case where the laundry treating apparatus 1 needs to give notification information to the user, the laundry treating apparatus 1 sends a request command to the mobile cleaning apparatus 2. The mobile cleaning device 2 acquires a request command sent by the clothes treatment device 1, acquires a notification position according to the request command, moves to the notification position and sends a notification message. The request instruction may be issued by the laundry treating apparatus 1 in case of starting or completing the laundry treating process or a malfunction of itself, for example.

In one embodiment, a communication connection may be established between the laundry treating device 1 and the mobile cleaning device 2, for example, by networking (the networking may include, for example, wiFi network connection) so that the laundry treating device 1 sends a request instruction to the mobile cleaning device 2 to instruct the mobile cleaning device 2 to obtain the notification location when the laundry treating process is completed or a failure occurs. For example, the laundry treating apparatus 1 may transmit a matching correlation signal to the mobile cleaning apparatus 2 to search for the mobile cleaning apparatus 2. After receiving the matching-related signal, the mobile cleaning device 2 transmits a matching confirmation signal to the laundry treating device 1. The laundry treating apparatus 1 completes the communication connection with the mobile cleaning apparatus 2 after receiving the matching confirmation signal.

In some embodiments, the laundry treating apparatus 1 may transmit a matching association signal to the mobile cleaning apparatus 2 to establish a communication connection with the mobile cleaning apparatus 2 when the laundry treating apparatus 1 is in an operating state; it is also possible to transmit a matching association signal to the mobile cleaning apparatus 2 at a preset frequency to establish a communication connection with the mobile cleaning apparatus 2 regardless of the current operation state of the laundry treating apparatus 1.

In some embodiments, it is also possible to search for the mobile cleaning device 2 by sending a matching correlation signal to the mobile cleaning device 2, for example, at a first frequency, when the laundry treatment device 1 is in the working state. When the laundry treating device 1 is in the non-operating state, the mobile cleaning device 2 is searched for by sending a matching correlation signal to the mobile cleaning device 2 at a second frequency, for example. Wherein the first frequency is greater than the second frequency. Setting the first frequency to be greater than the second frequency enables the laundry treating apparatus 1 to establish a communication connection between the laundry treating apparatus 1 and the mobile cleaning apparatus 2 as soon as possible while the laundry treating apparatus 1 is in an operating state.

In some embodiments, the laundry treatment apparatus 1 may be, for example, a washing machine, a dryer, a washing and drying machine, and the mobile cleaning apparatus 2 may be, for example, a mobile cleaning device such as a floor cleaning robot, an automatic carpet washing machine, or an automatic floor washing machine. Taking the example that the clothes processing device is a washing machine and the mobile cleaning device is a sweeping robot, when the washing machine finishes the clothes washing process or the washing machine breaks down, the washing machine generates a request instruction and sends the request instruction to the sweeping robot, and the sweeping robot obtains the request instruction sent by the washing machine, obtains a notification position according to the request instruction, moves to the notification position, and sends out notification information. The sweeping robot is self-moving and has a positioning function, so that a notification position for sending notification information to a user by the movable cleaning device 2 can be obtained according to a required instruction. After obtaining the notification position, the mobile cleaning apparatus 2 may move to the notification position and issue notification information, thereby outputting the notification information to the user. In the embodiment of the present application, the notification information may be, for example, a voice notification information and/or a text display notification information. The function of sending the notification information may be implemented by a function module of the mobile cleaning apparatus 2, or may be implemented by an additional function module. For example, the voice may be played through a speaker in the mobile cleaning device 2 to inform the user of the voice, or the text may be displayed on a display screen in the mobile cleaning device 2 to inform the user of the text, or the text may be displayed on the display screen while the voice is played through the speaker. The user can obtain the notification information by hearing the sound played by the loudspeaker and/or seeing the characters displayed on the display screen.

The notification position is a position where the mobile cleaning apparatus is required to move to and send a notification message. Taking the sweeping robot as an example, the sweeping robot generally has a notification function, and can send notification information, for example, the notification information is sent by playing a voice through a speaker provided in the sweeping robot and/or displaying text information through a display provided in the sweeping robot, so that the notification information can be sent without performing a complicated structural design on the sweeping robot or additionally adding a functional module, and the notification information is sent at a notification position, so that a user can timely and effectively know the notification information that the laundry processing device 1 needs to send to the user, for example, the laundry processing condition of the laundry processing device 1 or whether the laundry processing device 1 is in a failure.

In the related art, after the laundry treating apparatus 1 completes the laundry treating process or malfunctions, even if the user is at home, if the user is not near the laundry treating apparatus 1 or the user does not hear the prompt sound of the laundry treating apparatus 1, the user cannot timely know that the laundry treating apparatus 1 has completed the laundry treating process or that the laundry treating apparatus 1 malfunctions. When the user knows that the laundry treating apparatus 1 is out of order or the laundry treating process is finished, the laundry is often left in the laundry treating apparatus 1 for a long time, which brings inconvenience to the user.

According to the technical scheme provided by the embodiment of the application, the movable cleaning device 2 in the cleaning system can receive the request command sent by the clothes treatment device 1, wherein the request command is sent to the movable cleaning device 2 when the clothes treatment device 1 finishes the clothes treatment process or fails, so that the movable cleaning device 2 can obtain the informing position after obtaining the request command, then the movable cleaning device 2 is controlled to move to the informing position according to the request command, and the informing information is sent, so that a user can timely know that the clothes treatment device 1 fails or finishes the clothes treatment process. For example, if the clothes treatment device is in failure, the user can be reminded to maintain the clothes treatment device in time, and if the clothes treatment process is finished, the user can be reminded to take out the clothes in time, so that the probability of overlong clothes in the clothes treatment device is greatly reduced, and various adverse conditions caused by overlong clothes in the clothes treatment device are greatly reduced.

In some embodiments, the cleaning system includes a laundry treating apparatus and a mobile cleaning apparatus. When the clothes treatment device finishes the clothes treatment process or has a fault, the clothes treatment device sends a request instruction to the mobile cleaning device. The mobile cleaning device obtains a request instruction sent by the clothes treatment device, and obtains the current position of the user and/or one or more preset positions of the user according to the request instruction. The current location of the user and/or one or more preset locations of the user. The mobile cleaning apparatus moves to the notification position and issues a notification message.

The mobile cleaning device may obtain the current location of the user and/or one or more preset locations of the user according to the request command transmitted from the laundry treating device. The preset location may be, for example, a frequent location of the user, e.g., the preset location may include at least one of a living room, a balcony, a kitchen, a study, a bedroom. In order to output the notification information to the user quickly and accurately, the embodiment of the application can also determine the current position of the user. The embodiment of the present application is not limited to the manner of determining the current location of the user.

When the user is at home, the user may be in any of the rooms, living room, bedroom, balcony, kitchen, study, toilet, and so one or more preset locations may be used as the informed location. The embodiment of the present application may store one or more preset positions, such as a living room, a bedroom, a balcony, a kitchen, a study room, a toilet, etc., in the mobile cleaning device in advance. For example, all the rooms in the room may be set to a preset position, so that the mobile cleaning apparatus moves to each room to inform a user. In some embodiments, the user's frequent location in the room may be selected as a preset location, so that the mobile cleaning device moves to the user's frequent location to send out the notification message.

In some embodiments, if the current location of the user is used as the notification location, the mobile cleaning apparatus may directly move to the current location of the user to transmit the notification information, so as to rapidly output the notification information to the user. In some embodiments, in order to prevent the user from being unable to receive the notification message in time due to the movement of the user's position, the current position and one or more preset positions of the user may be used as notification positions, so that the mobile cleaning device sends the notification message to the user.

According to the technical scheme provided by the embodiment of the application, the current position of the user and/or one or more preset positions of the user are/is obtained according to the requirement instruction, the current position of the user and/or the one or more preset positions of the user are/is used as the informing position, the mobile cleaning device is controlled to move to the informing position according to the requirement instruction, and informing information is sent out, so that the user can conveniently and effectively know that the clothes treatment process of the clothes treatment device is completed or the clothes treatment device is in a fault state in time, and the method is simple and easy to implement. In addition, according to the technical scheme provided by the embodiment of the application, the informing position can be determined by utilizing the self-contained positioning function of the mobile cleaning device, and the informing information can be sent by utilizing the self-contained informing function of the mobile cleaning device, so that additional functional modules, devices or parts do not need to be arranged in the clothes treatment device and the mobile cleaning device, and the informing information can be sent to a user in time without arranging complicated computer running programs in the clothes treatment device and the mobile cleaning device, and the design complexity of the clothes treatment device and the mobile cleaning device is not increased.

In some embodiments, the mobile cleaning device may also be used, for example, to obtain images of the surrounding environment according to the requested instructions; and under the condition that the image of the user exists in the surrounding environment image, taking the acquired position of the surrounding environment image as the current position of the user, or taking the actual position of the user as the current position of the user, or taking the position away from the position of the user by a preset distance as the current position of the user.

According to the technical scheme provided by the embodiment of the application, the surrounding environment image of the position where the user terminal is located is obtained through the mobile cleaning device, and under the condition that the image of the user exists in the surrounding environment image, the obtained position of the surrounding environment image is used as the current position of the user, so that the current position of the user can be further determined through the mobile cleaning device, the situation that the position where the user terminal is located in the reachable area of the mobile cleaning device is prevented, but the situation that the user is not located at the position where the mobile terminal is located due to the fact that the user does not carry the mobile terminal with him or her is caused, and the accuracy of judging the current position of the user can be further improved.

In some embodiments, the mobile cleaning device may also be used, for example, to obtain ambient sound information according to a request command; the current location of the user is determined from the ambient sound information. Therefore, the technical scheme provided by the embodiment of the application can determine the current position of the user according to the sound information of the surrounding environment, the method is simple and easy to implement, and the accuracy of obtaining the current position of the user can be improved.

In some embodiments, the mobile cleaning device may be further configured to obtain a location of the user terminal according to a request command; in case that the user terminal is located within the reachable area of the mobile cleaning apparatus, the location of the user terminal is taken as the current location of the user. Therefore, the technical scheme provided by the embodiment of the application can determine the current position of the user according to the position of the user terminal, and is simple and easy to implement.

In some embodiments, the mobile cleaning device may be further used, for example, to control the mobile cleaning device to move to the location of the user terminal according to a request command to acquire an image of the surroundings of the location of the user terminal in case the location of the user terminal is located within the reachable area of the mobile cleaning device. And if the user image is recognized to exist in the surrounding environment image, taking the position of the user terminal as the current position of the user. Therefore, according to the technical solution provided by the embodiment of the application, the mobile cleaning device is used to obtain the image of the surrounding environment of the location of the user terminal, and if the user image is identified to exist in the image of the surrounding environment, the location of the user terminal is used as the current location of the user, so that the current location of the user can be further determined by the mobile cleaning device, thereby preventing the location of the user terminal from being located in the reachable area of the mobile cleaning device, but the user does not carry the mobile terminal with him, so that the accuracy of determining the current location of the user can be further improved.

In some embodiments, the mobile cleaning device may also be used to determine whether an object to be cleaned is present on a path between the real-time location of the mobile cleaning device and the notification location, for example. If the cleaning object exists, the cleaning object is cleaned in the process of controlling the mobile cleaning device to move to the notification position, or the cleaning object is cleaned after the notification message is issued.

According to the technical scheme, when the mobile cleaning device determines that the object to be cleaned exists on the path between the real-time position of the mobile cleaning device and the informing position, the mobile cleaning device is controlled to move to the informing position according to the requirement instruction, the object to be cleaned is cleaned through the mobile cleaning device, so that the object to be cleaned can be cleaned in the process that the mobile cleaning device moves to the informing position, the informing information can be sent to a user by the mobile cleaning device, and meanwhile, the operation of cleaning the indoor space by the mobile cleaning device cannot be delayed. Since it takes a certain time for the mobile cleaning device to clean the object to be cleaned, in order to prevent a delay in issuing the notification message to the user by the mobile cleaning device, the object to be cleaned may be cleaned by the mobile cleaning device after the mobile cleaning device is moved to the notification position and the notification message is issued. Therefore, the scheme selection diversity of the mobile cleaning device for cleaning the objects to be cleaned can be improved, and the cleaning function and the informing function of the mobile cleaning device are more humanized.

Embodiments of the present application also provide a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement any one of the methods described above.

Specifically, when being executed by the processor, the computer program may be used to implement the technical solution of the control method for any mobile cleaning device provided in the embodiments of the present application, and achieve the corresponding technical effects. Or, the method and the device can also be used for implementing the technical scheme of the control method of any clothes treatment device provided by the embodiment of the application, and achieve the corresponding technical effects.

Referring to fig. 8, a computer readable storage medium is shown as an optical disc 50, on which a computer program (i.e. a program product) is stored, which when executed by a processor, performs the method provided by any of the previous embodiments.

It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory, or other optical and magnetic storage media, which are not described in detail herein.

The computer-readable storage medium provided by the embodiment of the present application and the method provided by the embodiment of the present application have the same beneficial effects as the method adopted, operated or implemented by the application program stored in the computer-readable storage medium.

It should be noted that:

the term "module" is not intended to be limited to a particular physical form. Depending on the particular application, a module may be implemented as hardware, firmware, software, and/or combinations thereof. Furthermore, different modules may share common components or even be implemented by the same component. There may or may not be clear boundaries between the various modules.

The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose devices may also be used with the examples based on this disclosure. The required structure for constructing such a device will be apparent from the description above. In addition, this application is not directed to any particular programming language. It will be appreciated that a variety of programming languages may be used to implement the teachings of the present application as described herein, and any descriptions of specific languages are provided above to disclose the best modes of the present application.

It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A method for controlling a mobile cleaning apparatus, comprising:

2. The method of claim 1, wherein the controlling the mobile cleaning apparatus to send the notification message according to the request command comprises:

3. The method of claim 2, wherein the controlling the mobile cleaning apparatus to issue the notification message according to the request command further comprises a notification location acquisition process, the notification location acquisition process comprising:

4. The method of claim 3, wherein obtaining the current location of the user comprises:

acquiring a surrounding environment image;

or taking the actual position of the user as the current position of the user;

5. The method of claim 3, wherein obtaining the current location of the user comprises:

acquiring the position of a user terminal;

6. The method of claim 5, wherein determining the current location of the user according to the location of the user terminal if the location of the user terminal is within the reachable area of the mobile cleaning device comprises:

or taking the actual position of the user as the current position of the user;

7. The method of claim 3, wherein obtaining the current location of the user comprises:

acquiring sound information of surrounding environment;

8. The method of claim 3, wherein the controlling the mobile cleaning apparatus to move to the notification position and issuing the notification message comprises:

9. The method of claim 8, wherein the controlling the mobile cleaning apparatus to move to one preset location of the user or to a plurality of preset locations of the user in a preset sequence or a random sequence without receiving a user reply and sending a notification message comprises:

the informing step comprises:

10. The method according to claim 1, wherein the request instruction is issued by the laundry treatment device in case of starting or finishing a laundry treatment course or a malfunction of the laundry treatment device itself.

11. The method according to claim 2, wherein the control method further comprises:

12. The method according to claim 1, wherein before the obtaining of the request instruction issued by the laundry treatment apparatus, the control method further comprises:

13. A control apparatus of a mobile cleaning apparatus, comprising:

14. A control method of a laundry treating apparatus, comprising:

15. A control device of a laundry treatment apparatus, comprising:

16. A cleaning system, comprising a laundry treating apparatus and a mobile cleaning apparatus;

the mobile cleaning device is used for acquiring a request instruction sent by the clothes treatment device and sending out notification information according to the request instruction.

17. A computer-readable storage medium, having stored thereon a computer program for execution by a processor to implement the control method of any one of claims 1 to 12, or the control method of claim 14.