Method, apparatus, storage medium, and electronic device for controlling rotation of side brush

Abstract

Method, apparatus, storage medium, and electronic device for controlling rotation of a side brush are provided. The method may include obtaining a working mode of a cleaning apparatus when the cleaning apparatus is working (S 202 ); determining a target rotational speed of the side brush of the cleaning apparatus according to the working mode of the cleaning apparatus and information of an obstacle detected by the cleaning apparatus in an area currently being cleaned (S 204 ); and controlling the side brush of the cleaning apparatus to rotate at the target rotational speed (S 206 ). The problem of low accuracy of controlling the rotational speed of the side brush by the cleaning apparatus in the related art is solved, thereby realizing the effect of improving the accuracy of controlling the rotational speed of the side brush by the cleaning apparatus.

1 . A method for controlling rotation of a side brush, comprising:
 obtaining a working mode of a cleaning apparatus when the cleaning apparatus is working;   determining a target rotational speed of the side brush of the cleaning apparatus according to the working mode of the cleaning apparatus and information of an obstacle detected by the cleaning apparatus in an area currently being cleaned; and   controlling the side brush of the cleaning apparatus to rotate at the target rotational speed.   
     
     
         2 . The method according to  claim 1 , wherein the determining a target rotational speed of the side brush of the cleaning apparatus according to the working mode of the cleaning apparatus and information of an obstacle detected by the cleaning apparatus in an area currently being cleaned comprises:
 in a case that the cleaning apparatus is in a first working mode, determining the target rotational speed of the side brush according to size information of the obstacle detected by the cleaning apparatus in the area currently being cleaned, wherein the information of the obstacle comprises the size information of the obstacle.   
     
     
         3 . The method according to  claim 2 , wherein the determining a target rotational speed of the side brush of the cleaning apparatus according to the working mode of the cleaning apparatus and information of an obstacle detected by the cleaning apparatus in an area currently being cleaned comprises:
 in a case that the cleaning apparatus is in a second working mode, determining the target rotational speed of the side brush according to type information of the obstacle detected by the cleaning apparatus in the area currently being cleaned, wherein the information of the obstacle comprises the type information of the obstacle.   
     
     
         4 . The method according to  claim 1 , wherein the determining a target rotational speed of the side brush of the cleaning apparatus according to the working mode of the cleaning apparatus and information of an obstacle detected by the cleaning apparatus in an area currently being cleaned comprises:
 in a case that the cleaning apparatus is in a second working mode, determining the target rotational speed of the side brush according to type information of the obstacle detected by the cleaning apparatus in the area currently being cleaned, wherein the information of the obstacle comprises the type information of the obstacle.   
     
     
         5 . The method according to  claim 2 , wherein, in a case that the cleaning apparatus is in a first working mode, the determining the target rotational speed of the side brush of the cleaning apparatus according to size information of the obstacle detected by the cleaning apparatus in the area currently being cleaned comprises:
 in a case that the size information of the obstacle is determined to be greater than or equal to a preset size threshold according to the size information, determining that the target rotational speed of the side brush is a first rotational speed; or   in a case that the size information of the obstacle is determined to be smaller than the preset size threshold according to the size information, determining that the target rotational speed of the side brush is a second rotational speed, wherein the first rotational speed is greater than the second rotational speed.   
     
     
         6 . The method according to  claim 3 , wherein, in a case that the cleaning apparatus is in a second working mode, the determining the target rotational speed of the side brush of the cleaning apparatus according to type information of the obstacle detected by the cleaning apparatus in the area currently being cleaned comprises:
 in a case that it is determined that the obstacle has a sharp corner according to the type information, determining that the target rotational speed of the side brush is a third rotational speed, wherein an angle of the sharp corner is smaller than or equal to a preset angle threshold; or   in a case that it is determined that the obstacle does not have a sharp corner according to the type information, determining that the target rotational speed of the side brush is a fourth rotational speed, wherein the third rotational speed is greater than the fourth rotational speed.   
     
     
         7 . The method according to  claim 4 , wherein, in a case that the cleaning apparatus is in a second working mode, the determining the target rotational speed of the side brush of the cleaning apparatus according to type information of the obstacle detected by the cleaning apparatus in the area currently being cleaned comprises:
 in a case that it is determined that the obstacle has a sharp corner according to the type information, determining the target rotational speed of the side brush is a third rotational speed, wherein an angle of the sharp corner is smaller than or equal to a preset angle threshold; or   in a case that it is determined that the obstacle does not have a sharp corner according to the type information, determining the target rotational speed of the side brush is a fourth rotational speed, wherein the third rotational speed is greater than the fourth rotational speed.   
     
     
         8 . The method according to  claim 2 , wherein the method further comprises:
 in a case that the cleaning apparatus is in the first working mode and no obstacle is detected by the cleaning apparatus, determining that the target rotational speed of the side brush is a first rotational speed.   
     
     
         9 . The method according to  claim 2 , wherein the first working mode comprises arcuate route sweeping. 
     
     
         10 . The method according to  claim 2 , wherein the first working mode comprises spiral type route sweeping. 
     
     
         11 . The method according to  claim 2 , wherein the first working mode comprises circular route sweeping. 
     
     
         12 . The method according to  claim 4 , wherein the second working mode comprises sweeping along an edge. 
     
     
         13 . The method according to  claim 6 , wherein the second working mode comprises sweeping along an edge. 
     
     
         14 . A control apparatus for controlling rotation of a side brush, comprising:
 an obtaining module configured to obtain a working mode of a cleaning apparatus when the cleaning apparatus is working;   a determining module configured to determine a target rotational speed of the side brush of the cleaning apparatus according to the working mode of the cleaning apparatus and information of an obstacle detected by the cleaning apparatus in an area currently being cleaned; and   a controlling module configured to control the side brush of the cleaning apparatus to rotate at the target rotational speed.   
     
     
         15 . An electronic device, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to execute the computer program to perform the method according to  claim 1 .