Cleaning equipment and control method thereof
By introducing the reverse rotation of the roller and the cleaning function of the back side of the wiper part in the cleaning equipment, the problems of bristles collapse and the concealment of the wiper part are solved, and the cleaning effect and service life of the cleaning equipment are improved.
Patent Information
- Application Number
- CN202310757026.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-06-25
- Publication Date
- 2024-12-27
AI Technical Summary
After the rollers of existing cleaning equipment are used for a long time, the bristles collapse under the pressure of the wiper, resulting in a decrease in cleaning capacity. The back of the wiper is prone to dirt and dirt, making it difficult to clean.
A cleaning device and its control method are designed to control the roller to rotate in reverse on the surface to be cleaned, and bristles are erected to avoid pressure drops, and when preset conditions are met, reversely rotated to clean up dirt on the back of the wiper , realize self-cleaning.
It effectively restores the cleaning ability of the roller, avoids bristles collapse, ensures cleaning on the back of the wiper parts, and extends the service life of the equipment.
Smart Images
Figure CN119184548A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of smart home appliances, and more specifically to a cleaning device and a control method thereof. Background Art
[0002] Currently, for cleaning devices that use a roller to clean the surface to be cleaned, the roller always rotates in the same direction, which causes the bristles of the roller to be collapsed under the pressure of the wiper for a long time, and the pressure on the ground decreases, so that the cleaning ability of the roller decreases.
[0003] Therefore, improvements are needed to at least partially solve the above problems. Summary of the invention
[0004] A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. The Summary of the Invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.
[0005] The embodiments of the present application provide a cleaning device and a control method thereof, which can effectively improve the cleaning effect of the drum and prevent dirt and grime from accumulating on the back side of the wiper element.
[0006] In a first aspect, an embodiment of the present application provides a cleaning device, comprising:
[0007] Equipment body;
[0008] A driving assembly, the driving assembly being connected to the device body and used to drive the device body to move on the surface to be cleaned;
[0009] A roller, the roller being rotatably connected to the device body and used for cleaning the surface to be cleaned while rotating;
[0010] A drum motor, the drum motor is drivingly connected to the drum and is used to drive the drum to rotate in a first direction or a second direction, wherein the first direction is opposite to the second direction;
[0011] a wiper member, the wiper member abutting against the drum and used for scraping out the sewage in the drum when the drum rotates;
[0012] A controller is connected to the drive assembly and the drum motor, and is used to control the drive assembly to drive the device body to move on the surface to be cleaned and control the drum motor to drive the drum to rotate along the first direction to clean the surface to be cleaned. The controller is also used to control the drum motor to drive the drum to rotate along the second direction when a preset trigger condition is met.
[0013] In a second aspect, an embodiment of the present application provides a control method for a cleaning device, wherein the cleaning device comprises a drum and a wiper, wherein the drum contacts a surface to be cleaned and is used to clean the surface to be cleaned while rotating, and the wiper abuts against the drum and is used to scrape out sewage in the drum while the drum rotates, wherein the control method comprises:
[0014] Controlling the cleaning device to move on the surface to be cleaned, and controlling the drum to rotate in a first direction for a first preset time to clean the surface to be cleaned;
[0015] Determine whether the preset trigger condition is met;
[0016] When the determination is yes, the drum is controlled to rotate in a second direction, wherein the second direction is opposite to the first direction.
[0017] According to the cleaning device and control method thereof of the present invention, by controlling the roller to rotate in the opposite direction after cleaning the surface to be cleaned, on the one hand, the bristles of the roller can be made to stand upright to prevent the bristles from being crushed by the wiper element, resulting in a decrease in the pressure of the roller on the surface to be cleaned and a decrease in the cleaning ability; on the other hand, the back side of the wiper element can be cleaned to prevent dirt and grime from accumulating there. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] The following drawings of the present application are hereby used as part of the present application for understanding the present application. The drawings show the embodiments of the present application and their descriptions, and are used to explain the device and principle of the present application. In the drawings,
[0019] Figure 1 is a schematic structural diagram of a cleaning device according to an embodiment of the present application;
[0020] Figure 2 Schematic diagram of a control method for a cleaning device according to an embodiment of the present application.
[0021] Description of reference numerals:
[0022] 100- equipment body, 200- driving wheel, 300- roller, 400- wiper, 500- sewage pre-storage tank, 600- sewage tank. DETAILED DESCRIPTION
[0023] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present application. However, it is apparent to those skilled in the art that the present application can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present application, some technical features well known in the art are not described.
[0024] It should be understood that the present application can be implemented in different forms and should not be construed as being limited to the embodiments presented herein. On the contrary, providing these embodiments will make the disclosure thorough and complete and fully convey the scope of the present application to those skilled in the art. In the accompanying drawings, the sizes and relative sizes of layers and regions may be exaggerated for clarity. The same reference numerals throughout represent the same elements.
[0025] It should be understood that although the terms first, second, third, etc. can be used to describe various elements, components, regions, layers and / or parts, these elements, components, regions, layers and / or parts should not be limited by these terms. These terms are only used to distinguish one element, component, region, layer or part from another element, component, region, layer or part. Therefore, without departing from the teachings of the present application, the first element, component, region, layer or part discussed below can be represented as a second element, component, region, layer or part.
[0026] Spatially relative terms such as "under", "beneath", "below", "under", "above", "above", etc., may be used herein for convenience of description to describe the relationship of one element or feature to other elements or features shown in the figures. It should be understood that the spatially relative terms are intended to encompass different orientations of the device in use and operation in addition to the orientation shown in the figures.
[0027] The purpose of the terms used herein is only to describe specific embodiments and is not intended to be limiting of the present application. When used herein, the singular forms "one", "an" and "said / the" are also intended to include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "consisting of" and / or "comprising", when used in this specification, determine the presence of the features, integers, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, parts and / or groups. When used herein, the term "and / or" includes any and all combinations of the relevant listed items.
[0028] Embodiments of the invention are described herein with reference to cross-sectional views as schematic diagrams of ideal embodiments (and intermediate structures) of the present application. Thus, variations in the shapes shown due to, for example, manufacturing techniques and / or tolerances can be expected. Therefore, embodiments of the present application should not be limited to the specific shapes shown herein, but include shape deviations due to, for example, manufacturing. Therefore, what is shown in the figures is schematic in nature, and their shapes are not intended to display the actual shape of the device and are not intended to limit the scope of the present application.
[0029] See attached Figure 1The cleaning device according to an embodiment of the present application is exemplarily described. The cleaning device may be a mopping robot or a sweeping and mopping robot, and the cleaning device includes a device body 100, a driving assembly, a drum 300, a drum motor, a wiper 400, a sewage pre-storage tank 500, a sewage tank 600, and a controller.
[0030] The device body 100 is a shell structure having a receiving space therein. Other components or structures in the cleaning device are directly or indirectly connected to the device body 100 .
[0031] The driving assembly is connected to the equipment body 100, and is used to drive the equipment body 100 to move on the surface to be cleaned. In the embodiment of the present application, the driving assembly includes a driving motor and a driving wheel 200, and the driving wheel 200 is a roller, which has two, and is rotatably connected to the equipment body 100, and is located in the middle of the equipment body 100 facing the surface to be cleaned. The driving motor is arranged inside the equipment body 100, and is connected to the driving wheel 200 for driving the driving wheel 200 to rotate. The equipment body 100 is also provided with a universal wheel, which is rotatably connected to the equipment body 100, and is located at the front of the equipment body 100 facing the surface to be cleaned. It should be noted that the "front" in this application refers to the part facing the forward direction of the cleaning device (facing the side of the forward direction of the cleaning device). The driving wheel 200 and the universal wheel are arranged in an isosceles triangle on the side of the equipment body 100 facing the surface to be cleaned. When the driving motor drives the driving wheel 200 to rotate, the driving wheel 200 can drive the equipment body 100 to move on the surface to be cleaned. In some embodiments, the driving wheel can also be replaced by a roller with a track wheel. The track wheel is rotatably connected to the equipment body 100 and is located on the side of the equipment body 100 facing the surface to be cleaned. The driving motor is connected to the track wheel for driving the track wheel to rotate, thereby driving the equipment body 100 to move on the surface to be cleaned.
[0032] The drum 300 includes a drum body and a mop. The drum body may be cylindrical. The mop wraps the circumferential side of the drum body. The mop may be made of a material having a certain water absorption property and has bristles on its surface. The drum 300 is rotatably arranged on a side of the device body 100 facing the surface to be cleaned. When the cleaning device moves on the surface to be cleaned, the mop on the drum 300 contacts the surface to be cleaned. The drum 300 may rub the surface to be cleaned to remove dirt on the surface to be cleaned when rotating around its central axis.
[0033] The drum motor is transmission-connected to the drum 300 (that is, it is transmission-connected to the cylinder in the drum 300), and is used to drive the drum 300 to rotate around its central axis in a first direction or a second direction. The first direction is opposite to the second direction. The first direction can be, for example, clockwise or counterclockwise, and correspondingly, the second direction is counterclockwise or clockwise. In an embodiment of the present application, when the cleaning device is moving on the surface to be cleaned, the drum motor drives the drum 300 to rotate in a first direction, and the drive motor drives the drive wheel 200 to rotate in a second direction. The rotation directions of the drum 300 and the drive wheel 200 are opposite, so that a greater friction force can be generated at the contact position between the drum 300 and the surface to be cleaned, thereby improving the cleaning effect. Among them, the first direction is Figure 1 The second direction is counterclockwise. Figure 1 In the embodiment of the present application, the drum body has a storage space inside, and the drum motor is arranged in the storage space inside the drum body. In some other embodiments, the drum motor can also be arranged in the device body 100 and is connected to the drum body in a transmission manner.
[0034] The wiper member 400 is in contact with the drum 300, and is used to scrape out the dirty water in the drum 300 when the drum 300 rotates. The wiper member 400 may be in the shape of a plate or a strip, extending along the axial direction of the drum 300, and its length in the axial direction of the drum 300 is equal to or slightly greater than the length of the mop in the axial direction of the drum 300. The wiper member 400 is in contact with the mop on the drum 300 (interference ground), so that when the drum 300 rotates, the dirty water can be scraped out by the scraping action with the mop. In the embodiment of the present application, the cleaning device also includes a sewage pre-storage tank 500, which is used to collect the dirty water that is collected by the drum 300 along the first direction (i.e., Figure 1When the cleaning device 400 rotates in the counterclockwise direction (in the middle), the sewage scraped by the wiper 400 is collected. In the embodiment of the present application, the wiper 400 and the sewage pre-storage tank 500 are integrally formed (for example, integrally injection molded), and the sewage pre-storage tank 500 includes a bottom wall and a side wall surrounding the bottom wall in the circumferential direction. The wiper 400 is a protruding portion arranged on the side wall of the sewage collection tank facing the drum 300. In some other embodiments, the wiper 400 and the sewage pre-storage tank 500 can be two independent components. In the embodiment of the present application, the cleaning device also includes a sewage tank 600 and a sewage suction pump. The sewage tank 600 is detachably connected to the device body 100. The sewage tank 600 is provided with a plug-in slot on the side facing the drum 300. The sewage pre-storage tank 500 is plugged into the plug-in slot. When the sewage tank 600 is connected to the device body 100, the sewage pre-storage tank 500 (including the wiper 400) is clamped and fixed between the sewage tank 600 and the drum 300. The side wall of the sewage pre-storage tank 500 facing the drum 300 (i.e., the side wall below the wiper 400) is in contact with the drum 300, so that the water leaking or overflowing from below the wiper 400 is absorbed into the mop again (absorbed and taken away by the mop), thereby preventing the sewage from leaking from below the wiper 400 onto the surface to be cleaned, affecting the cleaning effect and user experience. The sewage tank 600 is connected to the sewage pre-storage tank 500, and the sewage suction pump is connected to the sewage tank 600 to generate negative pressure in the sewage tank 600, so as to absorb the sewage in the sewage pre-storage tank 500 and store it in the sewage tank 600.
[0035] The controller is connected to the drive assembly and the drum motor, and is used to control the drive assembly to drive the device body 100 to move on the surface to be cleaned and control the drum motor to drive the drum 300 to rotate in the first direction to clean the surface to be cleaned. The controller is also used to control the drum motor to drive the drum 300 to rotate in the second direction when a preset trigger condition is met. In the embodiment of the present application, the preset trigger condition is that the drum 300 rotates in the first direction for a preset time. That is, when the time when the drum motor drives the drum 300 to rotate in the first direction reaches a preset time, the controller controls the drum motor to drive the drum 300 to rotate in the second direction. The controller can be a single chip microcomputer or other suitable control device, and the preset time can be, for example, 5 minutes, 10 minutes or other suitable time. Specifically, in the embodiment of the present application, the controller is connected to the drive motor, and controls the drive motor to drive the drive wheel 200 to rotate in the second direction to drive the device body 100 to move on the surface to be cleaned, and at the same time controls the drum motor to drive the drum 300 to rotate in the first direction for a first preset time. When the drum 300 rotates, it will bring up garbage and sewage on the surface to be cleaned through friction with the surface to be cleaned. The garbage and sewage will be scraped out by the wiper 400 and enter the sewage pre-storage tank 500, and then be absorbed into the sewage tank 600 for storage under the action of the sewage suction pump, so as to clean the surface to be cleaned. After the drum 300 rotates in the first direction for the first preset time, due to the action of the wiper bar, the bristles on the mop of the drum 300 will fall down to a certain extent along the direction of rotation, resulting in a smaller actual use diameter of the drum 300, a decrease in the pressure on the surface to be cleaned, and a decrease in the cleaning ability. After the bristles on the mop of the drum 300 fall down, it is difficult for the bristles to effectively act on the back side of the wiper 400 and the side wall of the sewage pre-storage tank 500 facing the drum 300, and it is difficult to effectively clean the dirt on the back side of the wiper 400 and the side wall, and the back side of the wiper 400 and the side wall are easy to hide dirt. In the embodiment of the present application, when the preset trigger condition is met, the controller controls the drum motor to drive the drum 300 to rotate continuously in a second direction opposite to the first direction. The continuous rotation mentioned here may refer to continuous rotation for a second preset time. When the drum 300 rotates in the second direction, due to the switching of the rotation direction, the bristles on the mop of the drum 300 change from a smooth state to a reverse state. When the mop passes over the wiper 400, the bristles will be erected and become fluffy, thereby restoring the pressure on the surface to be cleaned and restoring the cleaning ability. After the bristles of the mop stand upright, they can effectively act on the back side of the wiper 400 and the side wall of the sewage pre-storage tank 500 facing the drum 300, effectively cleaning the dirt on the back side of the wiper 400 and the side wall, avoiding dirt and grime here, and realizing self-cleaning of the cleaning device. The second preset time can be less than or equal to the first preset time.In the embodiment of the present application, after the controller controls the drum motor to drive the drum 300 to rotate in the first direction for the first preset time, the cleaning device can be controlled to stop moving, and the drum motor is controlled to drive the drum 300 to rotate in the second direction for the second preset time in situ to achieve self-cleaning, and then the cleaning device is controlled to move on the surface to be cleaned, and the drum motor is controlled to drive the drum 300 to rotate in the first direction for the first preset time, and so on. In some embodiments, the controller is also used to control the drum motor to drive the drum 300 to change the rotation direction intermittently when the preset trigger condition is met, so as to switch between rotating in the second direction and rotating in the first direction. That is, the drum 300 is controlled to rotate in the second direction for the third preset time (or the first preset angle), and then the drum 300 is controlled to rotate in the first direction for the fourth preset time (or the second preset angle), and so on until the duration reaches the fifth preset time. By controlling the drum 300 to change the rotation direction intermittently, not only can the bristles stand up, but also the dirt on the back side of the wiper 400 and the side wall of the sewage pre-storage tank 500 facing the drum 300 can be better cleaned.
[0036] In some embodiments, the preset trigger condition is that the cleaning device is in a preset position. That is, the controller controls the drive assembly to drive the device body 100 to advance on the surface to be cleaned and controls the drum motor to drive the drum 300 to rotate in a first direction, and when the cleaning device advances to the preset position, controls the drum motor to drive the drum 300 to rotate in a second direction (continuously rotate in the second direction or intermittently change the direction of rotation). When the time when the cleaning device leaves the base station reaches the set time threshold (or when the cleaning device completes the cleaning work, or when the power of the cleaning device is lower than the set power threshold, or when the cleaning device meets other set conditions for returning to the base station), the controller controls the drive assembly to drive the device body 100 to advance on the surface to be cleaned so that the cleaning device returns to the base station from its current position. The base station is also called a base or a base, which can charge the cleaning device and clean and / or dry the drum 300. The preset position is the position where the cleaning device returns to the base station, which can be a fixed position (the position where the cleaning device returns to the base station) or an active position (the position between the position where the cleaning device returns to the base station and the position where the base station is). Specifically, before the cleaning device returns to the base station (that is, before the cleaning device moves toward the base station), the drive assembly can be controlled to stop working to stop the cleaning device, and then the drum motor can be controlled to drive the drum 300 to rotate in the second direction. After that, the drum motor can be controlled to stop driving the drum or drive the drum to rotate in the first direction, and the drive assembly can be controlled to work so that the cleaning device returns to the base station from its position. In some embodiments, the drum motor can also be controlled to drive the drum 300 to rotate in the second direction on the way back to the base station (that is, the position between the position where the cleaning device is before returning to the base station and the position where the base station is located), that is, the controller controls the drive assembly and the drum motor to work at the same time. By controlling the drum motor to drive the drum 300 to rotate in the second direction at a preset position before returning to the base station, the cleaning effect and / or drying effect of the base station on the drum can be effectively improved. In some embodiments, the preset position may be a specific position outside the base station for draining waste, such as a position near a floor drain. The controller may identify whether the cleaning device is in the preset position through a sensor (such as a binocular vision sensor, etc.) provided on the cleaning device, and when the cleaning device is identified to be in the preset position, control the drum motor to drive the drum 300 to rotate in the second direction (rotate continuously in the second direction or change the rotation direction intermittently). In this way, dirt dropped during the self-cleaning process may fall here without contaminating the surface to be cleaned in other areas. In some embodiments, the preset position may be a preset position on the base station, and a dirt collection tank may be provided at the preset position on the base station. The dirt collection tank is used to collect dirt dropped when the cleaning device is in the preset position on the base station and the drum 300 rotates in the second direction, so as to prevent the dirt from contaminating the surface to be cleaned.When the cleaning device moves to the preset position on the base station, the cleaning device contacts the base station to form an electrical connection. The controller can determine that the cleaning device is at the preset position when recognizing that the cleaning device forms an electrical connection with the base station, and control the drum motor to drive the drum 300 to rotate in the second direction.
[0037] In an embodiment of the present application, the cleaning device further includes an obstacle recognition unit, which is used to identify the height of obstacles in the direction of travel of the cleaning device. The obstacle recognition unit may include one or more of a laser radar, a millimeter wave radar, an infrared ranging sensor, and a binocular vision sensor. The specific method and principle of identifying the height of obstacles in the direction of travel of the cleaning device are known to those skilled in the art and are not described in detail here. The controller is connected to the obstacle recognition unit to obtain the recognition result of the obstacle recognition unit. In an embodiment of the present application, the preset trigger condition also includes: the height of the obstacle is within a preset height range. That is, when the height of the obstacle in the direction of travel of the cleaning device is within a preset height range, the controller controls the drum motor to drive the drum 300 to rotate continuously in the second direction to cross the obstacle. That is, the controller controls the drum 300 to rotate in the same direction as the drive wheel 200 to increase the power of the cleaning device to travel, so that the cleaning device can pass through the obstacle more easily. The preset height range is a height range that the cleaning equipment is difficult to pass through when the drum 300 and the driving wheel 200 rotate in opposite directions, and a height range that the cleaning equipment is easy to pass through when the drum 300 and the driving wheel 200 rotate in the same direction. The specific value of the height range can be determined through a large number of experiments, and this application does not specifically limit it here.
[0038] In an embodiment of the present application, the cleaning device further includes a current detection unit, which is used to detect the current of the drum motor. The current detection unit may include a Hall current sensor or other types of current sensors. The controller is connected to the current detection unit to obtain the detection result of the current detection unit. In an embodiment of the present application, the preset trigger condition also includes: the current of the drum motor exceeds the preset current threshold. That is, when the drum 300 rotates in the first direction and the current of the drum motor exceeds the first preset current threshold, the controller controls the drum motor to drive the drum 300 to rotate in the second direction. When the cleaning device is traveling on the surface to be cleaned, foreign objects such as wires and carpets may be involved between the drum 300 and the device body 100 or between the drum 300 and the sewage collection tank, causing the drum 300 to get stuck. At this time, the current of the drum motor increases, which may cause the drum motor to be damaged or even burned. In the cleaning device of the embodiment of the present application, when the current of the drum motor exceeds the preset current threshold, the controller controls the drum motor to drive the drum 300 to reverse, so that foreign objects can be discharged in time to avoid the drum 300 from getting stuck. In the embodiment of the present application, the controller is further used to control the drum motor to drive the drum 300 to rotate in the first direction when the drum 300 rotates in the second direction and the current of the drum motor exceeds the second preset current threshold. The first preset current threshold and the second preset current threshold can be equal or different.
[0039] In the embodiment of the present application, the cleaning device further comprises a water spray assembly, and the water spray assembly is used to spray clean water onto the drum 300. The controller is connected to the water spray assembly, and is used to control the water spray assembly to spray clean water onto the drum 300 when the drum 300 rotates in a first direction. The controller is also used to control the water spray assembly to stop spraying clean water onto the drum 300 when the drum 300 rotates in a second direction. Specifically, the water spray assembly may comprise a clean water tank, a clean water pump, and a water spray member, the water spray member comprises a water inlet and a plurality of water outlets connected to the water inlet, the plurality of water outlets face the drum 300, the clean water pump is connected to the clean water tank and the water inlet of the water spray member, and is used to pump the clean water in the clean water tank to the water spray member, and spray the clean water onto the drum 300 through the plurality of water outlets of the water spray member. The controller is connected to the clean water pump. When the controller controls the drum motor to drive the drum 300 to rotate in the first direction, the controller synchronously controls the clean water pump to work, so as to spray clean water onto the drum 300, wet the mop, dissolve the dirt brought by the drum 300, and make it easier to scrape it into the sewage pre-storage tank 500 under the action of the wiper 400, and then be absorbed into the sewage tank 600. When the controller controls the drum motor to drive the drum 300 to rotate in the second direction, the sewage scraped by the wiper 400 cannot enter the sewage pre-storage tank 500. At this time, the clean water pump is controlled to stop working to prevent the sewage scraped by the wiper 400 from contaminating the surface to be cleaned. In some other embodiments, when the controller controls the drum motor to drive the drum 300 to rotate in the second direction, if the cleaning device is in a preset position, such as a preset position on the base station or a position near the floor drain, the clean water pump can be synchronously controlled to work, so as to spray clean water onto the drum 300 and wet the mop.
[0040] In the embodiment of the present application, when the cleaning device is at a preset position on the base station, and the base station dries the drum 300 of the cleaning device, the controller can control the drum motor to drive the drum 300 to rotate alternately in the first direction and the second direction, so that the bristles of the mop of the drum 300 always remain upright and fluffy. The mop has better air circulation in the fluffy state, which can improve the drying efficiency and shorten the drying time; at the same time, after drying, the mop can be fixed in a fluffy state, with better elasticity retention, which can extend the service life of the mop.
[0041] See attached Figure 2 The present application also provides a control method for a cleaning device, which may be the cleaning device in the above embodiment. The control method includes:
[0042] S100: Controlling the cleaning device to move on the surface to be cleaned, and controlling the drum 300 to rotate in a first direction to clean the surface to be cleaned.
[0043] Specifically, the controller in the cleaning device controls the driving motor to drive the driving wheel 200 to rotate in the second direction to drive the device body 100 to move on the surface to be cleaned, and at the same time controls the roller motor to drive the roller 300 to rotate in the first direction. When the roller 300 rotates, it will rub against the surface to be cleaned, bringing up garbage and sewage on the surface to be cleaned. The garbage and sewage will be scraped out by the wiper 400 and enter the sewage pre-storage tank 500, and then be sucked into the sewage tank 600 for storage under the action of the sewage suction pump, so as to clean the surface to be cleaned. The preset time can be, for example, 5 minutes, 10 minutes or other suitable time. The first direction is Figure 1 The second direction is counterclockwise. Figure 1 In the clockwise direction.
[0044] S200: Determine whether a preset trigger condition is met.
[0045] In the embodiment of the present application, step S200 specifically includes: determining whether the drum 300 rotates in the first direction for a preset time. Specifically, the controller controls the drum motor to drive the drum 300 to rotate in the first direction to count time, and determines in real time whether the counted time reaches the preset time. If the determination is yes, step S300 is performed, and if the determination is no, step S200 is performed again.
[0046] S300: Control the drum 300 to rotate in a second direction, wherein the second direction is opposite to the first direction.
[0047] Specifically, the controller can control the drum motor to drive the drum 300 to rotate continuously in a second direction opposite to the first direction, that is, to rotate continuously for a second preset time. When the drum 300 rotates in the second direction, due to the switching of the rotation direction, the bristles on the mop of the drum 300 change from the smooth state to the reverse state. When the mop passes over the wiper 400, the bristles will be erected and become fluffy, thereby restoring the pressure on the surface to be cleaned and restoring the cleaning ability. After the bristles of the mop are erected, they can effectively act on the back side of the wiper 400 and the side wall of the sewage pre-storage tank 500 facing the drum 300, effectively cleaning the dirt on the back side of the wiper 400 and the side wall, avoiding the accumulation of dirt and dirt here, and realizing the self-cleaning of the cleaning device. The second preset time can be less than or equal to the first preset time. In the embodiment of the present application, after performing step S100, the cleaning device is controlled to stop moving, and step S200 is performed in situ. In some embodiments, in step S300, the drum motor may be controlled to drive the drum 300 to intermittently change the rotation direction, so as to switch between rotating in the second direction and rotating in the first direction. That is, the drum 300 is controlled to rotate in the second direction for a third preset time (or a first preset angle), and then the drum 300 is controlled to rotate in the first direction for a fourth preset time (or a second preset angle), and this cycle is repeated until the duration reaches a fifth preset time.
[0048] In some embodiments, step S200 specifically includes: judging whether the cleaning device is in a preset position. When the time when the cleaning device leaves the base station reaches the set time threshold (or when the cleaning device completes the cleaning work, or when the power of the cleaning device is lower than the set power threshold, or when the cleaning device meets other set conditions for returning to the base station), the controller controls the driving component to drive the device body 100 to advance on the surface to be cleaned so that the cleaning device returns to the base station from its current position. The preset position can be the position where the cleaning device returns to the base station, which can be a fixed position (the position where the cleaning device returns to the base station) or an active position (the position between the position where the cleaning device returns to the base station and the position where the base station is located). Specifically, it can be judged whether the cleaning device is in a preset position by judging whether the cleaning device meets the conditions for returning to the base station. In some embodiments, the preset position can be a specific position for sewage discharge, such as a position near a floor drain, and the controller can identify whether the cleaning device is in the preset position by a sensor (such as a binocular vision sensor, etc.) provided on the cleaning device, and when it is judged to be yes, step S300 is performed. In some embodiments, the preset position is a preset position on the base station, and a dirt collection slot may be provided at the preset position on the base station, and the dirt collection slot is used to collect dirt that falls when the cleaning device is at the preset position on the base station and the drum 300 rotates in the second direction, so as to prevent the dirt from contaminating the surface to be cleaned. When the cleaning device moves to the preset position on the base station, the cleaning device contacts the base station to form an electrical connection. The controller can determine whether the cleaning device is at the preset position by identifying whether the cleaning device is electrically connected to the base station, and when it is determined to be yes, proceed to step S300.
[0049] In an embodiment of the present application, step S200 also includes: determining whether the height of the obstacle in the direction of travel of the cleaning device is within a preset height range. Specifically, the height of the obstacle in the direction of travel of the cleaning device can be identified by an obstacle recognition unit on the cleaning device. The obstacle recognition unit may include one or more of a laser radar, a millimeter wave radar, an infrared ranging sensor, and a binocular vision sensor. The controller in the cleaning device is connected to the obstacle recognition unit to obtain the recognition result of the obstacle recognition unit, that is, to obtain the height of the obstacle in the direction of travel of the cleaning device, and to determine whether the height is within a preset height range. When it is determined to be yes, step S300 is performed to control the drum motor to drive the drum 300 to rotate continuously in the second direction to cross the obstacle. That is, the controller controls the drum 300 to rotate in the same direction as the drive wheel 200 to increase the power of the cleaning device to travel, so that the cleaning device can more easily pass over the obstacle.
[0050] In the embodiment of the present application, step S200 also includes: judging whether the current of the drum motor exceeds the preset current threshold. Specifically, the current of the drum motor can be detected by the current detection unit on the cleaning device. The current detection unit may include a Hall current sensor or other types of current sensors. The controller in the cleaning device is connected to the current detection unit to obtain the detection result of the current detection unit, that is, to obtain the current of the drum motor, and to judge whether the current of the drum motor exceeds the preset current threshold. When it is determined to be yes, it means that foreign objects such as wires and carpets may be involved between the drum 300 and the device body 100 or between the drum 300 and the sewage collection tank, causing the drum 300 to be stuck. At this time, step S300 is performed, that is, controlling the drum motor to drive the drum 300 to rotate continuously in the second direction, so as to discharge foreign objects in time and avoid the drum 300 from being stuck. In some embodiments, the control method also includes: when the drum 300 rotates in the second direction, judging whether the current of the drum motor exceeds the preset current threshold, and when it is determined to be yes, controlling the drum motor to drive the drum 300 to rotate in the first direction.
[0051] In the embodiment of the present application, the control method further includes:
[0052] S400: When the drum 300 rotates in the first direction, the water spraying assembly is controlled to spray clean water onto the drum 300;
[0053] Specifically, while performing step S100, step S400 is performed, that is, when the controller controls the drum motor to drive the drum 300 to rotate in the first direction, the controller synchronously controls the clean water pump to spray clean water onto the drum 300, wet the mop, and dissolve the dirt brought up by the drum 300, so that it can be more easily scraped out into the sewage pre-storage tank 500 under the action of the wiper 400, and then absorbed into the sewage tank 600.
[0054] S500 : When the drum 300 rotates in the second direction, the water spraying assembly is controlled to stop spraying clean water to the drum 300 .
[0055] Specifically, while performing step S300, step S500 is performed, that is, when the controller controls the drum motor to drive the drum 300 to rotate in the second direction, the sewage scraped by the wiper 400 cannot enter the sewage pre-storage tank 500. At this time, the clean water pump is controlled to stop working and stop spraying clean water to the drum 300 to avoid the sewage scraped by the wiper 400 from contaminating the surface to be cleaned.
[0056] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present application to this. Those of ordinary skill in the art may make various changes and modifications therein without departing from the scope and spirit of the present application. All these changes and modifications are intended to be included within the scope of the present application as required by the appended claims.
[0057] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.
[0058] Similarly, it should be understood that in order to streamline the present application and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of the present application, the various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, the method of the present application should not be interpreted as reflecting the following intention: the claimed application requires more features than the features clearly stated in each claim. More specifically, as reflected in the corresponding claims, the inventive point is that the corresponding technical problem can be solved with features less than all the features of a single disclosed embodiment. Therefore, the claims following the specific embodiment are hereby explicitly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present application.
[0059] It will be understood by those skilled in the art that, except for mutually exclusive features, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this specification may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose.
[0060] In addition, those skilled in the art will appreciate that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present application and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.
[0061] It should be noted that the above-mentioned embodiments illustrate rather than limit the invention and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims.
Claims
1. A cleaning device, characterized in that: include: Equipment body; A driving assembly, the driving assembly being connected to the device body and used to drive the device body to move on the surface to be cleaned; A roller, the roller being rotatably connected to the device body and used for cleaning the surface to be cleaned while rotating; A drum motor, the drum motor is drivingly connected to the drum and is used to drive the drum to rotate in a first direction or a second direction, wherein the first direction is opposite to the second direction; a wiper member, the wiper member abutting against the drum and used for scraping out the sewage in the drum when the drum rotates; A controller is connected to the drive assembly and the drum motor, and is used to control the drive assembly to drive the device body to move on the surface to be cleaned and control the drum motor to drive the drum to rotate along the first direction to clean the surface to be cleaned. The controller is also used to control the drum motor to drive the drum to rotate along the second direction when a preset trigger condition is met.
2. The cleaning device according to claim 1, characterized in that The preset trigger conditions include: The drum rotates in the first direction for a preset time, or the cleaning device is at a preset position.
3. The cleaning device according to claim 2, characterized in that: The controller is used to control the driving assembly to drive the device body to move on the surface to be cleaned so that the cleaning device returns to the base station; The preset position is the position of the cleaning device before it returns to the base station.
4. The cleaning device according to claim 1, characterized in that: The controlling the drum motor to drive the drum to rotate along the second direction comprises: controlling the drum motor to drive the drum to continuously rotate along the second direction; or, The drum motor is controlled to drive the drum to intermittently change the rotation direction to switch between rotating in the second direction and rotating in the first direction.
5. The cleaning device according to claim 1, characterized in that: The cleaning device further comprises a sewage tank and a sewage pre-storage tank, wherein the sewage tank is detachably connected to the device body, the sewage pre-storage tank is detachably connected to the sewage tank and is located between the sewage tank and the drum, and the wiper is located on a side of the sewage pre-storage tank facing the drum; When the drum rotates along the first direction, the drum abuts against the first side of the wiper, the wiper scrapes out the sewage in the drum, and the sewage pre-storage tank collects the sewage scraped out by the wiper; When the roller rotates along the second direction, the roller abuts against the second side of the wiper element and the side of the sewage pre-storage tank facing the roller, and the roller carries away dirt on the second side of the wiper element and the side of the sewage pre-storage tank facing the roller, wherein the second side of the wiper element is opposite to the first side of the wiper element.
6. The cleaning device according to claim 1, characterized in that The driving assembly includes a driving wheel, a driving motor and an obstacle recognition unit; The driving wheel is rotatably connected to the device body, the driving motor is drivingly connected to the driving wheel, the controller is connected to the driving motor, the controller is used to control the driving motor to drive the driving wheel to rotate along the second direction to drive the device body to move on the surface to be cleaned, the obstacle recognition unit is connected to the controller, and the obstacle recognition unit is used to recognize the height of obstacles in the moving direction of the cleaning device; The preset trigger conditions include: The height of the obstacle is within a preset height range.
7. The cleaning device according to claim 1, characterized in that The cleaning device further comprises a current detection unit, which is connected to the controller and is used to detect the current of the drum motor; The preset trigger conditions include: The current of the drum motor exceeds a preset current threshold.
8. The cleaning device according to claim 1, characterized in that The cleaning device further comprises a water spraying assembly, which is used to spray clean water onto the drum; The controller is connected to the water spray assembly and is used to control the water spray assembly to spray clean water onto the drum when the drum rotates along the first direction. The controller is also used to control the water spray assembly to stop spraying clean water onto the drum when the drum rotates along the second direction.
9. A method for controlling a cleaning device, characterized in that: The cleaning device comprises a drum and a wiper, wherein the drum contacts a surface to be cleaned and is used to clean the surface to be cleaned when rotating, and the wiper abuts against the drum and is used to scrape out the sewage in the drum when the drum rotates. The control method comprises: Controlling the cleaning device to move on the surface to be cleaned, and controlling the drum to rotate in a first direction to clean the surface to be cleaned; Determine whether the preset trigger condition is met; When the determination is yes, the drum is controlled to rotate in a second direction, wherein the second direction is opposite to the first direction.
10. The control method according to claim 9, characterized in that: The determining whether the preset trigger condition is met includes: Determine whether the drum has rotated in the first direction for a preset time, or determine whether the cleaning device is in a preset position.