Cleaning equipment control method and device, main control board and cleaning equipment

Abstract

The invention is suitable for the technical field of cleaning equipment, and provides a control method and device of cleaning equipment, a main control board and the cleaning equipment. The method comprises the following steps: acquiring motion data aiming at a motion state of the cleaning equipment, and acquiring an expected speed; wherein the expected speed is used for representing the speed of the cleaning equipment after the wiping strip is switched between the first state and the second state of the wiping strip, the first state is that the wiping strip makes contact with the to-be-cleaned face, and the second state is that a preset gap exists between the wiping strip and the to-be-cleaned face; based on the motion data and the expected speed, determining predicted time when the cleaning equipment reaches the expected speed; and based on the predicted time and the preset scraping strip moving time, the scraping strip is controlled to be switched between the first state and the second state. According to the embodiment of the invention, the scraping strip can be accurately controlled to be switched between the first state and the second state, so that the scraping strip is accurately controlled to be in contact with or separated from the ground at proper time, and the cleaning effect is improved.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a control method, device, main control board and cleaning equipment for cleaning equipment. Background Art

[0002] Currently, when cleaning equipment moves backward, water stains often remain on the floor. Typically, a scraper bar and a drive element are installed at the front end of the roller brush. The drive element drives the scraper bar, allowing it to contact the floor and scrape away any remaining water stains and other impurities as the cleaning equipment moves. Cleaning equipment typically operates in a repetitive forward and reverse motion.

[0003] However, when the existing cleaning device starts to move backward, the scraper bar moves down slowly, so that the front end of the cleaning device cannot scrape a certain distance; at the same time, when the cleaning device starts to move forward, the scraper bar moves up slowly, so that the front end of the cleaning device is easy to push garbage.

[0004] Therefore, existing cleaning equipment cannot accurately control the scraper blade to contact or separate from the ground at an appropriate time, resulting in poor cleaning effect. Summary of the Invention

[0005] In view of this, the embodiments of the present application provide a control method, device, main control board and cleaning equipment for cleaning equipment to solve the problem in the prior art that the cleaning equipment cannot accurately control the scraper to contact or separate with the ground at the appropriate time, resulting in poor cleaning effect.

[0006] A first aspect of an embodiment of the present application provides a control method for a cleaning device, wherein the cleaning device includes a scraper assembly, the scraper assembly including a scraper and a driving member for driving the scraper to move, and the control method includes:

[0007] Obtaining motion data for a motion state of the cleaning device and obtaining a desired speed, wherein the desired speed represents the speed of the cleaning device after the scraper blade switches between a first state in which the scraper blade contacts the surface to be cleaned and a second state in which a predetermined gap exists between the scraper blade and the surface to be cleaned;

[0008] Determining a predicted time for the cleaning device to reach the desired speed based on the motion data and the desired speed;

[0009] The wiper blade is controlled to switch between the first state and the second state based on the predicted time and the preset wiper blade movement time.

[0010] In one possible implementation, obtaining motion data for the motion state of the cleaning device includes:

[0011] According to the preset sampling interval, motion data of the motion state of the cleaning device is obtained every sampling interval.

[0012] In one possible implementation, controlling the wiper bar to switch between the first state and the second state based on the predicted time and the preset wiper bar movement time includes:

[0013] If the predicted time is greater than the scraper movement time and the predicted time is less than the sum of the scraper movement time and the sampling interval time, the difference between the predicted time and the scraper movement time is used as the first time interval, and after the first interval time, the scraper is controlled to switch between the first state and the second state.

[0014] In one possible implementation, controlling the wiper bar to switch between the first state and the second state based on the predicted time and the preset wiper bar movement time includes:

[0015] If the predicted time is not greater than the wiper moving time, or the predicted time is not less than the sum of the wiper moving time and the sampling interval time, the motion data is updated based on the sampling interval time.

[0016] In a possible implementation, obtaining the expected speed includes:

[0017] Based on the motion state of the cleaning device, the desired speed is determined.

[0018] In one possible implementation, determining the desired speed based on the motion state of the cleaning device includes:

[0019] If the movement direction of the cleaning device is a first moving direction, the expected speed is zero; wherein the first moving direction is a direction of movement toward a side of the cleaning device where the scraper bar is provided;

[0020] If the movement direction of the cleaning device is the second travel direction, the expected speed is zero or the first preset speed; wherein the second travel direction is opposite to the first travel direction, and the first preset speed is the speed of the cleaning device after decelerating along the second travel direction.

[0021] In one possible implementation, controlling the wiper bar to switch between the first state and the second state based on the predicted time and the preset wiper bar movement time includes:

[0022] If the movement direction of the cleaning device is the first moving direction, controlling the scraper blade to switch from the second state to the first state based on the predicted time and the preset scraper blade movement time;

[0023] If the moving direction of the cleaning device is the second moving direction, the scraper bar is controlled to switch from the first state to the second state based on the predicted time and the preset scraper bar movement time.

[0024] In one possible implementation, a cleaning device includes a body component and a motion detector provided on the body component;

[0025] Obtain motion data on the motion status of the cleaning equipment, including:

[0026] The motion state of the cleaning equipment is detected by a motion detector to obtain motion data.

[0027] In one possible implementation, the motion detector includes at least one of the following: an induction wheel, an inertial measurement unit, an accelerometer, an encoder of a hub motor;

[0028] The motion state of the cleaning device is detected by a motion detector to obtain motion data, including at least one of the following:

[0029] The moving speed of the cleaning equipment is detected based on the induction wheel to obtain motion data;

[0030] Detect the acceleration of the cleaning equipment based on the inertial measurement unit to obtain motion data;

[0031] Detecting the acceleration of the cleaning equipment based on the accelerometer to obtain motion data;

[0032] The encoder based on the hub motor detects the speed and angular acceleration of the roller of the cleaning equipment and obtains motion data.

[0033] In one possible implementation, determining a predicted time for the cleaning device to reach the desired speed based on the motion data and the desired speed includes:

[0034] Based on the motion data, determine the movement speed and acceleration of the cleaning equipment;

[0035] Based on the movement speed, the acceleration, and the desired speed, a predicted time for the cleaning device to reach the desired speed is determined.

[0036] A second aspect of an embodiment of the present application provides a control device for a cleaning device, wherein the cleaning device includes a scraper bar assembly, the scraper bar assembly including a scraper bar and a driving member for driving the scraper bar to move, and the control device includes:

[0037] an acquisition module for acquiring motion data of a motion state of the cleaning device and acquiring a desired speed; wherein the desired speed is used to represent the speed of the cleaning device after the scraper blade switches between a first state and a second state, the first state being when the scraper blade contacts the surface to be cleaned and the second state being when a predetermined gap exists between the scraper blade and the surface to be cleaned;

[0038] a determination module for determining a predicted time for the cleaning device to reach a desired speed based on the motion data and the desired speed;

[0039] The control module is used for controlling the scraper bar to switch between a first state and a second state based on the predicted time and a preset scraper bar movement time.

[0040] In a possible implementation, the acquisition module is specifically configured to acquire motion data on the motion state of the cleaning device at a preset sampling interval.

[0041] In one possible implementation, the control module is specifically used to use the difference between the predicted time and the scraper movement time as the first time interval if the predicted time is greater than the scraper movement time, and the predicted time is less than the sum of the scraper movement time and the sampling interval time, and after the first interval time, control the scraper to switch between the first state and the second state.

[0042] In one possible implementation, the control module is specifically configured to update the motion data based on the sampling interval if the predicted time is not greater than the wiper blade movement time, or the predicted time is not less than the sum of the wiper blade movement time and the sampling interval time.

[0043] In one possible implementation, the acquisition module is configured to determine the expected speed based on the motion state of the cleaning device.

[0044] In one possible implementation, the acquisition module is specifically used to: if the movement direction of the cleaning device is a first travel direction, the expected speed is zero; wherein, the first travel direction is the direction of movement toward the side of the cleaning device on which the scraper is set; if the movement direction of the cleaning device is a second travel direction, the expected speed is zero or a first preset speed; wherein, the second travel direction is opposite to the first travel direction, and the first preset speed is the speed of the cleaning device after decelerating and moving along the second travel direction.

[0045] In one possible implementation, the control module is used to control the scraper to switch from the second state to the first state based on the predicted time and the preset scraper movement time if the movement direction of the cleaning device is the first travel direction; if the movement direction of the cleaning device is the second travel direction, the control module is used to control the scraper to switch from the first state to the second state based on the predicted time and the preset scraper movement time.

[0046] In a possible implementation, the cleaning device includes a body component and a motion detector provided on the body component; the acquisition module is specifically configured to detect the motion state of the cleaning device through the motion detector to acquire motion data.

[0047] In one possible implementation, the motion detector includes at least one of the following: an induction wheel, an inertial measurement unit, an accelerometer, an encoder of a hub motor;

[0048] The acquisition module is specifically used to implement at least one of the following: detecting the moving speed of the cleaning device based on the induction wheel to obtain motion data; detecting the acceleration of the cleaning device based on the inertial measurement unit to obtain motion data; detecting the acceleration of the cleaning device based on the accelerometer to obtain motion data; detecting the speed and angular acceleration of the roller of the cleaning device based on the encoder of the hub motor to obtain motion data.

[0049] In one possible implementation, the determination module is specifically configured to determine the moving speed and acceleration of the cleaning device based on the motion data; and determine a predicted time for the cleaning device to reach the desired speed based on the moving speed, acceleration, and desired speed.

[0050] A third aspect of an embodiment of the present application provides a main control board, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method of the first aspect when executing the computer program.

[0051] A fourth aspect of the embodiments of the present application provides a cleaning device, comprising: a scraper bar assembly and the main control board of the third aspect;

[0052] The scraper bar assembly includes a scraper bar and a driving member for driving the scraper bar to move;

[0053] The main control board is electrically connected to the driving member, and the driving member is used to drive the scraper strip to switch between the first state and the second state under the control of the main control board.

[0054] In one possible implementation, the cleaning device further includes: a body component and a motion detector provided on the body component;

[0055] The main control board is arranged in the body assembly, and the main control board is electrically connected to the motion detector;

[0056] The motion detector includes at least one of the following: an induction wheel, an inertial measurement unit, an accelerometer, and an encoder of a hub motor.

[0057] A fifth aspect of the embodiments of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the method of the first aspect are implemented.

[0058] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0059] The control method of the cleaning device of the embodiment of the present application can obtain motion data for the motion state of the cleaning device, that is, the motion data can be obtained by monitoring the motion state of the cleaning device, and the expected speed can be obtained. Then, based on the motion data and the expected speed, the predicted time for the cleaning device to reach the expected speed can be determined. Since the expected speed is used to represent the speed of the cleaning device after the scraper is switched between the first state and the second state, the predicted time takes into account the scraper movement time, so that the scraper can be controlled to switch between the first state and the second state based on the predicted time and the preset scraper movement time, and then the time for the scraper to land and rise can be reasonably controlled, and the response time of the scraper switching between the first state and the second state can be compensated, so as to meet the different working conditions of the scraper being lowered in advance when the cleaning device moves backward and the scraper being raised in advance when the cleaning device moves forward. Therefore, the control method of the cleaning device of the embodiment of the present application can accurately control the scraper to contact or separate with the ground at the appropriate time, thereby improving the cleaning effect.

[0060] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0062] Figure 1 This is a schematic diagram of the electrical connection structure of the hardware of a cleaning device provided in an embodiment of the present application;

[0063] Figure 2 This is a schematic structural diagram of a cleaning device provided in an embodiment of the present application;

[0064] Figure 3 This is a schematic structural diagram of a cleaning device provided in an embodiment of the present application with the upper cover removed;

[0065] Figure 4 This embodiment of the present application provides a Figure 2 A schematic diagram of the cleaning equipment in FIG.

[0066] Figure 5 This is a flow chart of a method for controlling a cleaning device provided in an embodiment of the present application;

[0067] Figure 6 This is a flow chart of another method for controlling a cleaning device provided in an embodiment of the present application;

[0068] Figure 7 This is a schematic structural diagram of a control device for a cleaning device provided in an embodiment of the present application;

[0069] Figure 8 This is a structural diagram of a main control board provided in an embodiment of the present application.

[0070] Reference numerals:

[0071] 1-cleaning device, 11-scraping bar assembly, 111-scraping bar, 112-driving member, 12-main control board, 13-brush head board;

[0072] 14-body assembly, 141-upper cover, 15-sensor wheel, 16-roller;

[0073] 70-control device of cleaning equipment, 701-acquisition module, 702-determination module, 703-control module;

[0074] 122 - memory, 121 - processor, 123 - computer program. DETAILED DESCRIPTION

[0075] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0076] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0077] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0078] As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0079] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0080] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0081] Research has found that existing floor scrubbers usually work in a repeated forward and backward state. When starting to move backward, the scraper bar slowly descends, and there is a certain distance that the front end cannot scrape. When starting to move forward, the scraper bar slowly rises and retracts, and the front end is prone to pushing garbage. How to control the scraper bar to contact or separate from the ground at the appropriate time is an urgent problem to be solved. Simple compensation cannot accurately meet every usage condition.

[0082] The control method, device, main control board and cleaning equipment provided in this application are intended to solve the above technical problems in the prior art.

[0083] The following is a detailed description of the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems with specific embodiments. It should be noted that the following embodiments can refer to, draw on, or combine with each other, and the same terms, similar features, and similar implementation steps in different embodiments will not be repeated.

[0084] See also Figure 1 As shown, the embodiment of the present application provides a schematic diagram of the hardware electrical connection relationship structure of a cleaning device 1. Figure 1 As shown, the cleaning device 1 includes a scraper bar assembly 11 and a main control board 12 .

[0085] The scraper bar assembly 11 includes a scraper bar 111 and a driving member 112 for driving the scraper bar 111 to move.

[0086] The main control board 12 is electrically connected to the driving member 112 . The driving member 112 is used to drive the scraper 111 to switch between the first state and the second state under the control of the main control board 12 .

[0087] Among them, the main control board 12 is used to obtain motion data for the motion state of the cleaning device 1 and obtain the expected speed; wherein, the expected speed is used to represent the speed of the cleaning device 1 after switching between the first state and the second state of the scraper 111, the first state is that the scraper 111 is in contact with the surface to be cleaned, and the second state is that there is a predetermined gap between the scraper 111 and the surface to be cleaned; based on the motion data and the expected speed, the predicted time for the cleaning device 1 to reach the expected speed is determined; based on the predicted time and the preset scraper movement time, the scraper 111 is controlled to switch between the first state and the second state.

[0088] Specifically, the main control board 12 of the embodiment of the present application can implement the control method of the cleaning device 1 of the embodiment of the present application. The content related to the control method of the cleaning device 1 is described below and will not be repeated here.

[0089] Optionally, the cleaning device 1 of the embodiment of the present application is a floor scrubber.

[0090] See also Figure 2 As shown, the present invention provides a schematic structural diagram of a cleaning device 1. Figure 2 As shown, the cleaning device 1 further includes: a body component 14 and a motion detector provided on the body component 14 .

[0091] The main control board 12 is disposed in the body assembly 14 , and the main control board 12 is electrically connected to the motion detector, so that the main control board 12 can obtain motion data regarding the motion state of the cleaning device 1 through the motion detector.

[0092] See also Figure 2 As shown, the cleaning device 1 further includes: a body assembly 14 and a roller 16. The body assembly 14 includes an upper cover 141, and the roller 16 is rollably connected to the body assembly 14. The scraper 111 can be switched between a first state and a second state under the drive of the driving member 112. Figure 2 : shows two situations in which the scraper bar 111 is in a first state and a second state. The scraper bar 111 in the second state is represented by a dotted line. The first state and the second state are respectively a lowered position and an raised position of the scraper bar 111.

[0093] See also Figure 3 As shown, the embodiment of the present application provides a structural diagram of a cleaning device 1 with the upper cover 141 removed. Figure 3 As shown, a driving member 112 and a brush head plate 13 are provided in the fuselage assembly 14. The driving member 112 is a power source for the lifting and lowering of the scraper bar 111, and the driving member 112 can be a steering gear.

[0094] Optionally, the brush head board 13 is electrically connected to the driving member 112 and the main control board 12 . The main control board 12 controls logic and commands, and the brush head board 13 is an interface board.

[0095] See also Figure 4 As shown, the embodiment of the present application provides a Figure 2 Schematic diagram of the cleaning device 1 in the bottom view. Figure 4 As shown, the bottom of the fuselage assembly 14 is provided with an induction wheel 15. A hub motor is provided in the roller 16, and an encoder is provided in the hub motor.

[0096] Alternatively, the motion detector may be a sensor or an observer,

[0097] The motion detector includes at least one of the following: an induction wheel 15, an inertial measurement unit, an accelerometer, and an encoder of a hub motor.

[0098] As an example, the induction wheel 15 is used as a motion detector to sense speed. The induction wheel 15 is electrically connected to the brush head plate 13. The principle of obtaining motion data through the induction wheel 15 is the speed measurement principle of a brush motor.

[0099] At least one of the induction wheel 15, inertial measurement unit, accelerometer and hub motor encoder in the embodiment of the present application can obtain corresponding moving speed and / or acceleration. The acceleration can be obtained by differentiating the moving speed, and the moving speed can be obtained by integrating the acceleration.

[0100] The moving speed and acceleration of the body assembly 14 may also be the rotational speed and angular acceleration of the roller 16 , and the rotational speed and angular acceleration of the roller 16 may be directly obtained using an encoder of the hub motor.

[0101] Therefore, the motion data of the embodiment of the present application can be directly measured or calculated through different sensors or observers. By monitoring the motion state of the equipment in real time, the time when the cleaning equipment 1 reaches the desired speed can be accurately judged, so that the time when the scraper 111 lands and rises can be reasonably controlled to meet different working conditions.

[0102] See also Figure 5 As shown, the present invention provides a flow chart of a control method of a cleaning device 1. Figure 1 As shown, the cleaning device 1 includes a scraper assembly 11, which includes a scraper 111 and a driving member 112 for driving the scraper 111 to move. The control method of the cleaning device 1 of the embodiment of the present application can be applied to the main control board 12 of the cleaning device 1. Figure 5 As shown, the control method of the cleaning device 1 according to the embodiment of the present application includes: steps S501 to S503.

[0103] S501. Obtain motion data for the motion state of the cleaning device 1 and obtain an expected speed; wherein the expected speed is used to represent the speed of the cleaning device 1 after switching between the first state and the second state of the scraper 111, the first state being that the scraper 111 is in contact with the surface to be cleaned, and the second state being that there is a predetermined gap between the scraper 111 and the surface to be cleaned.

[0104] In some embodiments, obtaining motion data for the motion state of the cleaning device 1 includes: obtaining motion data for the motion state of the cleaning device 1 at every sampling interval according to a preset sampling interval.

[0105] The smaller the sampling interval, the more accurate it is, and it can be set according to the computing capability of the main control board 12 .

[0106] The embodiment of the present application can perform sampling based on a preset sampling interval to ensure the accuracy of the motion data and accurately reflect the current motion state of the cleaning device 1, thereby ensuring the cleaning effect.

[0107] In some embodiments, the cleaning device 1 includes a body component 14 and a motion detector provided on the body component 14; obtaining motion data for the motion state of the cleaning device 1 includes: detecting the motion state of the cleaning device 1 through the motion detector to obtain motion data.

[0108] Alternatively, the motion detector may be a sensor or an observer.

[0109] In some embodiments, the motion detector includes at least one of the following: an induction wheel 15, an inertial measurement unit, an accelerometer, an encoder of a hub motor;

[0110] The motion state of the cleaning device 1 is detected by a motion detector to obtain motion data, including at least one of the following:

[0111] The sensor wheel 15 detects the moving speed of the cleaning device 1 and obtains motion data;

[0112] Detecting the acceleration of the cleaning device 1 based on the inertial measurement unit to obtain motion data;

[0113] Detecting the acceleration of the cleaning device 1 based on the accelerometer to obtain motion data;

[0114] The encoder based on the hub motor detects the speed and angular acceleration of the roller 16 of the cleaning device 1 to obtain motion data.

[0115] In the embodiment of the present application, the moving speed and / or acceleration can be obtained by correspondingly obtaining at least one of the induction wheel 15, the inertial measurement unit, the accelerometer, and the encoder of the hub motor. Then, the acceleration can be obtained by differentiating the moving speed, and the moving speed can be obtained by integrating the acceleration.

[0116] Alternatively, the embodiment of the present application can directly use the encoder of the hub motor to obtain the rotation speed and angular acceleration of the roller 16. The moving speed and acceleration of the fuselage component 14 can also be the rotation speed and angular acceleration of the roller 16.

[0117] The motion data of the embodiment of the present application can be directly measured or calculated through different sensors or observers. By monitoring the motion state of the cleaning device 1 in real time, the time when the cleaning device 1 reaches the desired speed can be accurately judged, so that the time when the scraper 111 lands and rises can be reasonably controlled to meet different working conditions.

[0118] Specifically, the motion state of the cleaning device 1 may include motion direction, speed, and acceleration. The motion direction is the moving direction.

[0119] S502 : Based on the motion data and the expected speed, determine the predicted time for the cleaning device 1 to reach the expected speed.

[0120] In some embodiments, based on the motion data and the desired speed, determining a predicted time for the cleaning device 1 to reach the desired speed includes:

[0121] Based on the motion data, determining the movement speed and acceleration of the cleaning device 1;

[0122] Based on the movement speed, the acceleration, and the desired speed, a predicted time for the cleaning device 1 to reach the desired speed is determined.

[0123] Specifically, the speed prediction theoretical formula used in the embodiment of the present application is: r =v0+at,v r represents the expected speed, v0 represents the moving speed, a represents the acceleration, and t represents the predicted time.

[0124] The embodiment of the present application can calculate the predicted time for the cleaning device 1 to reach the expected speed through motion data and expected speed. The calculation process is simple and the predicted time can be accurately determined, so that the time for the scraper 111 to land and rise can be accurately controlled to ensure the cleaning effect.

[0125] S503 : Based on the predicted time and the preset scraper movement time, control the scraper 111 to switch between the first state and the second state.

[0126] In some embodiments, based on the predicted time and the preset scraper movement time, controlling the scraper 111 to switch between the first state and the second state includes:

[0127] If the predicted time is greater than the scraper movement time and the predicted time is less than the sum of the scraper movement time and the sampling interval, the difference between the predicted time and the scraper movement time is used as the first time interval, and after the first interval, the scraper 111 is controlled to switch between the first state and the second state.

[0128] In some embodiments, based on the predicted time and the preset scraper movement time, controlling the scraper 111 to switch between the first state and the second state includes:

[0129] If the predicted time is not greater than the wiper moving time, or the predicted time is not less than the sum of the wiper moving time and the sampling interval time, the motion data is updated based on the sampling interval time.

[0130] In an embodiment of the present application, when the predicted time is not greater than the scraper movement time and the predicted time is less than the sum of the scraper movement time and the sampling interval time, new motion data can be re-acquired based on the sampling interval time and the current motion data can be updated, so that the predicted time can be determined cyclically, thereby improving the accuracy of controlling the scraper 111 to switch between the first state and the second state.

[0131] Based on the above steps S501 to S503, the control method of the cleaning device 1 of the embodiment of the present application can obtain motion data for the motion state of the cleaning device 1, that is, the motion data can be obtained by monitoring the motion state of the cleaning device 1, and the expected speed can be obtained. Then, based on the motion data and the expected speed, the predicted time for the cleaning device 1 to reach the expected speed can be determined.

[0132] Since the expected speed is used to represent the speed of the cleaning device 1 after switching between the first state and the second state of the scraper 111, the predicted time takes into account the scraper movement time, so that the scraper 111 can be controlled to switch between the first state and the second state based on the predicted time and the preset scraper movement time, and then the time for the scraper 111 to fall to the ground and rise can be reasonably controlled, and the response time of the scraper 111 switching between the first state and the second state can be compensated, so as to meet the different working conditions of the scraper 111 being lowered in advance when the cleaning device 1 moves backward and the scraper 111 being raised in advance when moving forward.

[0133] Therefore, the control method of the cleaning device 1 according to the embodiment of the present application can accurately control the scraping strip 111 to contact or separate from the ground at an appropriate time, thereby improving the cleaning effect.

[0134] In some embodiments, obtaining the expected speed includes determining the expected speed based on the motion state of the cleaning device 1 .

[0135] Optionally, the motion state of the cleaning device 1 includes a motion direction, a moving speed, and an acceleration, and the motion direction, moving speed, and acceleration can all be determined based on the motion data. The motion state of the cleaning device 1 can also be determined based on a control program for the cleaning device 1 within the main control board 12, so that the scraper bar 111 can be lowered in advance before the cleaning device 1 moves backward, and raised in advance before the cleaning device 1 moves forward.

[0136] In some embodiments, determining the desired speed based on the motion state of the cleaning device 1 includes:

[0137] If the movement direction of the cleaning device 1 is the first moving direction, the expected speed is zero; wherein the first moving direction is the direction of movement toward the side of the cleaning device 1 where the scraper bar 111 is provided;

[0138] If the movement direction of the cleaning device 1 is the second travel direction, the expected speed is zero or the first preset speed; wherein the second travel direction is opposite to the first travel direction, and the first preset speed is the speed of the cleaning device 1 after decelerating along the second travel direction.

[0139] Optionally, the first preset speed is a relatively low speed, relatively close to zero, to ensure that the scraper bar 111 is raised in advance during the forward movement of the cleaning device 1 .

[0140] The first direction of travel is the forward direction, and the direction of movement of the cleaning device 1 is the first direction of travel. That is, the current direction of the cleaning device 1 is the forward direction, and it needs to decelerate to 0 and then move backward. The second direction of travel is the backward direction, and the direction of movement of the cleaning device 1 is the second direction of travel. That is, the current direction of the cleaning device 1 is the backward direction, and it needs to decelerate to 0 and then move forward.

[0141] The movement direction of the embodiment of the present application is to alternate between the first moving direction and the second moving direction. During the forward movement, the desired speed v r = 0, the scraper 111 just touches the ground, so when the front end is close to the edge for cleaning, the front end is close to the edge, and the blind spot of the roller brush is cleaned by the scraper 111; in the process of retreating, the scraper has already touched the ground, and the expected speed v r When the speed is reduced to 0 or a smaller first preset speed, the scraper bar 111 is lifted in advance to prevent the scraper bar 111 from being lifted later and pushing the garbage.

[0142] In some embodiments, based on the predicted time and the preset scraper movement time, controlling the scraper 111 to switch between the first state and the second state includes:

[0143] If the movement direction of the cleaning device 1 is the first moving direction, the scraper bar 111 is controlled to switch from the second state to the first state based on the predicted time and the preset scraper bar movement time;

[0144] If the moving direction of the cleaning device 1 is the second moving direction, the scraper bar 111 is controlled to switch from the first state to the second state based on the predicted time and the preset scraper bar movement time.

[0145] The embodiment of the present application can reasonably control the switching time of the scraper 111 between the first state and the second state based on the predicted time and the preset scraper movement time, compensate for the response time of the scraper 111 switching between the first state and the second state, and improve the cleaning effect.

[0146] See also Figure 6 As shown, the embodiment of the present application provides a flow chart of another control method of the cleaning device 1. Figure 6 As shown, the control method of the cleaning device 1 of the embodiment of the present application includes: step S601 to step S601

[0147] S601 : Acquire motion data of the motion state of the cleaning device 1 and acquire the expected speed.

[0148] The expected speed is the speed of the cleaning device 1 after the scraper strip 111 switches between the first state and the second state.

[0149] S602 : Determine the moving speed and acceleration of the cleaning device 1 based on the motion data.

[0150] Optionally, the moving speed and acceleration are real-time speed and real-time acceleration respectively. The real-time speed and / or real-time acceleration may be collected motion data or may be obtained based on the motion data.

[0151] S603 : Determine a predicted time for the cleaning device 1 to reach the desired speed based on the moving speed, the acceleration, and the desired speed.

[0152] The speed prediction theoretical formula used in the embodiment of this application is: r =v0+at,v r represents the expected speed, v0 represents the moving speed, a represents the acceleration, and t represents the predicted time.

[0153] Specifically, the moving speed v0, acceleration a and expected speed v r Substitute the above speed prediction theoretical formula to obtain the predicted time t.

[0154] S604: Determine whether the predicted time is greater than the scraper moving time, and the predicted time is less than the sum of the scraper moving time and the sampling interval time; if so, execute step S605; if not, execute step S606.

[0155] Among them, the sampling interval time is t1, and the scraper movement time is t2. The embodiment of the present application needs to determine whether the predicted time t satisfies t2<t<(t1+t2). If it satisfies, execute step S605; if not, execute step S606.

[0156] S605: Taking the difference between the predicted time and the wiper bar movement time as a first time interval, and controlling the wiper bar 111 to switch between the first state and the second state after the first time interval.

[0157] The first time interval is t-t2, and the wiper strip 111 performs an action after the first time interval.

[0158] The control logic of the forward process and the backward process of the embodiment of the present application is consistent. The forward process and the backward process may only have slightly different expected speeds. The moving speed and acceleration of the embodiment of the present application are both vectors with their own directions, and the directions can be represented by + and -. In the calculation process of the predicted time t in the embodiment of the present application, the acceleration (which is -) and the moving speed are opposite.

[0159] S606: Update the motion data based on the sampling interval and execute step S602.

[0160] In the embodiment of the present application, when it is determined that t≤t2 or (t1+t2)≤t, it is necessary to re-collect data at the next sampling interval to obtain new motion data to replace and update the current motion data, thereby ensuring the accuracy of the time of controlling the scraper 111 and ensuring the cleaning effect.

[0161] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0162] See also Figure 7 As shown in FIG, the present invention provides a schematic structural diagram of a control device 70 for a cleaning device. Figure 7 As shown, the cleaning device 1 includes a scraper bar assembly 11 , which includes a scraper bar 111 and a driving member 112 for driving the scraper bar 111 to move. The control device 70 of the cleaning device includes: an acquisition module 701 , a determination module 702 and a control module 703 .

[0163] The acquisition module 701 is used to obtain motion data for the motion state of the cleaning device 1 and obtain the expected speed; wherein the expected speed is used to represent the speed of the cleaning device 1 after switching between the first state and the second state of the scraper 111, the first state is that the scraper 111 is in contact with the surface to be cleaned, and the second state is that there is a predetermined gap between the scraper 111 and the surface to be cleaned.

[0164] The determination module 702 is used to determine the predicted time for the cleaning device 1 to reach the desired speed based on the motion data and the desired speed.

[0165] The control module 703 is configured to control the scraper bar 111 to switch between the first state and the second state based on the predicted time and the preset scraper bar movement time.

[0166] In some embodiments, the acquisition module 701 is specifically configured to acquire motion data of the motion state of the cleaning device 1 at every sampling interval according to a preset sampling interval.

[0167] In some embodiments, the control module 703 is specifically used to use the difference between the predicted time and the scraper movement time as the first time interval if the predicted time is greater than the scraper movement time, and the predicted time is less than the sum of the scraper movement time and the sampling interval time, and after the first interval time, control the scraper 111 to switch between the first state and the second state.

[0168] In some embodiments, the control module 703 is specifically configured to update the motion data based on the sampling interval time if the predicted time is not greater than the wiper bar movement time, or the predicted time is not less than the sum of the wiper bar movement time and the sampling interval time.

[0169] In some embodiments, the acquisition module 701 is configured to determine an expected speed based on the motion state of the cleaning device 1 .

[0170] In some embodiments, the acquisition module 701 is specifically used to: if the movement direction of the cleaning device 1 is a first movement direction, the expected speed is zero; wherein, the first movement direction is the direction of movement toward the side of the cleaning device 1 where the scraper 111 is set; if the movement direction of the cleaning device 1 is a second movement direction, the expected speed is zero or a first preset speed; wherein, the second movement direction is opposite to the first movement direction, and the first preset speed is the speed of the cleaning device 1 after decelerating and moving along the second movement direction.

[0171] In some embodiments, the control module 703 is used to control the scraper 111 to switch from the second state to the first state based on the predicted time and the preset scraper movement time if the movement direction of the cleaning device 1 is the first movement direction; if the movement direction of the cleaning device 1 is the second movement direction, then the scraper 111 is controlled to switch from the first state to the second state based on the predicted time and the preset scraper movement time.

[0172] In some embodiments, the cleaning device 1 includes a body component 14 and a motion detector provided on the body component 14 ; the acquisition module 701 is specifically configured to detect the motion state of the cleaning device 1 through the motion detector to acquire motion data.

[0173] In some embodiments, the motion detector includes at least one of the following: an induction wheel 15, an inertial measurement unit, an accelerometer, an encoder of a hub motor;

[0174] The acquisition module 701 is specifically used to implement at least one of the following: detecting the moving speed of the cleaning device 1 based on the induction wheel 15 to obtain motion data; detecting the acceleration of the cleaning device 1 based on the inertial measurement unit to obtain motion data; detecting the acceleration of the cleaning device 1 based on the accelerometer to obtain motion data; detecting the speed and angular acceleration of the roller 16 of the cleaning device 1 based on the encoder of the hub motor to obtain motion data.

[0175] In some embodiments, the determination module 702 is specifically configured to determine the moving speed and acceleration of the cleaning device 1 based on the motion data; and determine the predicted time for the cleaning device 1 to reach the desired speed based on the moving speed, acceleration, and desired speed.

[0176] The device of the embodiment of the present application can execute the method provided by the embodiment of the present application, and its implementation principle is similar. The actions performed by each module in the device of each embodiment of the present application correspond to the steps in the method of each embodiment of the present application. For the detailed functional description of each module of the device, please refer to the description in the corresponding method shown in the previous text, and will not be repeated here.

[0177] An embodiment of the present application provides a main control board 12, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the methods of the embodiments of the present application are implemented.

[0178] See also Figure 8 As shown, the embodiment of the present application provides a structural diagram of a main control board 12. Figure 8 As shown, the main control board 12 of this embodiment includes: a memory 122, a processor 121, and a computer program 123 stored in the memory 122 and executable on the processor 121. When the processor 121 executes the computer program, the steps of the methods of each embodiment of the present application are implemented.

[0179] The processor 121 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor or any conventional processor.

[0180] In some embodiments, the memory 122 may be an internal storage unit, such as a hard disk or memory. In other embodiments, the memory 122 may also be an external storage device, such as a plug-in hard disk equipped on the main control board 12, a smart media card (SMC), a secure digital (SD) card, a flash memory card, etc. The memory 122 is used to store the operating system, application programs, boot loaders, data, and other programs, such as the program code of computer programs. The memory 122 may also be used to temporarily store data that has been output or is about to be output.

[0181] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0182] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0183] An embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the method of each embodiment of the present application are implemented.

[0184] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The above-mentioned computer program can be stored in a computer-readable storage medium, and the computer program, when executed by the processor, can implement the steps of the above-mentioned various method embodiments. Among them, the above-mentioned computer program includes computer program code, and the above-mentioned computer program code can be in source code form, object code form, executable file or some intermediate form. The above-mentioned computer-readable medium may include at least: any entity or device that can carry the computer program code to the device / terminal device, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electric carrier signal, a telecommunication signal and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk.

[0185] The program of the embodiment of the present application can be stored in a computer-readable storage medium. When the program is executed, it can include the process of the embodiment of the above-mentioned method, wherein the storage medium can be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a flash memory (Flash Memory), a hard disk (Hard Dish Drive, abbreviated: HDD) or a solid-state drive (SSD), etc. The storage medium can also include a combination of the above-mentioned types of memory.

[0186] An embodiment of the present application provides a computer program product. When the computer program product is run on a cleaning device 1, the cleaning device 1 can implement the steps in the above-mentioned various method embodiments when executing the computer program product.

[0187] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0188] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0189] In the embodiments provided in this application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely illustrative. For example, the division of the above modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0190] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0191] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A method for controlling a cleaning device, characterized in that: The cleaning device includes a scraper bar assembly, the scraper bar assembly includes a scraper bar and a driving member for driving the scraper bar to move, and the control method includes: Obtaining motion data for the motion state of the cleaning device and obtaining a desired speed; wherein the desired speed is used to represent the speed of the cleaning device after the scraper bar switches between a first state and a second state, the first state being that the scraper bar is in contact with the surface to be cleaned, and the second state being that a predetermined gap exists between the scraper bar and the surface to be cleaned; determining a predicted time for the cleaning device to reach the desired speed based on the motion data and the desired speed; The wiper strip is controlled to switch between a first state and a second state based on the predicted time and a preset wiper strip movement time.

2. The control method of the cleaning equipment according to claim 1, characterized in that: The acquiring of motion data for the motion state of the cleaning device includes: According to a preset sampling interval, motion data on the motion state of the cleaning device is acquired at each sampling interval.

3. The control method of the cleaning equipment according to claim 2, characterized in that: The step of controlling the scraper bar to switch between the first state and the second state based on the predicted time and the preset scraper bar movement time includes: If the predicted time is greater than the scraper movement time and the predicted time is less than the sum of the scraper movement time and the sampling interval time, the difference between the predicted time and the scraper movement time is used as the first time interval, and after the first interval time, the scraper is controlled to switch between the first state and the second state.

4. The control method of the cleaning equipment according to claim 2, characterized in that: The step of controlling the scraper bar to switch between the first state and the second state based on the predicted time and the preset scraper bar movement time includes: If the predicted time is not greater than the wiper blade movement time, or if the predicted time is not less than the sum of the wiper blade movement time and the sampling interval time, the motion data is updated based on the sampling interval time.

5. The control method of the cleaning equipment according to claim 1, characterized in that: The obtaining of the expected speed includes: Based on the motion state of the cleaning device, a desired speed is determined.

6. The control method of the cleaning equipment according to claim 5, characterized in that: The determining of the expected speed based on the motion state of the cleaning device includes: If the movement direction of the cleaning device is a first moving direction, the expected speed is zero; wherein the first moving direction is a direction of movement toward a side of the cleaning device where the scraper bar is provided; If the movement direction of the cleaning device is the second travel direction, the expected speed is zero or a first preset speed; wherein the second travel direction is opposite to the first travel direction, and the first preset speed is the speed of the cleaning device after decelerating along the second travel direction.

7. The control method of the cleaning equipment according to claim 6, characterized in that: The step of controlling the scraper bar to switch between the first state and the second state based on the predicted time and the preset scraper bar movement time includes: If the movement direction of the cleaning device is the first moving direction, controlling the scraper bar to switch from the second state to the first state based on the predicted time and the preset scraper bar movement time; If the moving direction of the cleaning device is the second moving direction, the scraper bar is controlled to switch from the first state to the second state based on the predicted time and the preset scraper bar movement time.

8. The control method of the cleaning equipment according to claim 1, characterized in that: The cleaning device includes a body component and a motion detector provided on the body component; The acquiring of motion data for the motion state of the cleaning device includes: The motion detector detects the motion state of the cleaning device to obtain the motion data.

9. The control method of the cleaning equipment according to claim 8, characterized in that: The motion detector includes at least one of the following: an induction wheel, an inertial measurement unit, an accelerometer, and an encoder of a hub motor; The detecting the motion state of the cleaning device by the motion detector to obtain the motion data includes at least one of the following: acquiring the motion data based on detecting the moving speed of the cleaning device by the sensing wheel; acquiring the motion data based on detecting the acceleration of the cleaning device by the inertial measurement unit; acquiring the motion data based on detecting the acceleration of the cleaning device by the accelerometer; The speed and angular acceleration of the roller of the cleaning device are detected based on the encoder of the hub motor to obtain the motion data.

10. The control method of the cleaning equipment according to any one of claims 1 to 9, characterized in that: Determining a predicted time for the cleaning device to reach the desired speed based on the motion data and the desired speed includes: determining a movement speed and an acceleration of the cleaning device based on the motion data; Based on the moving speed, the acceleration, and the desired speed, a predicted time for the cleaning device to reach the desired speed is determined.

11. A control device for a cleaning device, characterized in that: The cleaning device includes a scraper bar assembly, the scraper bar assembly includes a scraper bar and a driving member for driving the scraper bar to move, and the control device includes: an acquisition module, configured to acquire motion data for the motion state of the cleaning device and to acquire an expected speed; wherein the expected speed is used to represent the speed of the cleaning device after the scraper bar switches between a first state and a second state, wherein the first state is when the scraper bar is in contact with the surface to be cleaned, and the second state is when a predetermined gap exists between the scraper bar and the surface to be cleaned; a determination module for determining a predicted time for the cleaning device to reach the desired speed based on the motion data and the desired speed; A control module is configured to control the scraper bar to switch between a first state and a second state based on the predicted time and a preset scraper bar movement time.

12. The control device of the cleaning equipment according to claim 11, characterized in that: The acquisition module is specifically configured to acquire motion data of the motion state of the cleaning device at intervals of a preset sampling interval.

13. The control device of the cleaning equipment according to claim 12, characterized in that: The control module is specifically configured to use the difference between the predicted time and the scraper movement time as a first time interval if the predicted time is greater than the scraper movement time and the predicted time is less than the sum of the scraper movement time and the sampling interval time, and control the scraper to switch between the first state and the second state after the first interval time.

14. The control device of the cleaning equipment according to claim 12, characterized in that: The control module is specifically configured to update the motion data based on the sampling interval if the predicted time is not greater than the scraper movement time, or the predicted time is not less than the sum of the scraper movement time and the sampling interval.

15. The control device of the cleaning equipment according to claim 11, characterized in that: The acquisition module is configured to determine a desired speed based on a motion state of the cleaning device.

16. The control device of the cleaning equipment according to claim 15, characterized in that: The acquisition module is specifically used to: if the movement direction of the cleaning device is a first travel direction, the expected speed is zero; wherein, the first travel direction is the direction of movement toward the side of the cleaning device where the scraper is set; if the movement direction of the cleaning device is a second travel direction, the expected speed is zero or a first preset speed; wherein, the second travel direction is opposite to the first travel direction, and the first preset speed is the speed of the cleaning device after decelerating and moving along the second travel direction.

17. The control device of the cleaning equipment according to claim 16, characterized in that: The control module is configured to control the scraper bar to switch from the second state to the first state based on the predicted time and the preset scraper bar movement time if the movement direction of the cleaning device is the first moving direction; If the moving direction of the cleaning device is the second moving direction, the scraper bar is controlled to switch from the first state to the second state based on the predicted time and the preset scraper bar movement time.

18. The control device of the cleaning equipment according to claim 11, characterized in that: The cleaning device includes a body component and a motion detector provided on the body component; the acquisition module is specifically configured to detect the motion state of the cleaning device through the motion detector to acquire the motion data.

19. The control device of the cleaning equipment according to claim 18, characterized in that: The motion detector includes at least one of the following: an induction wheel, an inertial measurement unit, an accelerometer, and an encoder of a hub motor; The acquisition module is specifically configured to implement at least one of the following: acquiring the motion data based on the moving speed of the cleaning device detected by the induction wheel; acquiring the motion data based on the acceleration of the cleaning device detected by the inertial measurement unit; acquiring the motion data based on detecting the acceleration of the cleaning device by the accelerometer; The speed and angular acceleration of the roller of the cleaning device are detected based on the encoder of the hub motor to obtain the motion data.

20. The control device of the cleaning equipment according to any one of claims 11 to 19, characterized in that: The determination module is specifically configured to determine the moving speed and acceleration of the cleaning device based on the motion data; and determine a predicted time for the cleaning device to reach the expected speed based on the moving speed, the acceleration, and the expected speed.

21. A main control board, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to any one of claims 1 to 10 when executing the computer program.

22. A cleaning device, characterized in that: include: The scraper strip assembly and the main control board as claimed in claim 21; The scraper bar assembly includes a scraper bar and a driving member for driving the scraper bar to move; The main control board is electrically connected to the driving member, and the driving member is used to drive the scraper to switch between a first state and a second state under the control of the main control board.

23. The cleaning device according to claim 22, characterized in that Also includes: A body assembly and a motion detector provided on the body assembly; The main control board is arranged in the body assembly, and the main control board is electrically connected to the motion detector; The motion detector includes at least one of the following: an induction wheel, an inertial measurement unit, an accelerometer, and an encoder of a hub motor.

24. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 10 are implemented.

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