Control Method, Device and Cleaning Device of a Cleaning Equipment

Abstract

The present invention discloses a control method for a cleaning device, a control device, and a cleaning device. The cleaning device includes a rolling brush and a scraping strip. The control method includes: in response to receiving a control instruction, determining a target working mode corresponding to the cleaning device according to the control instruction; determining a preset relative position corresponding to the target working mode according to the corresponding relationship between the preset working mode and the preset relative position, where the preset relative position is used to describe the relative position relationship between the rolling brush and the scraping strip; controlling the rolling brush to perform a corresponding working task according to the target working mode, and controlling the scraping strip to displace so that the rolling brush and the scraping strip satisfy the corresponding relative position. The control method of the cleaning device of the present invention can control the radial movement of the scraping strip relative to the rolling brush for different working modes of the cleaning device, so as to increase or decrease the interference amount between the scraping strip and the rolling brush, and enable the rolling brush to perform different working tasks for different working modes, thereby improving the efficiency of the rolling brush during self-cleaning.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and particularly to a control method, device and cleaning equipment for a cleaning equipment. Background Art

[0002] Currently, the wiper strip of the floor washer on the market is fixed on the base. This method has some defects. For example, at the beginning of self-cleaning, due to a certain interference fit between the wiper strip and the roller brush, it affects the absorption of clean water by the roller brush. And during the self-cleaning process, due to the low interference fit between the wiper strip and the roller brush, the extrusion of sewage by the wiper strip is not thorough, resulting in low self-cleaning efficiency and affecting the user experience.

[0003] The information disclosed in this background art section is only intended to enhance the overall understanding of the present invention and should not be regarded as an admission or any form of suggestion that this information constitutes prior art already known to those of ordinary skill in the art. Summary of the Invention

[0004] The purpose of the present invention is to provide a control method, device and cleaning equipment for a cleaning equipment, which can control the roller brush to perform corresponding work tasks according to the target working mode of the cleaning equipment, and control the displacement of the wiper strip so that the roller brush and the wiper strip meet the corresponding relative positions (increase or decrease the interference fit between the wiper strip and the roller brush), realizing that the roller brush fully absorbs clean water or fully releases sewage during self-cleaning, and improving the efficiency of self-cleaning.

[0005] To achieve the above purpose, an embodiment of the present invention provides a control method for a cleaning equipment. The cleaning equipment includes a roller brush and a wiper strip. The control method of the cleaning equipment includes:

[0006] In response to receiving a control instruction, determine the target working mode corresponding to the cleaning equipment according to the control instruction;

[0007] According to the corresponding relationship between the preset working mode and the preset relative position, determine the preset relative position corresponding to the target working mode. The preset relative position is used to describe the relative position relationship between the roller brush and the wiper strip;

[0008] Control the roller brush to perform corresponding work tasks according to the target working mode, and control the displacement of the wiper strip so that the roller brush and the wiper strip meet the corresponding relative position.

[0009] In one or more embodiments of the present invention, the target working mode includes a self-cleaning mode, the working tasks corresponding to the self-cleaning mode include a water absorption subtask and a sewage discharge subtask, the preset relative positions include a first relative position and a second relative position, and controlling the roller brush to perform the corresponding working task according to the target working mode, and controlling the squeegee to displace so that the roller brush and the squeegee satisfy the corresponding relative position includes:

[0010] When the target working mode is the self-cleaning mode, controlling the roller brush to perform the water absorption subtask, and controlling the squeegee to displace so that the roller brush and the squeegee satisfy the first relative position, the first relative position includes that the squeegee is in contact with the roller brush or the squeegee is away from the roller brush;

[0011] In response to detecting that the roller brush meets a preset condition or in response to receiving a user instruction, controlling the roller brush to perform the sewage discharge subtask, and controlling the squeegee to displace so that the roller brush and the squeegee satisfy the second relative position, the second relative position includes an interference fit between the roller brush and the squeegee and the interference amount between the roller brush and the squeegee meets a first interference amount.

[0012] In one or more embodiments of the present invention, the target working mode further includes a floor mopping mode, the preset relative position includes a third relative position, and controlling the roller brush to perform the corresponding working task according to the target working mode, and controlling the squeegee to displace so that the roller brush and the squeegee satisfy the corresponding relative position includes:

[0013] When the target working mode is the floor mopping mode, controlling the roller brush to perform the floor mopping task, and controlling the squeegee to displace so that the roller brush and the squeegee satisfy the third relative position, the third relative position includes an interference fit between the roller brush and the squeegee and the interference amount between the roller brush and the squeegee meets a second interference amount, and the second interference amount is less than the first interference amount.

[0014] In one or more embodiments of the present invention, the value range of the first interference amount is 1 - 1.4 mm, and the value range of the second interference amount is 0.5 - 0.7 mm.

[0015] In one or more embodiments of the present invention, the controlling the roller brush to perform the sewage discharge subtask in response to detecting that the roller brush meets a preset condition, and controlling the squeegee to displace so that the roller brush and the squeegee satisfy the second relative position includes:

[0016] In response to detecting that the duration of the water suction sub-task performed by the roller brush meets a preset water suction time threshold, controlling the roller brush to perform a sewage discharge sub-task, and controlling the squeegee to displace so that the roller brush and the squeegee meet the second relative position; and / or

[0017] In response to detecting that the water suction amount of the roller brush meets a preset water amount threshold, controlling the roller brush to perform a sewage discharge sub-task, and controlling the squeegee to displace so that the roller brush and the squeegee meet the second relative position; and / or

[0018] In response to detecting that the continuous cleaning time of the roller brush meets a preset cleaning time threshold, controlling the roller brush to perform a sewage discharge sub-task, and controlling the squeegee to displace so that the roller brush and the squeegee meet the second relative position; and / or

[0019] In response to detecting that the cleaning degree of the roller brush meets a preset cleaning condition, controlling the roller brush to perform a sewage discharge sub-task, and controlling the squeegee to displace so that the roller brush and the squeegee meet the second relative position.

[0020] In one or more embodiments of the present invention, an image acquisition and processing mechanism and / or a sensing mechanism is provided on the cleaning device. The controlling the roller brush to perform a sewage discharge sub-task and controlling the squeegee to displace so that the roller brush and the squeegee meet the second relative position in response to detecting that the roller brush meets a preset condition includes:

[0021] Obtaining and judging the cleaning state of the roller brush through the image acquisition and processing mechanism, and determining whether the roller brush meets the preset condition according to the cleaning state of the roller brush; and / or,

[0022] Sensing the weight condition of the roller brush through the sensing mechanism, and determining whether the roller brush meets the preset condition according to the weight condition of the roller brush.

[0023] In one or more embodiments of the present invention, a timing device is provided on the cleaning device for recording the duration of the water suction sub-task performed by the roller brush and / or recording the continuous cleaning time of the roller brush. The controlling the roller brush to perform a sewage discharge sub-task and controlling the squeegee to displace so that the roller brush and the squeegee meet the second relative position in response to detecting that the roller brush meets a preset condition includes:

[0024] Determining whether the roller brush meets the preset condition by obtaining the duration of the water suction sub-task performed by the roller brush and / or the continuous cleaning time of the roller brush recorded by the timing device.

[0025] Another embodiment of the present invention provides a control device, which is applied to a cleaning device. The cleaning device includes a rolling brush and a scraping strip. The control device includes:

[0026] a receiving and identifying module, configured to receive a control instruction and identify a target working mode of the cleaning device corresponding to the control instruction;

[0027] a determining module, configured to determine a preset relative position corresponding to the target working mode according to a corresponding relationship between a preset working mode and a preset relative position, where the preset relative position is used to describe a relative position relationship between the rolling brush and the scraping strip;

[0028] a control module, configured to control the rolling brush to perform a corresponding working task according to the target working mode, and control the scraping strip to displace so that the rolling brush and the scraping strip satisfy the corresponding relative position, thereby performing a cleaning operation.

[0029] In one or more embodiments of the present invention, an image acquisition and processing mechanism and / or a sensing mechanism and / or a timing device are arranged on the cleaning device. The control module controls the rolling brush to perform a corresponding working task according to the cleaning state of the rolling brush obtained by the image acquisition and processing mechanism, and / or, the weight condition of the rolling brush sensed by the sensing mechanism, and / or, the duration of the water absorption sub-task performed by the rolling brush or the continuous cleaning time of the rolling brush recorded by the timing device, and controls the scraping strip to displace so that the rolling brush and the scraping strip satisfy the corresponding relative position, thereby controlling the cleaning device to perform a cleaning operation.

[0030] Another embodiment of the present invention further provides a cleaning device, including a rolling brush, a scraping strip, and a control device.

[0031] The distance between the scraping strip and the rolling brush is adjustable.

[0032] The control device is configured to:

[0033] in response to receiving a control instruction, determine a target working mode corresponding to the cleaning device according to the control instruction;

[0034] determine a preset relative position corresponding to the target working mode according to a corresponding relationship between a preset working mode and a preset relative position, where the preset relative position is used to describe a relative position relationship between the rolling brush and the scraping strip;

[0035] control the rolling brush to perform a corresponding working task according to the target working mode, and control the scraping strip to displace so that the rolling brush and the scraping strip satisfy the corresponding relative position.

[0036] Compared with the prior art, the control method, control device and cleaning device of the cleaning device according to the embodiments of the present invention can control the roller brush to perform corresponding work tasks (water absorption sub-task / sewage discharge sub-task / floor washing task) according to the target working mode (self-cleaning mode / floor washing mode) of the cleaning device, and control the squeegee to displace so that the roller brush and the squeegee meet the corresponding relative positions (increase or decrease the interference amount between the squeegee and the roller brush), realizing that the roller brush fully absorbs clean water or fully discharges sewage during self-cleaning, and improving the efficiency of self-cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a schematic flow chart of the control method of the cleaning device according to an embodiment of the present invention;

[0038] Figure 2 is a schematic structural diagram of the roller brush performing the water absorption sub-task according to an embodiment of the present invention;

[0039] Figure 3 is a schematic structural diagram of the roller brush performing the sewage discharge sub-task according to an embodiment of the present invention;

[0040] Figure 4 is a schematic structural diagram of the roller brush performing the floor washing task according to an embodiment of the present invention;

[0041] Figure 5 is a schematic structural diagram of the control device according to an embodiment of the present invention;

[0042] Figure 6 is a schematic structural diagram of the cleaning device according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0043] The following will describe in detail the specific embodiments of the present invention with reference to the accompanying drawings. It should be understood that the protection scope of the present invention is not limited by the specific embodiments.

[0044] Unless otherwise clearly stated, in the whole specification and claims, the term "comprising" or its variations such as "including" or "having" etc. will be understood to include the stated elements or components, without excluding other elements or other components.

[0045] To solve the problems in the related art, such as the poor self-cleaning ability of the rolling brush and the low cleaning efficiency of the cleaning device, the embodiments of the present invention provide a control method, a device and a cleaning device for the cleaning device. By responding to the received control instruction, determining the preset relative position corresponding to the target working mode of the cleaning device according to the control instruction, and controlling the rolling brush to execute the corresponding working task according to the target working mode, and controlling the displacement of the scraping strip so that the rolling brush and the scraping strip satisfy the corresponding relative position, where the preset relative position is used to describe the relative position relationship between the rolling brush and the scraping strip. By correspondingly adjusting the relative position relationship between the rolling brush and the scraping strip when the cleaning device is in different working modes, the influence of the relative position relationship on the cleaning degree of the self-cleaning of the rolling brush and the cleaning efficiency during floor washing can be reduced, the self-cleaning ability of the rolling brush can be improved, and the cleaning efficiency of the cleaning device can be improved.

[0046] Figure 1 FIG. 4 is a schematic flow chart of a control method for a cleaning device provided by an embodiment of the present invention. In this embodiment, the control method for the cleaning device is configured in the control device of the cleaning device as an example.

[0047] Among them, the cleaning device described in the present application can be any device with the cleaning ability to clean the surface to be cleaned, such as a floor washer, which includes a rolling brush for cleaning the floor and other surfaces to be cleaned and a scraping strip for cleaning the rolling brush. The scraping strip can be in interference fit with the rolling brush when cleaning the rolling brush, and scrape off the solid stains on the entire rolling brush and squeeze out the water absorbed by the rolling brush as the rolling brush rotates.

[0048] In this embodiment, the control method of the cleaning device can be configured in the control device of the cleaning device, and the control device of the cleaning device can be set in the server, or can also be set in the cleaning device. The embodiments of the present invention do not limit this.

[0049] In this embodiment, the control method of the cleaning device is configured in the cleaning device as an example.

[0050] It should be noted that the execution subject of the embodiments of the present invention can be, for example, a server or the central processing unit (CPU) of the cleaning device in terms of hardware, and can be, for example, the relevant background service of the server or the cleaning device in terms of software. The present invention does not limit this.

[0051] As Figure 1 shown, the control method of the cleaning device includes:

[0052] S1: Respond to the received control instruction, and determine the target working mode of the cleaning device according to the control instruction.

[0053] Among them, the control instruction can be issued by the user by pressing the corresponding function button on the cleaning device; it can also be issued by the user through a device with network communication capabilities such as a mobile terminal, etc., and the present application does not limit this.

[0054] The target working modes of the cleaning device include but are not limited to the self-cleaning mode and the floor mopping mode.

[0055] S2: Determine the preset relative position corresponding to the target working mode according to the corresponding relationship between the preset working mode and the preset relative position.

[0056] Among them, the preset relative position is used to describe the relative position relationship between the roller brush and the squeegee. The preset relative position includes a first relative position, a second relative position, and a third relative position. The first relative position includes the squeegee contacting the roller brush or the squeegee being away from the roller brush, refer to Figure 2 as shown; the second relative position includes an interference fit between the roller brush and the squeegee and the interference amount between the roller brush and the squeegee meets a first interference amount, refer to Figure 3 as shown; the third relative position includes an interference fit between the roller brush and the squeegee and the interference amount between the roller brush and the squeegee meets a second interference amount, and the second interference amount is less than the first interference amount, refer to Figure 4 as shown.

[0057] Preferably, in order to ensure the scraping effect of sewage and stains during self-cleaning, the value range of the first interference amount can be 1 - 1.4 mm; at the same time, in order to ensure that the roller brush has sufficient water absorption capacity during floor mopping to ensure the cleaning effect, the value of the second interference amount should be less than the first interference amount. For example, the value range of the second interference amount can be 0.5 - 0.7 mm.

[0058] The corresponding relationship between the preset working mode and the preset relative position includes that if the cleaning device is in the self-cleaning mode, the preset relative positions corresponding to the self-cleaning mode include the first relative position and the second relative position; if the cleaning device is in the floor mopping mode, the preset relative position corresponding to the floor mopping mode is the third relative position.

[0059] S3: Control the roller brush to perform corresponding work tasks according to the target working mode, and control the squeegee to displace so that the roller brush and the squeegee meet the corresponding relative position.

[0060] Among them, the working tasks of the roller brush include a water absorption subtask, a sewage discharge subtask, and a floor mopping task. When the cleaning device is in the self-cleaning mode, the working tasks of the roller brush include a water absorption subtask and a sewage discharge subtask. When the roller brush is in the water absorption subtask, the relative position between the scraping strip and the roller brush satisfies the first relative position; when the roller brush is in the sewage discharge subtask, the relative position between the scraping strip and the roller brush satisfies the second relative position. When the cleaning device is in the floor mopping mode, the working task of the roller brush includes a floor mopping task. At this time, the relative position between the scraping strip and the roller brush satisfies the second relative position.

[0061] The cleaning device can be in the corresponding working mode according to the received control instruction. When the cleaning device is in the self-cleaning mode, the roller brush performs the water absorption subtask; in response to detecting that the roller brush meets the preset conditions or in response to receiving a user control instruction, the roller brush performs the sewage discharge subtask.

[0062] Among them, the preset conditions that the roller brush meets can include:

[0063] 1. The duration of the roller brush performing the water absorption subtask meets the preset water absorption time threshold. The preset water absorption time threshold can be 2s, 3s, 5s, etc. After the duration of the roller brush performing the water absorption subtask exceeds the above water absorption time threshold, the roller brush switches to perform the sewage discharge submode. Specifically, a timing device can be set on the cleaning device to record the duration of the roller brush performing the water absorption subtask. By obtaining the duration of the roller brush performing the water absorption subtask recorded by the timing device and comparing it with the above water absorption time threshold, it is detected whether the duration of the roller brush performing the water absorption subtask meets the preset water absorption time threshold. By switching the roller brush to perform the sewage discharge subtask after the duration of the roller brush performing the water absorption subtask meets the preset water absorption time threshold, it is possible to avoid the roller brush using excessive water for roller brush cleaning, resulting in insufficient water volume in the floor washer and affecting subsequent cleaning.

[0064] 2. The water absorption volume of the roller brush meets the preset water volume threshold. The preset water volume threshold can be set according to the size of the roller brush and the water storage capacity of the roller brush. After the water absorption volume of the roller brush exceeds the preset water volume threshold, the roller brush switches to perform the sewage discharge submode. Specifically, a weight sensing mechanism can be set on the cleaning device (on the roller brush) to sense the weight of the roller brush. By obtaining the weight of the roller brush and indirectly converting it into the water absorption volume of the roller brush and comparing it with the preset water volume threshold, it is detected whether the water absorption volume of the roller brush meets the preset water volume threshold. By switching the roller brush to perform the sewage discharge subtask after the water absorption volume of the roller brush meets the preset water volume threshold, it is possible to avoid the roller brush sucking in excessive water and then performing self-cleaning, resulting in too much water absorption volume of the roller brush and dripping on the surface to be cleaned during self-cleaning, affecting the actual cleaning effect of the surface to be cleaned.

[0065] 3. The continuous cleaning time of the roller brush meets a preset cleaning time threshold. The preset cleaning time threshold can be 10 min, 20 min, 30 min, etc. Similar to the preset condition that the continuous water absorption time of the roller brush for performing the water absorption sub-task meets the preset water absorption time threshold, by obtaining the continuous cleaning time of the roller brush recorded by the timing device and comparing it with the above-mentioned preset cleaning time threshold, it is detected whether the roller brush meets the condition that the continuous cleaning time meets the preset cleaning time threshold. By switching the roller brush to perform the sewage discharge sub-task after the continuous cleaning time of the roller brush meets the preset cleaning time threshold during the water absorption process of the roller brush, it is possible to avoid the roller brush using excessive water for self-cleaning, affecting the battery life of the water tank, and also avoid the user waiting for a long time for the self-cleaning process of the roller brush, resulting in the impact on the cleaning efficiency.

[0066] 4. The cleaning degree of the roller brush meets a preset cleaning condition. The preset cleaning condition can be a specific value of the cleanliness of the roller brush surface, and its determination method can be, for example, the dust concentration contained in each cubic decimeter, the proportion of debris, hair, and stains in each cubic decimeter, etc. Specifically, an image acquisition and processing mechanism or a detection mechanism can be provided on the cleaning device to obtain and judge the cleaning state of the roller brush. The image acquisition and processing mechanism includes: a rotating device, a camera, an image sensor, a digital signal processing chip, and a power supply. During the specific execution process, the rotating device drives the camera to rotate, the camera captures multiple groups of images of the roller brush, the analog signal captured is transmitted to the digital signal processing chip through the image sensor, the digital signal processing chip converts the analog signal transmitted by the image sensor into a digital signal, and compares it with the preset cleaning condition to detect whether the roller brush meets the condition that the cleaning degree meets the preset cleaning condition. By switching the roller brush to perform the sewage discharge sub-task after the cleaning degree of the roller brush meets the preset cleaning condition, the self-cleaning effect of the roller brush can be guaranteed, and the influence on the cleaning effect of the subsequent surface to be cleaned caused by the roller brush not being cleaned thoroughly can be avoided.

[0067] In another embodiment, the images of the roller brush can be collected by arranging multiple cameras at different positions.

[0068] Figure 5 It is a schematic structural diagram of a control device according to an embodiment of the present invention. The control device 100 includes:

[0069] A receiving and recognition module 101, configured to receive a control instruction and recognize the target working mode of the cleaning device corresponding to the control instruction;

[0070] A determination module 102, configured to determine the preset relative position corresponding to the target working mode according to the corresponding relationship between the preset working mode and the preset relative position, where the preset relative position is used to describe the relative position relationship between the roller brush and the squeegee;

[0071] The control module 103 controls the roller brush to perform corresponding work tasks according to the target working mode, and controls the squeegee to displace so that the roller brush and the squeegee meet the corresponding relative positions, thereby performing a cleaning operation.

[0072] Preferably, the target working mode includes a self-cleaning mode. The work tasks corresponding to the self-cleaning mode include a water absorption sub-task and a sewage discharge sub-task. The preset relative positions include a first relative position and a second relative position. The control module 103 is further configured to, when the target working mode is the self-cleaning mode, control the roller brush to perform the water absorption sub-task, and control the squeegee to displace so that the roller brush and the squeegee meet the first relative position. The first relative position includes that the squeegee is in contact with the roller brush or the squeegee is away from the roller brush. In response to detecting that the roller brush meets a preset condition or in response to receiving a user instruction, control the roller brush to perform the sewage discharge sub-task, and control the squeegee to displace so that the roller brush and the squeegee meet the second relative position. The second relative position includes that there is an interference fit between the roller brush and the squeegee and the interference amount between the roller brush and the squeegee meets a first interference amount.

[0073] Preferably, the target working mode further includes a floor washing mode. The preset relative position includes a third relative position. The control module 103 is further configured to, when the target working mode is the floor washing mode, control the roller brush to perform a floor washing task, and control the squeegee to displace so that the roller brush and the squeegee meet the third relative position. The third relative position includes that there is an interference fit between the roller brush and the squeegee and the interference amount between the roller brush and the squeegee meets a second interference amount, and the second interference amount is less than the first interference amount.

[0074] Preferably, the value range of the first interference amount is 1 - 1.4 mm, and the value range of the second interference amount is 0.5 - 0.7 mm.

[0075] Preferably, the control module 103 is also used to control the roller brush to perform the dirt discharge subtask and control the scraper bar to move so that the roller brush and the scraper bar meet the second relative position in response to detecting that the duration of the roller brush performing the water absorption subtask meets a preset water absorption time threshold; and / or control the roller brush to perform the dirt discharge subtask and control the scraper bar to move so that the roller brush and the scraper bar meet the second relative position in response to detecting that the water absorption amount of the roller brush meets the preset water amount threshold; and / or control the roller brush to perform the dirt discharge subtask and control the scraper bar to move so that the roller brush and the scraper bar meet the second relative position in response to detecting that the continuous cleaning time of the roller brush meets the preset cleaning time threshold, control the roller brush to perform the dirt discharge subtask and control the scraper bar to move so that the roller brush and the scraper bar meet the second relative position; and / or control the roller brush to perform the dirt discharge subtask and control the scraper bar to move so that the roller brush and the scraper bar meet the second relative position in response to detecting that the cleaning degree of the roller brush meets the preset cleaning condition.

[0076] Preferably, the cleaning device is provided with an image acquisition and processing mechanism and / or a sensing mechanism, and the control module 103 is also used to obtain and judge the cleaning status of the roller brush through the image acquisition and processing mechanism, and determine whether the roller brush meets the preset conditions according to the cleaning status of the roller brush; and / or sense the weight of the roller brush through the sensing mechanism, and determine whether the roller brush meets the preset conditions according to the weight of the roller brush.

[0077] Preferably, the cleaning device is provided with a timing device for recording the duration of the roller brush performing the water absorption subtask and / or recording the continuous cleaning time of the roller brush. The control module 103 is also used to determine whether the roller brush meets the preset conditions by obtaining the duration of the roller brush performing the water absorption subtask and / or the continuous cleaning time of the roller brush recorded by the timing device.

[0078] It should be noted that the above Figure 1 The explanation of the embodiment of the control method for the cleaning equipment is also applicable to the control device proposed in this embodiment. The implementation principle is similar and will not be repeated here.

[0079] Figure 6 This is a schematic structural diagram of a cleaning device according to one embodiment of the present invention.

[0080] like Figure 6 as well as Figures 2 to 4 As shown, the cleaning device includes a roller brush A, a scraper bar B, and a control device 100. The scraper bar B is arranged to extend along the axial direction of the roller brush A and is parallel to the axis of the roller brush A. The distance between the scraper bar B and the roller brush A is adjustable.

[0081] Among them, according to the different relative positions of the scraper bar B and the roller brush A, the roller brush A can perform different subtasks in a targeted manner.

[0082] like Figure 2 As shown, when the scraping strip B is arranged tangentially to the circumference of the roller brush A (the scraping strip B is located at position 3 of the roller brush A) or the scraping strip B is arranged away from the circumference of the roller brush A, the roller brush A can perform the water absorption subtask.

[0083] like Figure 3 As shown, when the scraper bar B and the roller brush A are set with interference fit, and the scraper bar B and the roller brush A reach a first interference fit (the scraper bar B is located at position 1 of the roller brush A), the roller brush A can perform the sewage discharge subtask.

[0084] like Figure 4 As shown, when the scraping bar B and the roller brush A are also arranged with an interference fit, and the scraping bar B and the roller brush A reach a second interference fit (the scraping bar B is located at position 2 of the roller brush A), the roller brush A can perform the floor scrubbing task. The second interference fit is smaller than the first interference fit.

[0085] According to the different relative positions between the scraper B and the roller brush A, the roller brush A can perform different subtasks in a targeted manner. Different subtasks correspond to multiple working modes of the cleaning device. In this embodiment, the cleaning device includes a self-cleaning mode and a floor washing mode.

[0086] When the roller brush A performs the floor scrubbing task, the scraper bar B is located at position 2 of the roller brush A. Figure 4 When shown, the cleaning device is in scrubbing mode.

[0087] When the roller brush A performs the water absorption subtask, the scraper bar B is located at position 3 of the roller brush A, such as Figure 2 As shown; or when the roller brush A performs the sewage discharge subtask, the scraper bar B is located at position 1 of the roller brush A, as shown Figure 3 When shown; the cleaning device is in self-cleaning mode.

[0088] During the specific execution process, when the target operating mode of the cleaning device is the self-cleaning mode, the control device 100 controls the roller brush A to perform the water absorption subtask and controls the scraper B to move so that the roller brush A and the scraper B meet the first relative position. The first relative position includes the scraper B being in contact with (tangent to) the roller brush A or the scraper B being away from the roller brush A.

[0089] After detecting that the roller brush A meets the preset conditions or receiving user instructions, the control device 100 controls the roller brush A to perform the sewage discharge sub-task, and controls the scraper bar B to move so that the roller brush A and the scraper bar B meet the second relative position. The second relative position includes an interference fit between the roller brush A and the scraper bar B and the interference amount between the roller brush A and the scraper bar B meets the first interference amount.

[0090] When the target working mode of the cleaning device is the floor washing mode, the control device 100 controls the roller brush A to perform the floor washing task, and controls the squeegee B to displace so that the roller brush A and the squeegee B satisfy the third relative position. The third relative position includes an interference fit between the roller brush A and the squeegee B, and the interference amount between the roller brush A and the squeegee B satisfies the second interference amount, and the second interference amount is less than the first interference amount. The value range of the first interference amount is 1-1.4 mm, and the value range of the second interference amount is 0.5-0.7 mm.

[0091] In the specific execution process, when the control device 100 detects that the roller brush A meets the preset conditions, it controls the roller brush A to perform the sewage discharge sub-task, and controls the squeegee B to displace so that the roller brush A and the squeegee B satisfy the second relative position, including:

[0092] The control device 100 detects that the duration of the roller brush A performing the water absorption sub-task meets the preset water absorption time threshold, and / or detects that the water absorption amount of the roller brush A meets the preset water volume threshold, and / or detects that the continuous cleaning time of the roller brush A meets the preset cleaning time threshold, and / or detects that the cleaning degree of the roller brush A meets the preset cleaning condition.

[0093] Furthermore, an image acquisition and processing mechanism and / or a sensing mechanism and / or a timing device are also provided on the cleaning device. The control device 100 in the cleaning device controls the roller brush to perform the corresponding work task according to the cleaning state of the roller brush obtained by the image acquisition and processing mechanism, and / or senses the weight of the roller brush through the sensing mechanism, and / or controls the roller brush to perform the corresponding work task according to the duration of the roller brush performing the water absorption sub-task or the continuous cleaning time of the roller brush recorded by the timing device, and controls the squeegee to displace so that the roller brush and the squeegee satisfy the corresponding relative position, thereby controlling the cleaning device to perform the cleaning operation.

[0094] It should be noted that the above Figure 1 explanation of the control method embodiment of the cleaning device is also applicable to the cleaning device proposed in this embodiment, and its implementation principle is similar, so it will not be elaborated here.

[0095] Among them, Figure 4 The positions of the roller brush A and the squeegee B shown are the common relative positions of the squeegee and the roller brush of the cleaning devices (floor washers) on the market at present. This relative position can enable the squeegee at this position to effectively scrape the stains off the roller brush when the floor washer is working.

[0096] Figure 2 The position is where the squeegee B just does not touch the roller brush A. When the self-cleaning mode of the cleaning device starts, the squeegee B can be located at this position, which can enable the roller brush A to fully absorb clean water; Figure 3 The position compared to Figure 4, the interference amount between the scraping strip B and the rolling brush A is increased, so that when the cleaning rolling brush A rotates at a high speed, the scraping strip B can more efficiently squeeze out the sewage and stains on the rolling brush A.

[0097] The control method of the cleaning device of the present invention designs a scraping strip that can be controlled to expand and contract relative to the rolling brush according to different working modes of the cleaning device. Usually, when using the cleaning device (floor washer) to mop the floor (the cleaning device is in the floor washing mode), the scraping strip is controlled to be in the position 2 as shown in Figure 4 ; when the self-cleaning starts (the cleaning device is in the self-cleaning mode and the rolling brush executes the water absorption sub-task), the scraping strip is controlled to retract to the position 3 as shown in Figure 2 to ensure that the rolling brush fully absorbs water; when the self-cleaning rolling brush rotates (the cleaning device is in the self-cleaning mode and the rolling brush executes the sewage discharge sub-task), the scraping strip is controlled to move to the position 1 as shown in Figure 3 to increase the interference amount and improve the cleaning efficiency of the rolling brush.

[0098] Compared with the prior art, the control method, control device and cleaning device of the cleaning device according to the embodiment of the present invention can control the rolling brush to execute corresponding working tasks (water absorption sub-task / sewage discharge sub-task / floor washing task) according to the target working mode (self-cleaning mode / floor washing mode) of the cleaning device, and control the displacement of the scraping strip so that the rolling brush and the scraping strip meet the corresponding relative positions (increase or decrease the interference amount between the scraping strip and the rolling brush), so as to make the rolling brush fully absorb clean water or fully release sewage during self-cleaning and improve the efficiency of self-cleaning.

[0099] The foregoing description of specific exemplary embodiments of the present invention is for purposes of illustration and exemplification. These descriptions are not intended to limit the invention to the precise forms disclosed, and it is apparent that many modifications and variations are possible in light of the above teaching. The purpose of selecting and describing the exemplary embodiments is to explain the specific principles of the present invention and its practical applications, so that those skilled in the art can implement and utilize various different exemplary embodiments of the present invention as well as various different selections and modifications. The scope of the present invention is intended to be defined by the claims and their equivalents.

Claims

1. A control method for a cleaning device, the cleaning device including a rolling brush and a squeegee, characterized in that, The control method of the cleaning device includes: In response to receiving a control instruction, determining a target working mode corresponding to the cleaning device according to the control instruction; Determining the preset relative position corresponding to the target working mode according to the corresponding relationship between the preset working mode and the preset relative position, where the preset relative position is used to describe the relative position relationship between the roller brush and the scraper; Controlling the roller brush to perform a corresponding work task according to the target working mode, and controlling the scraper to displace so that the roller brush and the scraper satisfy the corresponding relative position: The target working mode includes a self-cleaning mode, the work tasks corresponding to the self-cleaning mode include a water absorption sub-task and a sewage discharge sub-task, the preset relative positions include a first relative position and a second relative position, and controlling the roller brush to perform the corresponding work task according to the target working mode, and controlling the scraper to displace so that the roller brush and the scraper satisfy the corresponding relative position includes: When the target working mode is the self-cleaning mode, controlling the roller brush to perform the water absorption sub-task, and controlling the scraper to displace so that the roller brush and the scraper satisfy the first relative position, where the first relative position includes the scraper contacting the roller brush or the scraper being away from the roller brush; In response to detecting that the roller brush meets a preset condition or in response to receiving a user instruction, controlling the roller brush to perform the sewage discharge sub-task, and controlling the scraper to displace so that the roller brush and the scraper satisfy the second relative position, where the second relative position includes an interference fit between the roller brush and the scraper and the interference amount between the roller brush and the scraper meets a first interference amount.

2. The control method of the cleaning device according to claim 1, characterized in that The target working mode further includes a floor washing mode, the preset relative position includes a third relative position, and controlling the roller brush to perform the corresponding work task according to the target working mode, and controlling the scraper to displace so that the roller brush and the scraper satisfy the corresponding relative position includes: When the target working mode is the floor washing mode, controlling the roller brush to perform the floor washing task, and controlling the scraper to displace so that the roller brush and the scraper satisfy the third relative position, where the third relative position includes an interference fit between the roller brush and the scraper and the interference amount between the roller brush and the scraper meets a second interference amount, and the second interference amount is less than the first interference amount.

3. The control method of the cleaning device according to claim 2, characterized in that, The value range of the first interference amount is 1 - 1.4 mm, and the value range of the second interference amount is 0.5 - 0.7 mm.

4. The control method of the cleaning device according to any one of claims 1-3, characterized in that, The controlling the roller brush to perform the sewage discharge sub-task in response to detecting that the roller brush meets a preset condition, and controlling the scraper to displace so that the roller brush and the scraper satisfy the second relative position includes: In response to detecting that the duration of the roller brush performing the water absorption sub-task meets a preset water absorption time threshold, controlling the roller brush to perform the sewage discharge sub-task, and controlling the scraper to displace so that the roller brush and the scraper satisfy the second relative position; and / or In response to detecting that the water absorption amount of the roller brush meets a preset water volume threshold, controlling the roller brush to execute a sewage discharge subtask, and controlling the squeegee to displace so that the roller brush and the squeegee meet the second relative position; and / or In response to detecting that the continuous cleaning time of the roller brush meets a preset cleaning time threshold, controlling the roller brush to execute a sewage discharge subtask, and controlling the squeegee to displace so that the roller brush and the squeegee meet the second relative position; and / or In response to detecting that the cleaning degree of the roller brush meets a preset cleaning condition, controlling the roller brush to execute a sewage discharge subtask, and controlling the squeegee to displace so that the roller brush and the squeegee meet the second relative position.

5. The control method of the cleaning device according to any one of claims 1-3, characterized in that, An image acquisition and processing mechanism and / or a sensing mechanism are provided on the cleaning device. The controlling the roller brush to execute a sewage discharge subtask and controlling the squeegee to displace so that the roller brush and the squeegee meet the second relative position in response to detecting that the roller brush meets a preset condition includes: Obtaining and judging the cleaning state of the roller brush through the image acquisition and processing mechanism, and determining whether the roller brush meets the preset condition according to the cleaning state of the roller brush; and / or Sensing the weight condition of the roller brush through the sensing mechanism, and determining whether the roller brush meets the preset condition according to the weight condition of the roller brush.

6. The control method of the cleaning device according to any one of claims 1-3, characterized in that, A timing device is provided on the cleaning device for recording the continuous time of the roller brush executing a water absorption subtask and / or recording the continuous cleaning time of the roller brush. The controlling the roller brush to execute a sewage discharge subtask and controlling the squeegee to displace so that the roller brush and the squeegee meet the second relative position in response to detecting that the roller brush meets a preset condition includes: Determining whether the roller brush meets the preset condition through the continuous time of the roller brush executing a water absorption subtask and / or the continuous cleaning time of the roller brush recorded by the obtained timing device.

7. A control device is applied to a cleaning device, the cleaning device includes a rolling brush and a squeegee, and is characterized in that, The control device includes: A receiving and recognition module for receiving a control instruction and recognizing the target working mode of the cleaning device corresponding to the control instruction; A determining module for determining the preset relative position corresponding to the target working mode according to the corresponding relationship between the preset working mode and the preset relative position, where the preset relative position is used to describe the relative position relationship between the roller brush and the squeegee; A control module for controlling the roller brush to execute a corresponding working task according to the target working mode, and controlling the squeegee to displace so that the roller brush and the squeegee meet the corresponding relative position, thereby performing a cleaning operation; The target working mode includes a self-cleaning mode. The working tasks corresponding to the self-cleaning mode include a water absorption subtask and a sewage discharge subtask. The preset relative positions include a first relative position and a second relative position. The controlling the roller brush to execute a corresponding working task according to the target working mode, and controlling the squeegee to displace so that the roller brush and the squeegee meet the corresponding relative position includes: When the target working mode is the self - cleaning mode, control the rotary brush to perform the water absorption sub - task, and control the squeegee to displace so that the rotary brush and the squeegee satisfy the first relative position, where the first relative position includes the squeegee being in contact with the rotary brush or the squeegee being away from the rotary brush. In response to detecting that the rotary brush meets a preset condition or in response to receiving a user instruction, control the rotary brush to perform the sewage discharge sub - task, and control the squeegee to displace so that the rotary brush and the squeegee satisfy the second relative position, where the second relative position includes an interference fit between the rotary brush and the squeegee and the interference amount between the rotary brush and the squeegee meets a first interference amount.

8. The control device according to claim 7, characterized in that An image acquisition and processing mechanism and / or a sensing mechanism and / or a timing device are provided on the cleaning device. The control module controls the rotary brush to perform corresponding working tasks according to the cleaning state of the rotary brush obtained by the image acquisition and processing mechanism, and / or, the weight condition of the rotary brush sensed by the sensing mechanism, and / or, the duration of the water absorption sub - task performed by the rotary brush or the continuous cleaning time of the rotary brush recorded by the timing device, and controls the squeegee to displace so that the rotary brush and the squeegee satisfy the corresponding relative position, thereby controlling the cleaning device to perform a cleaning operation.

9. A cleaning device, characterized in that, Comprising: A rotary brush; A squeegee, the distance between the squeegee and the rotary brush being adjustable; A control device, the control device being used to In response to receiving a control instruction, determine the corresponding target working mode of the cleaning device according to the control instruction; According to the correspondence between the preset working mode and the preset relative position, determine the preset relative position corresponding to the target working mode, where the preset relative position is used to describe the relative position relationship between the rotary brush and the squeegee; Control the rotary brush to perform corresponding working tasks according to the target working mode, and control the squeegee to displace so that the rotary brush and the squeegee satisfy the corresponding relative position; The target working mode includes a self - cleaning mode. The working tasks corresponding to the self - cleaning mode include a water absorption sub - task and a sewage discharge sub - task. The preset relative positions include a first relative position and a second relative position. Controlling the rotary brush to perform corresponding working tasks according to the target working mode, and controlling the squeegee to displace so that the rotary brush and the squeegee satisfy the corresponding relative position includes: When the target working mode is the self - cleaning mode, control the rotary brush to perform the water absorption sub - task, and control the squeegee to displace so that the rotary brush and the squeegee satisfy the first relative position, where the first relative position includes the squeegee being in contact with the rotary brush or the squeegee being away from the rotary brush. In response to detecting that the rotary brush meets a preset condition or in response to receiving a user instruction, control the rotary brush to perform the sewage discharge sub - task, and control the squeegee to displace so that the rotary brush and the squeegee satisfy the second relative position, where the second relative position includes an interference fit between the rotary brush and the squeegee and the interference amount between the rotary brush and the squeegee meets a first interference amount.

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