Control method of cleaning device and cleaning device

Abstract

The present application discloses a control method for a cleaning device and a cleaning device, belonging to the field of automatic control technology. The method comprises: in response to receiving a cleaning instruction, controlling a drive motor to drive a cleaning mechanism to rotate in a preset direction; when the drive motor drives the cleaning mechanism to rotate in the preset direction, monitoring the operating parameters of the drive motor, and judging whether there is a foreign object in the cleaning mechanism that affects the operation of the cleaning mechanism based on the operating parameters; when it is judged that there is a foreign object in the cleaning mechanism, controlling the drive motor to drive the cleaning mechanism to rotate in the opposite direction of the preset direction to make the foreign object leave the cleaning mechanism; this method can solve the problem of reduced service life of the cleaning device and poor cleaning effect caused by the cleaning mechanism being stuck; when it is judged that there is a foreign object in the cleaning mechanism, the cleaning mechanism can be rotated in the reverse direction so that the cleaning mechanism carries large particles of dust out of the dust inlet and outlet, eliminating the jamming phenomenon of the cleaning mechanism, thereby improving the cleaning effect and service life of the cleaning device.

Description

Technical Field

[0001] The present application belongs to the field of automatic control technology, and specifically relates to a control method for cleaning equipment and cleaning equipment. Background Art

[0002] At present, cleaning equipment has self-moving function and automatic cleaning function. When performing cleaning work, cleaning equipment, while moving, cleans the ground by the cleaning mechanism (such as roller brush etc.) installed on this cleaning equipment.

[0003] However, there may be large particles (such as peanut shells) of dust on the ground. When the cleaning mechanism cleans the large particles of dust, the large particles of dust may get stuck in the cleaning mechanism, causing the cleaning mechanism to stop, reducing the service life of the cleaning equipment, and having poor cleaning effect. Summary of the Invention

[0004] The technical problems to be solved by the present application include solving the problems of reduced service life of the cleaning equipment and poor cleaning effect caused by the cleaning mechanism being stuck.

[0005] To solve the above technical problems, the present application provides a control method for a cleaning device, wherein the cleaning device includes a cleaning mechanism and a drive motor for driving the cleaning mechanism, and the method includes:

[0006] In response to receiving a cleaning instruction, controlling the driving motor to drive the cleaning mechanism to rotate in a preset direction so that the cleaning mechanism cleans the surface to be cleaned;

[0007] When the driving motor drives the cleaning mechanism to rotate in a preset direction, monitoring the operating parameters of the driving motor and determining whether there is a foreign object in the cleaning mechanism that affects the operation of the cleaning mechanism based on the operating parameters;

[0008] When it is determined that the foreign matter exists in the cleaning mechanism, the driving motor is controlled to drive the cleaning mechanism to rotate in a direction opposite to the preset direction, so that the foreign matter leaves the cleaning mechanism.

[0009] Optionally, the control method of the cleaning equipment further includes:

[0010] After the driving motor drives the cleaning mechanism to rotate in the opposite direction of the preset direction, determining whether the foreign matter has left the cleaning mechanism according to the working parameters;

[0011] When it is determined that the foreign matter has left the cleaning mechanism, the driving motor is controlled to drive the cleaning mechanism to rotate in the preset direction, so that the cleaning mechanism continues to clean the surface to be cleaned.

[0012] Optionally, when it is determined that the foreign matter has left the cleaning mechanism, controlling the drive motor to drive the cleaning mechanism to rotate in the preset direction so that the cleaning mechanism continues to clean the surface to be cleaned includes:

[0013] When it is determined that the foreign object leaves the cleaning mechanism, recording the real-time position of the cleaning device when the foreign object leaves the cleaning mechanism;

[0014] The cleaning device is controlled to return to the real-time position and the driving motor is controlled to drive the cleaning mechanism to rotate in the preset direction so that the cleaning mechanism cleans the foreign matter.

[0015] Optionally, the cleaning device further includes a displacement mechanism for driving the cleaning device to move, and the control method of the cleaning device further includes:

[0016] When it is determined that the foreign matter exists in the cleaning mechanism, controlling the cleaning device to stop moving;

[0017] When it is determined that the foreign matter has left the cleaning mechanism, controlling the driving motor to drive the cleaning mechanism to rotate in the preset direction so that the cleaning mechanism continues to clean the surface to be cleaned includes:

[0018] When it is determined that the foreign matter has left the cleaning mechanism, the cleaning device is controlled to stay in place for a preset period of time, and the driving motor is controlled to drive the cleaning mechanism to rotate in the preset direction so that the cleaning mechanism can clean the foreign matter.

[0019] Optionally, after the driving motor drives the cleaning mechanism to rotate in a direction opposite to the preset direction, judging whether the foreign matter has left the cleaning mechanism according to the working parameter includes:

[0020] When the duration of the rotation of the cleaning mechanism in the reverse direction reaches a first duration, controlling the driving motor to drive the cleaning mechanism to rotate in the preset direction again;

[0021] After the cleaning mechanism rotates again in the preset direction for a second time period, determining whether there is still foreign matter in the cleaning mechanism that affects the operation of the cleaning mechanism based on the working parameters;

[0022] When it is determined that there are still foreign objects in the cleaning mechanism that affect the operation of the cleaning mechanism, the drive motor is controlled again to drive the cleaning mechanism to rotate in the opposite direction of the preset direction, and the step of controlling the drive motor to drive the cleaning mechanism to rotate in the preset direction again when the duration of rotation in the reverse direction reaches a first duration is triggered.

[0023] Optionally, before controlling the driving motor again to drive the cleaning mechanism to rotate in the opposite direction of the preset direction, the control method of the cleaning device further includes:

[0024] determining whether the number of times the rotation direction of the cleaning mechanism is switched from the preset direction to the opposite direction of the preset direction reaches a preset number threshold;

[0025] When the number of switching times does not reach the preset number threshold, the step of controlling the driving motor to drive the cleaning mechanism to rotate in the opposite direction of the preset direction is triggered.

[0026] Optionally, the control method of the cleaning equipment further includes:

[0027] When the number of switching reaches the preset number threshold, an alarm signal is output to prompt that the cleaning mechanism is stuck.

[0028] Optionally, controlling the driving motor to drive the cleaning mechanism to rotate in a direction opposite to the preset direction includes:

[0029] The voltage direction of the power supply voltage of the drive motor is switched to control the drive motor to output a reverse driving force, thereby driving the cleaning mechanism to rotate in a direction opposite to the preset direction.

[0030] On the other hand, the present application also provides a cleaning device, comprising:

[0031] cleaning agencies;

[0032] a drive motor for driving the cleaning mechanism; and

[0033] A controller connected to the drive motor, the controller being configured to:

[0034] In response to receiving a cleaning instruction, controlling the driving motor to drive the cleaning mechanism to rotate in a preset direction so that the cleaning mechanism cleans the surface to be cleaned;

[0035] When the driving motor drives the cleaning mechanism to rotate in a preset direction, monitoring the operating parameters of the driving motor and determining whether there is a foreign object in the cleaning mechanism that affects the operation of the cleaning mechanism based on the operating parameters;

[0036] When it is determined that the foreign matter exists in the cleaning mechanism, the driving motor is controlled to drive the cleaning mechanism to rotate in a direction opposite to the preset direction, so that the foreign matter leaves the cleaning mechanism.

[0037] Optionally, the controller is further configured to:

[0038] After the driving motor drives the cleaning mechanism to rotate in the opposite direction of the preset direction, determining whether the foreign matter has left the cleaning mechanism according to the working parameters;

[0039] When it is determined that the foreign matter has left the cleaning mechanism, the driving motor is controlled to drive the cleaning mechanism to rotate in the preset direction, so that the cleaning mechanism continues to clean the surface to be cleaned.

[0040] Optionally, when it is determined that the foreign matter has left the cleaning mechanism, controlling the drive motor to drive the cleaning mechanism to rotate in the preset direction so that the cleaning mechanism continues to clean the surface to be cleaned includes:

[0041] When it is determined that the foreign object leaves the cleaning mechanism, recording the real-time position of the cleaning device when the foreign object leaves the cleaning mechanism;

[0042] The cleaning device is controlled to return to the real-time position and the driving motor is controlled to drive the cleaning mechanism to rotate in the preset direction so that the cleaning mechanism cleans the foreign matter.

[0043] Optionally, the cleaning device further includes a displacement mechanism for driving the cleaning device to move, and the controller is further configured to:

[0044] When it is determined that the foreign matter exists in the cleaning mechanism, controlling the cleaning device to stop moving;

[0045] When it is determined that the foreign matter has left the cleaning mechanism, controlling the driving motor to drive the cleaning mechanism to rotate in the preset direction so that the cleaning mechanism continues to clean the surface to be cleaned includes:

[0046] When it is determined that the foreign matter has left the cleaning mechanism, the cleaning device is controlled to stay in place for a preset period of time, and the driving motor is controlled to drive the cleaning mechanism to rotate in the preset direction so that the cleaning mechanism can clean the foreign matter.

[0047] Optionally, after the driving motor drives the cleaning mechanism to rotate in a direction opposite to the preset direction, judging whether the foreign matter has left the cleaning mechanism according to the working parameter includes:

[0048] When the duration of the rotation of the cleaning mechanism in the reverse direction reaches a first duration, controlling the driving motor to drive the cleaning mechanism to rotate in the preset direction again;

[0049] After the cleaning mechanism rotates again in the preset direction for a second time period, determining whether there is still foreign matter in the cleaning mechanism that affects the operation of the cleaning mechanism based on the working parameters;

[0050] When it is determined that there are still foreign objects in the cleaning mechanism that affect the operation of the cleaning mechanism, the drive motor is controlled again to drive the cleaning mechanism to rotate in the opposite direction of the preset direction, and the step of controlling the drive motor to drive the cleaning mechanism to rotate in the preset direction again when the duration of rotation in the reverse direction reaches a first duration is triggered.

[0051] Optionally, before controlling the driving motor again to drive the cleaning mechanism to rotate in the opposite direction of the preset direction, the controller is further configured to:

[0052] determining whether the number of times the rotation direction of the cleaning mechanism is switched from the preset direction to the opposite direction of the preset direction reaches a preset number threshold;

[0053] When the number of switching times does not reach the preset number threshold, the step of controlling the driving motor to drive the cleaning mechanism to rotate in the opposite direction of the preset direction is triggered.

[0054] Optionally, the controller is further configured to:

[0055] When the number of switching reaches the preset number threshold, an alarm signal is output to prompt that the cleaning mechanism is stuck.

[0056] Optionally, controlling the driving motor to drive the cleaning mechanism to rotate in a direction opposite to the preset direction includes:

[0057] The voltage direction of the power supply voltage of the drive motor is switched to control the drive motor to output a reverse driving force, thereby driving the cleaning mechanism to rotate in a direction opposite to the preset direction.

[0058] The technical solution provided by this application has the following advantages:

[0059] In response to receiving a cleaning instruction, the drive motor is controlled to drive the cleaning mechanism to rotate in a preset direction so that the cleaning mechanism cleans the surface to be cleaned; when the drive motor drives the cleaning mechanism to rotate in the preset direction, the working parameters of the drive motor are monitored, and it is judged based on the working parameters whether there is foreign matter in the cleaning mechanism that affects the operation of the cleaning mechanism; when it is judged that there is foreign matter in the cleaning mechanism, the drive motor is controlled to drive the cleaning mechanism to rotate in the opposite direction of the preset direction so that the foreign matter leaves the cleaning mechanism; this can solve the problem of reduced service life of the cleaning equipment and poor cleaning effect due to the cleaning mechanism being stuck; when it is judged that there is foreign matter in the cleaning mechanism, the cleaning mechanism can be rotated in the opposite direction so that the cleaning mechanism carries large particles of dust out of the dust inlet and outlet, so that the jamming phenomenon of the cleaning mechanism can be eliminated, thereby improving the cleaning effect and service life of the cleaning equipment.

[0060] Furthermore, since the cleaning mechanism is more likely to draw dust into the dust box when rotating in the preset direction, when the cleaning mechanism rotates counterclockwise, dust will fall into the dust box due to inertia. However, when the cleaning mechanism rotates clockwise, the direction of the dust's inertia is opposite to the direction of the dust box, resulting in poor dust collection. Therefore, if foreign matter leaves the cleaning mechanism, the dust collection efficiency of the cleaning device can be improved by driving the cleaning mechanism to rotate in the preset direction again, rather than continuing to rotate in the opposite direction of the preset direction.

[0061] In addition, since the jamming of the cleaning mechanism may not be eliminated by reversing, the step of controlling the drive motor to drive the cleaning mechanism to rotate in the opposite direction of the preset direction is triggered only when the number of switching times does not reach the preset threshold. This can avoid the problem of the cleaning mechanism constantly cycling between forward and reverse rotation, thereby improving the working efficiency of the cleaning equipment.

[0062] In addition, by cleaning the location where the cleaning mechanism is stuck after the foreign matter leaves the cleaning mechanism, the problem of missed cleaning by the cleaning device can be avoided and the cleaning effect of the cleaning device can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the specific implementation methods or the description of the prior art. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0064] Figure 1 This is a schematic structural diagram of a cleaning device provided by one embodiment of the present application;

[0065] Figure 2is a structural schematic diagram of a cleaning device provided by another embodiment of the present application;

[0066] Figure 3 This is a schematic diagram of a cleaning mechanism and a dust box in a cleaning device provided in one embodiment of the present application;

[0067] Figure 4 This is a flow chart of a method for controlling a cleaning device provided by one embodiment of the present application;

[0068] Figure 5 is a flow chart of a control method for a cleaning device provided by another embodiment of the present application;

[0069] Figure 6 This is a block diagram of a control device for a cleaning device provided by one embodiment of the present application;

[0070] Figure 7 This is a block diagram of a cleaning device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0071] The technical solutions of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present application, not all embodiments. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other unless there is a conflict.

[0072] It should be noted that the terms "first", "second", etc. in the description and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0073] In this application, unless otherwise specified, directional words such as "up, down, top, bottom" are usually used with reference to the directions shown in the drawings, or with reference to the components themselves in the vertical, perpendicular or gravity direction; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above directional words are not used to limit this application.

[0074] Figure 1 This is a schematic diagram of the structure of a cleaning device provided by an embodiment of the present application. The cleaning device can be an electronic device with a cleaning function, such as a sweeper, a vacuum cleaner, or a mop. This embodiment does not limit the implementation method of the cleaning device. Figure 1 As shown, the cleaning device at least includes: a cleaning mechanism 110, a driving motor 120 for driving the cleaning mechanism 110, and a controller (not shown in the figure) connected to the driving motor 120.

[0075] The driving motor 120 is used to drive the cleaning mechanism 110 to rotate. The driving motor 120 is installed inside the cleaning device. Optionally, the driving motor 120 is connected to the cleaning mechanism 110 through a transmission mechanism.

[0076] The cleaning mechanism 110 may be a roller brush, a rag, or a structure with adsorption capability, etc. This embodiment does not limit the implementation of the cleaning mechanism 110 .

[0077] Optionally, refer to Figure 2 , the cleaning mechanism 110 is installed at the bottom of the cleaning device. Figure 2 In the figure, the cleaning mechanism 110 is installed at the bottom center position of the cleaning device as an example. In actual implementation, the cleaning mechanism 110 can also be installed at the bottom front end or bottom edge of the cleaning device. This embodiment does not limit the installation position of the cleaning mechanism 110.

[0078] Optionally, a mechanism accommodating chamber 130 is provided at the bottom of the cleaning device, and the mechanism accommodating chamber 130 is used to accommodate the cleaning mechanism 110. When the cleaning device performs a cleaning operation, the cleaning mechanism 110 can move in the mechanism accommodating chamber 130.

[0079] The mechanism accommodating chamber 130 has a dust inlet 131, which is opposite to the surface to be cleaned (such as the ground) of the cleaning device to expose the cleaning mechanism 110 and contact the surface to be cleaned when the cleaning mechanism 110 is in operation to clean the surface.

[0080] Optionally, the size of the mechanism accommodating chamber 130 is determined based on the size of the cleaning mechanism 110. Specifically, the size of the mechanism accommodating chamber 130 is larger than the size of the cleaning mechanism 110 so that the cleaning mechanism 110 can operate within the mechanism accommodating chamber 130. The shape of the mechanism accommodating chamber 130 is determined based on the shape of the cleaning mechanism 110. For example, if the cleaning mechanism 110 is cylindrical, then the mechanism accommodating chamber 130 is also cylindrical.

[0081] Figure 1 In the example, the cleaning mechanism 110 is a roller brush. Figure 1 As shown, the roller brush can rotate around the central axis of the roller brush in the mechanism accommodating chamber 130.

[0082] Optionally, the cleaning device is further equipped with a dust box 140. Accordingly, the mechanism accommodating chamber 130 is further provided with a dust outlet 132, which is connected to the dust box 140. The dust box 140 is used to collect dust carried by the cleaning mechanism 110 during operation.

[0083] Specifically, refer to Figure 3Taking the cleaning mechanism 110 as a roller brush, and the roller brush rotating counterclockwise during operation as an example, the roller brush rotates counterclockwise in the mechanism accommodating cavity 130, carrying dust from the dust inlet 131 to the dust outlet 132, and then the dust enters the dust box 140 from the dust outlet 132.

[0084] according to Figure 3 As can be seen from the working diagram of FIG, if the dust particles carried by the cleaning mechanism 110 are large, the large dust particles may be trapped between the cleaning mechanism 110 and the mechanism accommodating chamber 130, causing the cleaning mechanism 110 to become stuck. In this case, the cleaning mechanism 110 may stop rotating and the cleaning device may not work properly, thereby reducing the service life of the cleaning device and causing poor cleaning effect.

[0085] It should be noted that for cleaning equipment that does not have a mechanism accommodating chamber 130, the cleaning mechanism 110 may also be stuck by large particles. This embodiment only uses the example of large dust particles being sandwiched between the cleaning mechanism 110 and the mechanism accommodating chamber 130, and does not limit the scenario in which the cleaning mechanism 110 is stuck.

[0086] Based on the above technical problems, in this embodiment, the controller is used to: in response to receiving a cleaning instruction, control the drive motor to drive the cleaning mechanism to rotate in a preset direction so that the cleaning mechanism cleans the surface to be cleaned; when the drive motor drives the cleaning mechanism to rotate in the preset direction, monitor the working parameters of the drive motor, and judge whether there is foreign matter in the cleaning mechanism that affects the operation of the cleaning mechanism based on the working parameters; when it is judged that there is foreign matter in the cleaning mechanism, control the drive motor to drive the cleaning mechanism to rotate in the opposite direction of the preset direction so that the foreign matter leaves the cleaning mechanism.

[0087] When the controller determines that there is foreign matter in the cleaning mechanism, it can reversely rotate the cleaning mechanism so that the cleaning mechanism carries large particles of dust out of the dust inlet 131. In this way, the jamming phenomenon of the cleaning mechanism can be eliminated, thereby improving the cleaning effect and service life of the cleaning equipment.

[0088] Among them, the cleaning instruction can be sent by a control device (such as a remote control, mobile phone, tablet computer, etc.) that is connected to the cleaning device for communication; or, it can be generated when a start button installed on the cleaning device is triggered; or, it can be automatically generated within a certain period of time after the cleaning device is turned on. This embodiment does not limit the method of obtaining the cleaning instruction.

[0089] The preset direction refers to the default rotation direction of the cleaning mechanism. Optionally, the preset direction can be counterclockwise or clockwise. Figure 3 The preset direction is taken as the counterclockwise direction as an example for description, and this embodiment does not limit the implementation method of the preset direction.

[0090] Controlling the driving motor to drive the cleaning mechanism to rotate in a preset direction includes: outputting a positive supply voltage to the driving motor so that the driving motor rotates forward to drive the cleaning mechanism to rotate in the preset direction.

[0091] Optionally, the operating parameter of the drive motor 120 can be the operating current of the drive motor. In this case, the cleaning device is further provided with a current acquisition circuit, one end of which is connected to the drive motor 120 and the other end is connected to the controller. Thus, when the drive motor 120 is operating, the current acquisition circuit acquires the operating current of the drive motor 120 and transmits this operating current to the controller. In response, the controller receives the operating current acquired by the current acquisition circuit.

[0092] Alternatively, the operating parameter of the drive motor 120 can be the operating power of the drive motor. In this case, the cleaning device is further provided with a power collection circuit, one end of which is connected to the drive motor 120 and the other end is connected to the controller. Thus, when the drive motor 120 is operating, the power collection circuit collects the operating power of the drive motor 120 and transmits the operating power to the controller. Accordingly, the controller receives the operating power collected by the power collection circuit.

[0093] When the cleaning mechanism 110 is stuck, the drive motor 120 cannot drive the cleaning mechanism 110 to rotate normally. At this time, the operating current of the drive motor 120 will increase, and the operating power will also increase accordingly. Based on this, it is determined based on the operating parameters whether there is a foreign object in the cleaning mechanism that affects the operation of the cleaning mechanism, including but not limited to the following methods:

[0094] The first method is to determine whether the working parameter is greater than the parameter threshold; if the working parameter is greater than the parameter threshold, it is determined that there is foreign matter that affects the operation of the cleaning mechanism; if the working parameter is less than or greater than the parameter threshold, it is determined that there is no foreign matter that affects the operation of the cleaning mechanism.

[0095] The parameter threshold is determined based on the jamming operating parameter of the drive motor 120 when the cleaning mechanism 110 jams. Schematically, the parameter threshold is equal to the jamming operating parameter, or slightly greater than the jamming operating parameter. This embodiment does not limit the value of the parameter threshold.

[0096] The second method: determine whether the working parameter is greater than the parameter threshold; if the working parameter is greater than the parameter threshold, determine whether the time for which the working parameter is continuously greater than the parameter threshold reaches a preset time; if the time for which the working parameter is continuously greater than the parameter threshold reaches a preset time, determine that there is foreign matter that affects the operation of the cleaning mechanism; if the time for which the working parameter is continuously greater than the parameter threshold does not reach the preset time, execute the step of determining whether the working parameter is greater than the parameter threshold again; if the working parameter is less than or greater than the parameter threshold, determine that there is no foreign matter that affects the operation of the cleaning mechanism.

[0097] The preset time length is pre-stored in the cleaning device, and the preset time length may be 3 seconds (s), 5 seconds, etc. This embodiment does not limit the value of the preset time length.

[0098] Since when the roller brush is stuck for a moment, the jam can be eliminated by driving the drive motor 120 for a long time, therefore, in the second method, only the jam that reaches the preset time is used as the condition for the controller to finally determine that it is stuck, which can reduce the number of reversals of the drive motor 120 and save the driving resources of the cleaning equipment.

[0099] When it is determined that there is foreign matter in the cleaning mechanism, the drive motor 120 is controlled to drive the cleaning mechanism to rotate in the opposite direction of the preset direction, including: switching the voltage direction of the power supply voltage of the drive motor to control the drive motor to output a reverse driving force, driving the cleaning mechanism to rotate in the opposite direction of the preset direction.

[0100] For example: the forward supply voltage of the drive motor is 11 volts (V). When controlling the drive motor 120 to output a reverse driving force, the controller outputs a reverse supply voltage of -11V to the drive motor to control the drive motor to output a reverse driving force, driving the cleaning mechanism to rotate in the opposite direction of the preset direction.

[0101] Since the cleaning mechanism rotates in the preset direction, there is a high probability that dust will be brought into the dust box 140. Figure 3 When the cleaning mechanism rotates counterclockwise, dust will fall into the dust box 140 due to inertia. However, when the cleaning mechanism rotates clockwise, the direction of the dust's inertia is opposite to the direction of the dust box 140, and the dust collection effect is poor. Therefore, if foreign matter leaves the cleaning mechanism, it is necessary to drive the cleaning mechanism to rotate in the preset direction again to improve the dust collection effect.

[0102] Correspondingly, the controller is also used to: after the driving motor drives the cleaning mechanism to rotate in the opposite direction of the preset direction, determine whether the foreign matter has left the cleaning mechanism based on the working parameters; when it is determined that the foreign matter has left the cleaning mechanism, control the driving motor to drive the cleaning mechanism to rotate in the preset direction so that the cleaning mechanism continues to clean the surface to be cleaned.

[0103] In one example, after the driving motor drives the cleaning mechanism to rotate in the opposite direction of the preset direction, it is determined whether the foreign matter has left the cleaning mechanism according to the working parameters, including: when the duration of the rotation of the cleaning mechanism in the opposite direction reaches a first duration, controlling the driving motor to drive the cleaning mechanism to rotate in the preset direction again; after the cleaning mechanism rotates in the preset direction again for a second duration, determining whether there are still foreign matter in the cleaning mechanism that affects the operation of the cleaning mechanism according to the working parameters; when it is determined that there are still foreign matter in the cleaning mechanism that affects the operation of the cleaning mechanism, controlling the driving motor to drive the cleaning mechanism to rotate in the opposite direction of the preset direction again, and triggering the execution of the step of controlling the driving motor to drive the cleaning mechanism to rotate in the preset direction again when the duration of the rotation in the opposite direction reaches the first duration.

[0104] The first duration is the same as or different from the second duration. The first duration can be 3s, 5s, etc., and the second duration can also be 3s, 5s, etc. This embodiment does not limit the values of the first duration and the second duration.

[0105] Since the jamming of the cleaning mechanism may not be eliminated by reversing, based on this, in order to prevent the cleaning mechanism from cycling between forward and reverse rotation, in another example, before controlling the drive motor to drive the cleaning mechanism to rotate in the opposite direction of the preset direction again, the controller is also used to: determine whether the number of times the rotation direction of the cleaning mechanism has switched from the preset direction to the opposite direction of the preset direction has reached a preset number threshold; if the number of switches has not reached the preset number threshold, trigger the step of controlling the drive motor to drive the cleaning mechanism to rotate in the opposite direction of the preset direction again.

[0106] Optionally, the controller is further configured to output an alarm signal when the number of switching times does not reach a preset threshold value to prompt that the cleaning mechanism is stuck.

[0107] The alarm signal includes, but is not limited to, an audio alarm signal, a light alarm signal, and / or a communication alarm signal, etc. This embodiment does not limit the implementation method of the alarm signal.

[0108] Generally, the cleaning device also has a self-moving function. In this case, the cleaning device also includes a displacement mechanism 150 for driving the cleaning device to move. The displacement mechanism 150 includes a wheel body and a driving member for driving the wheel body to rotate. The wheel body can be a universal wheel, or composed of a driving wheel and a driven wheel. This embodiment does not limit the implementation method of the wheel body.

[0109] When performing cleaning work, a cleaning device with a self-moving function generally moves while driving the cleaning mechanism to rotate to clean the surface to be cleaned. Based on this, in order to ensure that the cleaning device can clean the location where the cleaning device is located when the cleaning mechanism becomes stuck, in one example, when it is determined that the foreign object has left the cleaning mechanism, the controller controls the drive motor to drive the cleaning mechanism to rotate in a preset direction so that the cleaning mechanism can continue to clean the surface to be cleaned. This includes: when it is determined that the foreign object has left the cleaning mechanism, recording the real-time position of the cleaning device when the foreign object left the cleaning mechanism; controlling the cleaning device to return to the real-time position and controlling the drive motor to drive the cleaning mechanism to rotate in a preset direction so that the cleaning mechanism can clean the foreign object.

[0110] In another example, the controller is further configured to: upon determining that a foreign object is present in the cleaning mechanism, control the cleaning device to stop moving. Accordingly, upon determining that the foreign object has left the cleaning mechanism, control the drive motor to rotate the cleaning mechanism in a preset direction so that the cleaning mechanism continues to clean the surface to be cleaned. This includes: upon determining that the foreign object has left the cleaning mechanism, controlling the cleaning device to remain in place for a preset period of time, and controlling the drive motor to rotate the cleaning mechanism in a preset direction so that the cleaning mechanism can clean the foreign object.

[0111] In this embodiment, when the controller determines that there is foreign matter in the cleaning mechanism, it can rotate the cleaning mechanism in the opposite direction so that the cleaning mechanism carries large particles of dust out of the dust inlet and outlet 131. In this way, the jamming phenomenon of the cleaning mechanism can be eliminated, thereby improving the cleaning effect and service life of the cleaning equipment.

[0112] Furthermore, since the cleaning mechanism is more likely to draw dust into the dust box 140 when rotating in the preset direction, when the cleaning mechanism rotates counterclockwise, dust will fall into the dust box 140 due to inertia. However, when the cleaning mechanism rotates clockwise, the direction of the dust's inertia is opposite to the direction of the dust box 140, resulting in poor dust collection. Therefore, if foreign matter leaves the cleaning mechanism, the cleaning mechanism can be driven to rotate in the preset direction again, rather than continuing to rotate in the opposite direction of the preset direction, thereby improving the dust collection efficiency of the cleaning device.

[0113] In addition, since the jamming of the cleaning mechanism may not be eliminated by reversing, the step of controlling the drive motor to drive the cleaning mechanism to rotate in the opposite direction of the preset direction is triggered only when the number of switching times does not reach the preset threshold. This can avoid the problem of the cleaning mechanism constantly cycling between forward and reverse rotation, thereby improving the working efficiency of the cleaning equipment.

[0114] In addition, by cleaning the location where the cleaning mechanism is stuck after the foreign matter leaves the cleaning mechanism, the problem of missed cleaning by the cleaning device can be avoided and the cleaning effect of the cleaning device can be improved.

[0115] The control method of the cleaning equipment is introduced below.

[0116] Figure 4 This is a flow chart of a control method for a cleaning device provided by an embodiment of the present application. This embodiment uses this method for Figure 1 Taking the controller of the cleaning device shown in FIG. as an example, the method includes at least the following steps:

[0117] Step 401 : In response to receiving a cleaning instruction, controlling a driving motor to drive a cleaning mechanism to rotate in a preset direction so that the cleaning mechanism cleans a surface to be cleaned.

[0118] Step 402 : When the driving motor drives the cleaning mechanism to rotate in a preset direction, the operating parameters of the driving motor are monitored, and it is determined based on the operating parameters whether there are foreign objects in the cleaning mechanism that may affect the operation of the cleaning mechanism.

[0119] Step 403 : When it is determined that there is foreign matter in the cleaning mechanism, the driving motor is controlled to drive the cleaning mechanism to rotate in a direction opposite to the preset direction, so that the foreign matter leaves the cleaning mechanism.

[0120] Schematically, controlling the drive motor to drive the cleaning mechanism to rotate in the opposite direction of the preset direction includes: switching the voltage direction of the power supply voltage of the drive motor to control the drive motor to output a reverse driving force, driving the cleaning mechanism to rotate in the opposite direction of the preset direction.

[0121] Optionally, after the driving motor drives the cleaning mechanism to rotate in the opposite direction of the preset direction, the controller determines whether the foreign matter has left the cleaning mechanism based on the working parameters; when it is determined that the foreign matter has left the cleaning mechanism, the driving motor is controlled to drive the cleaning mechanism to rotate in the preset direction so that the cleaning mechanism continues to clean the surface to be cleaned.

[0122] In one example, when it is determined that the foreign object has left the cleaning mechanism, the drive motor is controlled to drive the cleaning mechanism to rotate in a preset direction so that the cleaning mechanism continues to clean the surface to be cleaned, including: when it is determined that the foreign object has left the cleaning mechanism, the real-time position of the cleaning device when the foreign object leaves the cleaning mechanism is recorded; the cleaning device is controlled to return to the real-time position and the drive motor is controlled to drive the cleaning mechanism to rotate in a preset direction so that the cleaning mechanism cleans the foreign object.

[0123] In another example, the cleaning device further includes a displacement mechanism for driving the displacement of the cleaning device, and the controller is further configured to control the cleaning device to stop displacement when it is determined that a foreign object is present in the cleaning mechanism. Accordingly, when it is determined that the foreign object has left the cleaning mechanism, the drive motor is controlled to rotate the cleaning mechanism in a preset direction so that the cleaning mechanism continues to clean the surface to be cleaned, including: when it is determined that the foreign object has left the cleaning mechanism, the cleaning device is controlled to remain in place for a preset period of time, and the drive motor is controlled to rotate the cleaning mechanism in a preset direction so that the cleaning mechanism can clean the foreign object.

[0124] Schematically, after the driving motor drives the cleaning mechanism to rotate in the opposite direction of the preset direction, it is determined whether the foreign matter has left the cleaning mechanism based on the working parameters, including: when the duration of the rotation of the cleaning mechanism in the opposite direction reaches a first duration, controlling the driving motor to drive the cleaning mechanism to rotate in the preset direction again; after the cleaning mechanism rotates in the preset direction again for a second duration, determining whether there are still foreign matter in the cleaning mechanism that affects the operation of the cleaning mechanism based on the working parameters; when it is determined that there are still foreign matter in the cleaning mechanism that affects the operation of the cleaning mechanism, controlling the driving motor to drive the cleaning mechanism to rotate in the opposite direction of the preset direction again, and triggering the execution of the step of controlling the driving motor to drive the cleaning mechanism to rotate in the preset direction again when the duration of the rotation in the opposite direction reaches the first duration.

[0125] Optionally, before controlling the drive motor to drive the cleaning mechanism to rotate in the opposite direction of the preset direction again, the controller is also used to: determine whether the number of times the rotation direction of the cleaning mechanism is switched from the preset direction to the opposite direction of the preset direction reaches a preset number threshold; if the number of switches does not reach the preset number threshold, trigger the step of controlling the drive motor to drive the cleaning mechanism to rotate in the opposite direction of the preset direction again.

[0126] Optionally, when the number of switching reaches a preset threshold, an alarm signal is output to prompt that the cleaning mechanism is stuck.

[0127] The relevant description of this embodiment is detailed in the above-mentioned embodiment of the cleaning device, and this embodiment will not be repeated here.

[0128] To sum up, the control method of the cleaning device provided in this embodiment controls the driving motor to drive the cleaning mechanism to rotate in a preset direction in response to receiving a cleaning instruction, so that the cleaning mechanism cleans the surface to be cleaned; when the driving motor drives the cleaning mechanism to rotate in the preset direction, the working parameters of the driving motor are monitored, and it is judged whether there is foreign matter in the cleaning mechanism that affects the operation of the cleaning mechanism based on the working parameters; when it is judged that there is foreign matter in the cleaning mechanism, the driving motor is controlled to drive the cleaning mechanism to rotate in the opposite direction of the preset direction to make the foreign matter leave the cleaning mechanism; it can solve the problem of reduced service life of the cleaning device and poor cleaning effect due to the cleaning mechanism being stuck; when it is judged that there is foreign matter in the cleaning mechanism, the cleaning mechanism can be rotated in the opposite direction so that the cleaning mechanism carries large particles of dust out of the dust inlet and outlet, so that the jamming phenomenon of the cleaning mechanism can be eliminated, thereby improving the cleaning effect and service life of the cleaning device.

[0129] Furthermore, since the cleaning mechanism is more likely to draw dust into the dust box when rotating in the preset direction, when the cleaning mechanism rotates counterclockwise, dust will fall into the dust box due to inertia. However, when the cleaning mechanism rotates clockwise, the direction of the dust's inertia is opposite to the direction of the dust box, resulting in poor dust collection. Therefore, if foreign matter leaves the cleaning mechanism, the dust collection efficiency of the cleaning device can be improved by driving the cleaning mechanism to rotate in the preset direction again, rather than continuing to rotate in the opposite direction of the preset direction.

[0130] In addition, since the jamming of the cleaning mechanism may not be eliminated by reversing, the step of controlling the drive motor to drive the cleaning mechanism to rotate in the opposite direction of the preset direction is triggered only when the number of switching times does not reach the preset threshold. This can avoid the problem of the cleaning mechanism constantly cycling between forward and reverse rotation, thereby improving the working efficiency of the cleaning equipment.

[0131] In addition, by cleaning the location where the cleaning mechanism is stuck after the foreign matter leaves the cleaning mechanism, the problem of missed cleaning by the cleaning device can be avoided and the cleaning effect of the cleaning device can be improved.

[0132] In order to more conveniently understand the control method of the cleaning device provided by the present application, the method is introduced below by taking an example. In this example, the cleaning mechanism is a roller brush, the positive power supply voltage of the roller brush is 11V, the working parameter is the working current, and the parameter threshold is 0.2 amperes (A), the preset time is 3s, the first time and the second time are both 3s, and the number threshold is 5 times as an example for explanation. Figure 5 , the method includes at least the following steps:

[0133] Step 51: After the cleaning device starts working, the power supply voltage of the driving motor is initialized to +11V, the working current is 0.15A, and the number of forward rotations n=1;

[0134] Step 52, determine whether the operating current exceeds 2A for 3 consecutive seconds; if so, execute step 53; if not, execute step 58;

[0135] Step 53, controlling the cleaning device to stop moving and providing a reverse power supply voltage of -11V to the driving motor to reverse the cleaning mechanism;

[0136] Step 54 , after the cleaning mechanism reverses for 3 seconds, a positive supply voltage of +11V is provided to the driving motor to make the cleaning mechanism rotate forward;

[0137] Step 55: After the cleaning mechanism rotates forward for 3 seconds, determine whether the operating current exceeds 2A; if so, set n=n+1 and execute step 56; if not, set n=1 and control the cleaning device to continue moving and execute step 52;

[0138] Step 56, determine whether the value of n reaches 5; if so, execute step 57; if not, execute step 53;

[0139] Step 57: Output an alarm signal and the process ends.

[0140] Step 58, determine whether the cleaning is completed; if so, the process ends; if not, execute step 52 again.

[0141] In this embodiment, when it is determined that there is foreign matter in the cleaning mechanism, the cleaning mechanism can be rotated in the reverse direction so that the cleaning mechanism carries large particles of dust out of the dust inlet and outlet. In this way, the jamming phenomenon of the cleaning mechanism can be eliminated, thereby improving the cleaning effect and service life of the cleaning equipment.

[0142] Figure 6 This is a block diagram of a control device for a cleaning device provided by an embodiment of the present application. Figure 1 Taking the controller in the cleaning device shown as an example for explanation, the device includes at least the following modules: a first control module 610 , a foreign matter judgment module 620 , and a second control module 630 .

[0143] The first control module 610 is configured to control the driving motor to drive the cleaning mechanism to rotate in a preset direction in response to receiving a cleaning instruction, so that the cleaning mechanism cleans the surface to be cleaned;

[0144] a foreign matter determination module 620 for monitoring the operating parameters of the drive motor when the drive motor drives the cleaning mechanism to rotate in a preset direction, and determining, based on the operating parameters, whether there is a foreign matter in the cleaning mechanism that may affect the operation of the cleaning mechanism;

[0145] The second control module 630 is configured to control the driving motor to drive the cleaning mechanism to rotate in a direction opposite to the preset direction when it is determined that the foreign matter exists in the cleaning mechanism, so as to make the foreign matter leave the cleaning mechanism.

[0146] For relevant details, please refer to the above embodiments.

[0147] It should be noted that the control device for the cleaning equipment provided in the above embodiment only uses the division of the above functional modules as an example to illustrate the control of the cleaning equipment. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the control device for the cleaning equipment can be divided into different functional modules to complete all or part of the functions described above. In addition, the control device for the cleaning equipment provided in the above embodiment and the control method embodiment for the cleaning equipment are of the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0148] Figure 7 This is a block diagram of a cleaning device provided by an embodiment of the present application. The device may be Figure 1 The cleaning device at least includes a processor 701 and a memory 702 .

[0149] The processor 701 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 701 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array). The processor 701 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 701 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 701 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0150] The memory 702 may include one or more computer-readable storage media, which may be non-transitory. The memory 702 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices and flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 702 is used to store at least one instruction, which is executed by the processor 701 to implement the control method of the cleaning device provided in the method embodiment of the present application.

[0151] In some embodiments, the external parameter calibration device may optionally include a peripheral device interface and at least one peripheral device. The processor 701, memory 702, and peripheral device interface may be connected via a bus or signal lines. Each peripheral device may be connected to the peripheral device interface via a bus, signal lines, or circuit boards. Illustratively, the peripheral devices include, but are not limited to, a radio frequency circuit, a touchscreen display, an audio circuit, and a power supply.

[0152] Of course, the external parameter calibration device may also include fewer or more components, which is not limited in this embodiment.

[0153] Optionally, the present application also provides a computer-readable storage medium, in which a program is stored. The program is loaded and executed by a processor to implement the control method of the cleaning device of the above method embodiment.

[0154] Optionally, the present application also provides a computer product, which includes a computer-readable storage medium, wherein the computer-readable storage medium stores a program, and the program is loaded and executed by a processor to implement the control method of the cleaning device of the above method embodiment.

[0155] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0156] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

[0157] Obviously, the embodiments described above are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, ordinary technicians in this field can make other different forms of changes or modifications without making any creative work, which should fall within the scope of protection of this application.

Claims

1. A method for controlling a cleaning device, wherein the cleaning device comprises a cleaning mechanism and a driving motor for driving the cleaning mechanism, wherein: The control method of the cleaning equipment includes: In response to receiving a cleaning instruction, controlling the driving motor to drive the cleaning mechanism to rotate in a preset direction so that the cleaning mechanism cleans the surface to be cleaned; When the driving motor drives the cleaning mechanism to rotate in a preset direction, monitoring the operating parameters of the driving motor and determining whether there is a foreign object in the cleaning mechanism that affects the operation of the cleaning mechanism based on the operating parameters; When it is determined that the foreign object exists in the cleaning mechanism, controlling the driving motor to drive the cleaning mechanism to rotate in the opposite direction of the preset direction so that the foreign object leaves the cleaning mechanism; The control method of the cleaning equipment further includes: After the driving motor drives the cleaning mechanism to rotate in the opposite direction of the preset direction, determining whether the foreign matter has left the cleaning mechanism according to the working parameters; When it is determined that the foreign matter has left the cleaning mechanism, controlling the driving motor to drive the cleaning mechanism to rotate in the preset direction so that the cleaning mechanism continues to clean the surface to be cleaned; When it is determined that the foreign matter has left the cleaning mechanism, controlling the driving motor to drive the cleaning mechanism to rotate in the preset direction so that the cleaning mechanism continues to clean the surface to be cleaned includes: When it is determined that the foreign object leaves the cleaning mechanism, recording the real-time position of the cleaning device when the foreign object leaves the cleaning mechanism; The cleaning device is controlled to return to the real-time position and the driving motor is controlled to drive the cleaning mechanism to rotate in the preset direction so that the cleaning mechanism cleans the foreign matter.

2. The control method of the cleaning equipment according to claim 1, characterized in that: The cleaning device further includes a displacement mechanism for driving the cleaning device to move, and the control method of the cleaning device further includes: When it is determined that the foreign matter exists in the cleaning mechanism, controlling the cleaning device to stop moving; When it is determined that the foreign matter has left the cleaning mechanism, controlling the driving motor to drive the cleaning mechanism to rotate in the preset direction so that the cleaning mechanism continues to clean the surface to be cleaned includes: When it is determined that the foreign matter has left the cleaning mechanism, the cleaning device is controlled to stay in place for a preset period of time, and the driving motor is controlled to drive the cleaning mechanism to rotate in the preset direction so that the cleaning mechanism can clean the foreign matter.

3. The control method of the cleaning equipment according to claim 1 or 2, characterized in that: After the driving motor drives the cleaning mechanism to rotate in the opposite direction of the preset direction, judging whether the foreign matter has left the cleaning mechanism according to the working parameters includes: When the duration of the rotation of the cleaning mechanism in the reverse direction reaches a first duration, controlling the driving motor to drive the cleaning mechanism to rotate in the preset direction again; After the cleaning mechanism rotates again in the preset direction for a second time period, determining whether there is still foreign matter in the cleaning mechanism that affects the operation of the cleaning mechanism based on the working parameters; When it is determined that there are still foreign objects in the cleaning mechanism that affect the operation of the cleaning mechanism, the drive motor is controlled again to drive the cleaning mechanism to rotate in the opposite direction of the preset direction, and the step of controlling the drive motor to drive the cleaning mechanism to rotate in the preset direction again when the duration of rotation in the reverse direction reaches a first duration is triggered.

4. The control method of the cleaning equipment according to claim 3, characterized in that: Before controlling the driving motor again to drive the cleaning mechanism to rotate in the opposite direction of the preset direction, the control method of the cleaning device further includes: determining whether the number of times the rotation direction of the cleaning mechanism is switched from the preset direction to the opposite direction of the preset direction reaches a preset number threshold; When the number of switching times does not reach the preset number threshold, the step of controlling the driving motor to drive the cleaning mechanism to rotate in the opposite direction of the preset direction is triggered.

5. The control method of the cleaning equipment according to claim 4, characterized in that: The control method of the cleaning equipment further includes: When the number of switching reaches the preset number threshold, an alarm signal is output to prompt that the cleaning mechanism is stuck.

6. The control method of the cleaning equipment according to claim 1 or 2, characterized in that: The controlling the driving motor to drive the cleaning mechanism to rotate in a direction opposite to the preset direction includes: The voltage direction of the power supply voltage of the drive motor is switched to control the drive motor to output a reverse driving force, thereby driving the cleaning mechanism to rotate in a direction opposite to the preset direction.

7. A method for controlling a cleaning device, wherein the cleaning device comprises a cleaning mechanism and a driving motor for driving the cleaning mechanism, wherein: The control method of the cleaning equipment includes: In response to receiving a cleaning instruction, controlling the driving motor to drive the cleaning mechanism to rotate in a preset direction so that the cleaning mechanism cleans the surface to be cleaned; When the driving motor drives the cleaning mechanism to rotate in a preset direction, monitoring the operating parameters of the driving motor and determining whether there is a foreign object in the cleaning mechanism that affects the operation of the cleaning mechanism based on the operating parameters; When it is determined that the foreign object exists in the cleaning mechanism, controlling the driving motor to drive the cleaning mechanism to rotate in the opposite direction of the preset direction so that the foreign object leaves the cleaning mechanism; The control method of the cleaning equipment further includes: After the driving motor drives the cleaning mechanism to rotate in the opposite direction of the preset direction, determining whether the foreign matter has left the cleaning mechanism according to the working parameters; When it is determined that the foreign matter has left the cleaning mechanism, controlling the driving motor to drive the cleaning mechanism to rotate in the preset direction so that the cleaning mechanism continues to clean the surface to be cleaned; After the driving motor drives the cleaning mechanism to rotate in the opposite direction of the preset direction, judging whether the foreign matter has left the cleaning mechanism according to the working parameters includes: When the duration of the rotation of the cleaning mechanism in the reverse direction reaches a first duration, controlling the driving motor to drive the cleaning mechanism to rotate in the preset direction again; After the cleaning mechanism rotates again in the preset direction for a second time period, determining whether there is still foreign matter in the cleaning mechanism that affects the operation of the cleaning mechanism based on the working parameters; When it is determined that there is still foreign matter in the cleaning mechanism that affects the operation of the cleaning mechanism, the driving motor is controlled again to drive the cleaning mechanism to rotate in the opposite direction of the preset direction, and the step of controlling the driving motor to drive the cleaning mechanism to rotate in the preset direction again when the duration of the reverse rotation reaches a first duration is triggered; The operating parameters include the operating current or the operating power of the driving motor.

8. The control method of the cleaning equipment according to claim 7, characterized in that: When it is determined that the foreign matter has left the cleaning mechanism, controlling the driving motor to drive the cleaning mechanism to rotate in the preset direction so that the cleaning mechanism continues to clean the surface to be cleaned includes: When it is determined that the foreign object leaves the cleaning mechanism, recording the real-time position of the cleaning device when the foreign object leaves the cleaning mechanism; The cleaning device is controlled to return to the real-time position and the driving motor is controlled to drive the cleaning mechanism to rotate in the preset direction so that the cleaning mechanism cleans the foreign matter.

9. The control method of the cleaning equipment according to claim 7, characterized in that: The cleaning device further includes a displacement mechanism for driving the cleaning device to move, and the control method of the cleaning device further includes: When it is determined that the foreign matter exists in the cleaning mechanism, controlling the cleaning device to stop moving; When it is determined that the foreign matter has left the cleaning mechanism, controlling the driving motor to drive the cleaning mechanism to rotate in the preset direction so that the cleaning mechanism continues to clean the surface to be cleaned includes: When it is determined that the foreign matter has left the cleaning mechanism, the cleaning device is controlled to stay in place for a preset period of time, and the driving motor is controlled to drive the cleaning mechanism to rotate in the preset direction so that the cleaning mechanism can clean the foreign matter.

10. The control method of the cleaning equipment according to claim 9, characterized in that: Before controlling the driving motor again to drive the cleaning mechanism to rotate in the opposite direction of the preset direction, the control method of the cleaning device further includes: determining whether the number of times the rotation direction of the cleaning mechanism is switched from the preset direction to the opposite direction of the preset direction reaches a preset number threshold; When the number of switching times does not reach the preset number threshold, the step of controlling the driving motor to drive the cleaning mechanism to rotate in the opposite direction of the preset direction is triggered.

11. The control method of the cleaning equipment according to claim 10, characterized in that: The control method of the cleaning equipment further includes: When the number of switching reaches the preset number threshold, an alarm signal is output to prompt that the cleaning mechanism is stuck.

12. The control method for a cleaning device according to any one of claims 7 to 11, characterized in that: The controlling the driving motor to drive the cleaning mechanism to rotate in a direction opposite to the preset direction includes: The voltage direction of the power supply voltage of the drive motor is switched to control the drive motor to output a reverse driving force, thereby driving the cleaning mechanism to rotate in a direction opposite to the preset direction.

13. A cleaning device, characterized in that: The cleaning equipment comprises: cleaning agencies; a drive motor for driving the cleaning mechanism; and A controller connected to the drive motor, wherein the controller is used to execute the control method according to any one of claims 1 to 6.

14. A cleaning device, characterized in that: The cleaning equipment comprises: cleaning agencies; a drive motor for driving the cleaning mechanism; and A controller connected to the drive motor, the controller being configured to execute the control method according to any one of claims 7 to 12.

Images