Control method of cleaning equipment, cleaning equipment, and storage medium

Abstract

The present invention discloses a control method for cleaning equipment, a cleaning equipment, and a storage medium. The cleaning equipment is matched with a base station for use. The cleaning equipment includes a roller brush. When the cleaning equipment performs normal cleaning, the roller brush rotates forward. When the cleaning equipment performs self-cleaning, the roller brush includes forward and reverse rotation. The method includes: judging whether the roller brush is installed on the base station; if the roller brush is installed on the base station, activating a reversing circuit for driving the roller brush to reverse.

Description

Technical Field

[0001] The present invention belongs to the technical field of cleaning devices, and in particular relates to a control method for cleaning equipment, cleaning equipment, and a storage medium. Background Art

[0002] With the development of science and technology and the improvement of people's living standards, cleaning equipment such as vacuum cleaners and floor scrubbers have freed people from the complicated cleaning work. They can not only keep homes, offices and other environments clean, but also allow people to enjoy more free time, and are therefore favored by people.

[0003] Usually, in the self-cleaning mode, cleaning equipment usually needs to control the motor to reverse and the roller brush to reverse to achieve cleaning. However, if the self-cleaning is mistakenly activated during normal use by the user, it will seriously affect the user's use and even safety. Summary of the Invention

[0004] Therefore, the present invention aims to solve the technical problem that if the self-cleaning of the cleaning device in the prior art is mistakenly activated during normal use by the user, it will seriously affect the user's use and even the safety.

[0005] To solve the above technical problems, the present invention provides a control method for a cleaning device, wherein the cleaning device is used in conjunction with a base station, and the cleaning device includes a roller brush. When the cleaning device performs normal cleaning, the roller brush rotates forward, and when the cleaning device performs self-cleaning, the roller brush rotates forward and reverse. The method includes:

[0006] determining whether the roller brush is installed on the base station;

[0007] If the roller brush is mounted on the base station, a reversing circuit for driving the roller brush to reverse is activated.

[0008] Preferably, in the control method of the cleaning device, after the step of determining whether the roller brush is installed on the base station, the method further comprises: if the roller brush is not installed on the base station, prohibiting activation of the reversing circuit.

[0009] Preferably, in the control method of the cleaning device, the determining whether the roller brush is installed on the base station comprises: determining whether a charging signal sent by a battery pack of the cleaning device is received; and determining whether the roller brush is installed on the base station based on the charging signal;

[0010] Alternatively, the determining whether the roller brush is installed on the base station includes: determining whether a voltage signal output by a charging voltage detection circuit of the cleaning device is received; and determining whether the roller brush is installed on the base station based on the received voltage signal.

[0011] Preferably, in the control method of the cleaning device, judging whether the roller brush is installed on the base station based on the received voltage signal includes: if the voltage signal gradually rises, the roller brush is installed on the base station.

[0012] Preferably, in the control method of the cleaning device, the step of activating a reversing circuit for driving the roller brush to reverse if the roller brush is mounted on the base station comprises:

[0013] If the roller brush is installed on the base station, the self-cleaning circuit for driving the cleaning device to perform self-cleaning is activated, the self-cleaning circuit includes a reversing circuit for driving the roller brush to reverse, and activating the self-cleaning circuit includes activating the reversing circuit.

[0014] Preferably, in the control method of the cleaning device, the cleaning device includes a body, the body is provided with a battery pack, and a charging interface electrically connected to the battery pack, and the base station includes a charging docking interface matching the charging interface; wherein, the judgment of whether the roller brush is installed to the base station includes judging whether the charging interface is electrically docked with the charging docking interface; if the charging interface is electrically docked with the charging docking interface, the roller brush is installed to the base station.

[0015] Preferably, in the control method of the cleaning equipment, one of the body and the base station is provided with a photoelectric transmitter, and the other is provided with a photoelectric receiver; accordingly, the judgment of whether the charging interface is electrically docked with the charging docking interface includes: judging whether the photoelectric receiver receives information transmitted by the photoelectric transmitter; if the photoelectric receiver receives the information transmitted by the photoelectric transmitter, the charging interface is electrically docked with the charging docking interface.

[0016] In order to achieve the above-mentioned object, the present invention further provides a cleaning device, which is used in conjunction with a base station. The cleaning device includes a roller brush. When the cleaning device performs normal cleaning, the roller brush rotates forward. When the cleaning device performs self-cleaning, the roller brush can rotate forward and reverse.

[0017] The cleaning device also includes a processing module, which is configured to determine whether the roller brush is installed on the base station; the processing module is also used to activate a reversing circuit for driving the roller brush to reverse when the roller brush is installed on the base station.

[0018] Preferably, in the cleaning device, the cleaning device also includes a body, the cleaning device also includes a body, the body is provided with a battery pack, and a charging interface electrically connected to the battery pack, the battery pack is electrically connected to the processing module, and the base station includes a charging docking interface matching the charging interface; when the charging interface is docked with the charging docking interface, the battery pack is charged, and the battery pack is also configured to send a charging signal to the processing module during charging.

[0019] Preferably, in the cleaning device, the cleaning device further includes a charging voltage detection circuit for detecting the voltage across the battery pack, and the charging voltage detection circuit is electrically connected to the processing module and outputs a voltage signal to the processing module.

[0020] Preferably, in the cleaning device, the cleaning device further comprises a switching circuit, and the switching circuit comprises:

[0021] A first switch is connected to the inverting circuit and is used to control the on and off of the inverting circuit; and

[0022] A second switch is connected to the forward rotation circuit and is used to control the on and off of the forward rotation circuit;

[0023] Correspondingly, the processing module is configured to control whether to turn on the first switch or the second switch, so as to control the on and off of the reverse circuit or the forward circuit.

[0024] Preferably, in the cleaning device, the switching circuit includes an H-bridge motor control circuit, the first switching switch includes the upper left arm and the lower right arm of the H-bridge motor control circuit, and the reverse circuit is connected when the upper left arm and the lower right arm of the H-bridge motor control circuit are connected; the second switching switch includes the upper right arm and the lower left arm of the H-bridge motor control circuit, and the forward circuit is connected when the upper right arm and the lower left arm of the H-bridge motor control circuit are connected.

[0025] Preferably, in the cleaning device, the transistors corresponding to the left upper arm, the left lower arm, the right upper arm, and the right lower arm of the H-bridge motor control circuit are all NMOS transistors.

[0026] In order to achieve the above-mentioned object, the present invention further provides a computer-readable storage medium storing a computer program, characterized in that when the computer program is executed by a processing module, the control method of the above-mentioned cleaning equipment is implemented.

[0027] The technical solution provided by the present invention has the following advantages:

[0028] The present invention determines whether the roller brush is installed to the base station. If the roller brush is installed to the base station, the reversing circuit for driving the roller brush to reverse is activated. When the roller brush is not installed to the base station, the reversing circuit is not activated and the roller brush cannot reverse. In this way, it can effectively avoid the accidental activation of the roller brush reversal during normal cleaning, thereby improving the safety of the cleaning equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0030] Figure 1 Schematic diagram of a first embodiment of a control method for a cleaning device according to the present invention;

[0031] Figure 2 Schematic diagram of a second embodiment of a control method for a cleaning device according to the present invention;

[0032] Figure 3 Schematic diagram of a third embodiment of a control method for a cleaning device according to the present invention;

[0033] Figure 4 Schematic diagram of a fourth embodiment of a control method for a cleaning device according to the present invention;

[0034] Figure 5 A schematic diagram of an embodiment of a cleaning device of the present invention;

[0035] Figure 6 A schematic diagram of another embodiment of the cleaning device of the present invention;

[0036] Figure 7 is a schematic diagram of an embodiment of a switch circuit of the present invention;

[0037] Figure 8 This is a schematic diagram of a cleaning device with a single roller brush according to the present invention when rotating forward;

[0038] Figure 9 A schematic diagram of a cleaning device with dual roller brushes according to the present invention;

[0039] Figure 10 for Figure 9 Schematic diagram of the middle double roller brush when rotating forward;

[0040] Figure 11 for Figure 9 Schematic diagram of the double roller brush in reverse rotation.

[0041] 510-roller brush, 520-front roller brush, 530-rear roller brush.

[0042] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0043] The technical solutions of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. The present invention 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 of the present invention and the features therein may be combined with each other unless there is a conflict.

[0044] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0045] In the present invention, unless otherwise specified, the directional words used, such as "up, down, top, bottom", usually refer to the directions shown in the drawings, or 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 the present invention.

[0046] This embodiment provides a control method for a cleaning device, which is applied to a cleaning device, such as a sweeper, etc., which are not listed here one by one and are not limited in this embodiment.

[0047] The following describes the implementation details of the control method for the cleaning device of this embodiment. The following content is only provided for ease of understanding and is not required for implementing this solution. The cleaning device may be, but is not limited to, a floor scrubber.

[0048] The present embodiment relates to a control method for a cleaning device, wherein the cleaning device is used in combination with a base station, and the cleaning device includes a roller brush. When the cleaning device performs normal cleaning, the roller brush rotates forward, and when the cleaning device performs self-cleaning, the roller brush includes forward and reverse rotation. It should be understood that self-cleaning of the cleaning device means that after the cleaning device is used, it needs to be put back on the base station to automatically clean the roller brush, and the roller brush is washed by a strong water flow to deeply break down stains. The self-cleaning process usually alternates between forward and reverse rotation, and the direction of water flow is the direction of rotation of the roller brush, which can fully clean the cleaning device (such as scrapers and door curtains, etc.), and simple forward or reverse rotation cannot clean it thoroughly. The number of roller brushes can be one or more. Taking one roller brush as an example, please refer to Figure 8In a specific implementation, the rotation direction of the roller brush 510 when performing cleaning work is the forward direction. When the roller brush 510 rotates in the counterclockwise direction when performing cleaning work, the counterclockwise direction of the roller brush 510 is the forward direction, and the clockwise direction is the reverse direction. For example, if there are two roller brushes, please refer to Figures 9 to 11 The roller brush includes a front roller brush 520 and a rear roller brush 530. When performing cleaning work, the front roller brush 520 rotates counterclockwise, and the rear roller brush 530 rotates clockwise. At this time, for the front roller brush 520, counterclockwise rotation is the positive direction, and the front roller brush 520 rotates clockwise is the reverse direction; for the rear roller brush 530, clockwise rotation is the positive direction, and the rear roller brush 530 rotates counterclockwise for the reverse direction.

[0049] The specific process of the first embodiment of the control method of the cleaning equipment of the present invention is as follows Figure 1 As shown, the specific steps include:

[0050] Step S100, determining whether the roller brush is installed on the base station;

[0051] It should be understood that the cleaning device includes a body, the body is provided with a battery pack, and a charging interface electrically connected to the battery pack, and the base station includes a charging docking interface that matches the charging interface.

[0052] Specifically, determining whether the roller brush is installed on the base station includes:

[0053] Step S111, determining whether a charging signal sent by the battery pack of the cleaning device is received;

[0054] It should be noted that when the battery pack is charging, it usually sends a charging signal to the processing module of the cleaning device. In this way, by detecting whether the battery pack of the cleaning device sends a charging signal, it can be determined whether the charging interface and the charging docking interface are electrically connected.

[0055] Step S112: determining whether the roller brush is installed on the base station according to the charging signal.

[0056] It should be understood that when a charging signal is received, the roller brush is mounted to the base station.

[0057] Alternatively, determining whether the roller brush is installed on the base station includes:

[0058] Step S121, determining whether a voltage signal output by a charging voltage detection circuit of the cleaning device is received;

[0059] It should be understood that when the battery pack is charged, the voltage across the battery pack will gradually rise until it reaches a preset voltage, at which point charging of the battery pack will stop. Therefore, whether the battery pack is charged is determined by detecting the voltage signal output by the charging voltage detection circuit.

[0060] Step S122: determining whether the roller brush is installed on the base station based on the received voltage signal.

[0061] It should be understood that if the charging voltage detection circuit detects an increase in voltage across the battery pack, the base station is deemed to be charging the battery pack, and the charging interface and the charging docking interface are necessarily docked. For example, if the charging voltage detection circuit detects a battery pack voltage of 5V at the first time and the voltage increases to 10V at the second time, the battery pack is deemed to be charging.

[0062] Specifically, judging whether the roller brush is installed on the base station according to the received voltage signal includes:

[0063] If the voltage signal gradually increases, the roller brush is installed on the base station.

[0064] In addition, judging whether the roller brush is installed on the base station may also include whether the roller brush is installed on the base station and whether the body is in an upright state. When both the roller brush is installed on the base station and the body is in an upright state, the reversing circuit can be activated, thereby more accurately preventing the self-cleaning of the cleaning device from being accidentally turned on. Whether the body of the cleaning device is in an upright state can be detected by a sensor or by a circuit. In this embodiment, since the body is in an upright state, the corresponding positions between the bottom of the main body above the body and the floor brush below the body will be engaged, at this time a micro switch will be triggered, and the micro switch will send a signal to the processing module. In this way, judging whether the body of the cleaning device is in an upright state can be judging whether a signal sent by the micro switch is received. Assuming that the signal sent by the micro switch is received, the body of the cleaning device is in an upright state, otherwise it is not in an upright state.

[0065] Step S200: If the roller brush is installed on the base station, activate the reversing circuit for driving the roller brush to reverse.

[0066] It should be noted that activating the reversing circuit means allowing the reversing circuit to work, but it does not mean that the roller brush will definitely start to reverse at this time.

[0067] Specifically, if the roller brush is installed on the base station, activating the reversing circuit for driving the roller brush to reverse includes:

[0068] If the roller brush is installed on the base station, the self-cleaning circuit for driving the cleaning device to perform self-cleaning is activated, the self-cleaning circuit includes a reversing circuit for driving the roller brush to reverse, and activating the self-cleaning circuit includes activating the reversing circuit.

[0069] The present invention determines whether the roller brush is installed to the base station. If the roller brush is installed to the base station, the reversing circuit for driving the roller brush to reverse is activated. When the roller brush is not installed to the base station, the reversing circuit is not activated and the roller brush cannot reverse. In this way, it can effectively avoid the accidental activation of the roller brush reversal during normal cleaning, thereby improving the safety of the cleaning equipment.

[0070] like Figure 2 As shown, the second embodiment of the present invention relates to a method for controlling a cleaning device. After step S100, the method further includes:

[0071] Step S300: If the roller brush is not installed on the base station, activating the reversing circuit is prohibited.

[0072] It should be noted that step S300 may be after step S100 and before step S200, or after step S200, and is not specifically limited here. When the roller brush is not installed on the base station, the reversing circuit is prohibited from being activated, that is, the roller brush is prohibited from reversing to prevent accidental activation of self-cleaning.

[0073] like Figure 3 As shown, a third embodiment of the present invention relates to a control method for a cleaning device, wherein the cleaning device includes a body, the body is provided with a battery pack, and a charging interface electrically connected to the battery pack, and the base station includes a charging docking interface matching the charging interface; step S100 includes:

[0074] Step S131 , determining whether the charging interface is electrically docked with the charging docking interface; if the charging interface is electrically docked with the charging docking interface, determining that the roller brush is installed on the base station.

[0075] It should be understood that since the charging interface is electrically connected to the charging docking interface, the cleaning device must be installed on the base station, that is, the roller brush is installed on the base station. When the charging interface is electrically connected to the charging docking interface, it can be determined that the roller brush is installed on the base station.

[0076] like Figure 4 As shown, the fourth embodiment of the present invention relates to a control method for a cleaning device, wherein one of the body and the base station is provided with a photoelectric transmitter and the other is provided with a photoelectric receiver; the step S131 includes:

[0077] Step S1311 , determining whether the photoelectric receiver receives information transmitted by the photoelectric transmitter; if the photoelectric receiver receives information transmitted by the photoelectric transmitter, the charging interface is electrically connected to the charging docking interface.

[0078] It should be understood that the body can be equipped with a photoelectric transmitter and the base station can be equipped with a photoelectric receiver; alternatively, the base station can be equipped with a photoelectric transmitter and the body can be equipped with a photoelectric receiver. In this way, the photoelectric transmitter transmits a signal to the photoelectric receiver. For example, after the body is connected to the base, photoelectric signal transmission can be achieved between the body and the base station (such as signal transmission between copper wires). Assuming that the photoelectric receiver can receive the photoelectric signal emitted by the photoelectric transmitter, it indicates that the charging port and the charging docking port are successfully electrically connected.

[0079] The present invention also relates to a cleaning device, such as Figure 5 As shown, the cleaning device is matched with the base station for use, and the cleaning device includes a roller brush. When the cleaning device performs normal cleaning, the roller brush rotates forward, and when the cleaning device performs self-cleaning, the roller brush includes forward and reverse rotation; the cleaning device also includes a processing module 310, and the processing module 310 is configured to determine whether the roller brush is installed to the base station. The processing module 310 is also used to activate the reversing circuit for driving the roller brush to reverse when the roller brush is installed to the base station.

[0080] Specifically, self-cleaning cleaning equipment means that after use, the cleaning equipment needs to be returned to the base station to automatically clean the roller brush. The strong water flow washes the roller brush and deeply breaks down stains. The self-cleaning process alternates between forward and reverse rotation. The direction of the water flow is the same as the direction of the roller brush rotation. This can fully clean the cleaning equipment (such as scrapers and door curtains). Simply rotating forward or reverse cannot completely clean.

[0081] In addition, the cleaning device includes a body, the body is provided with a battery pack 330, and a charging interface electrically connected to the battery pack 330, and the base station may include a charging electrical docking interface that matches the charging interface.

[0082] Accordingly, the processing module 310 is further configured to:

[0083] Determine whether a charging signal sent by a battery pack of the cleaning device is received; and determine whether the roller brush is installed on the base station based on the charging signal.

[0084] It should be noted that when the battery pack is charging, it usually sends a charging signal to the processing module of the cleaning device. In this way, by detecting whether the battery pack of the cleaning device sends a charging signal, it can be determined whether the charging interface and the charging docking interface are electrically connected.

[0085] The processing module 310 is further configured to:

[0086] Determine whether a voltage signal output by a charging voltage detection circuit of the cleaning device is received; and determine whether the roller brush is installed on the base station based on the received voltage signal.

[0087] It should be understood that when the battery pack is charged, the voltage across the battery pack will gradually rise until it reaches a preset voltage, at which point charging of the battery pack will stop. Therefore, whether the battery pack is charged is determined by detecting the voltage signal output by the charging voltage detection circuit.

[0088] Preferably, the cleaning device also includes a body, which is provided with a battery pack 330 and a charging interface electrically connected to the battery pack 330, and the base station includes a charging docking interface that matches the charging interface; when the charging interface is docked with the charging docking interface, the battery pack 330 is charged, and the battery pack 330 is also configured to send a charging signal to the processing module 310 during charging; accordingly, the processing module 310 is specifically configured to detect whether the charging signal sent by the battery pack 330 is received, and when the charging signal sent by the battery pack 330 is received, it is determined that the roller brush is installed on the base station.

[0089] It should be noted that when charging, the battery pack 330 usually sends a charging signal to the processing module 310 of the cleaning device. In this way, by detecting whether the battery pack 330 of the cleaning device sends a charging signal, it can be determined whether the charging interface and the charging docking interface are electrically connected.

[0090] To detect whether the charging interface is docked with the charging docking interface, the cleaning device may also include a charging voltage detection circuit 320, which is used to detect the voltage across the battery pack 330 and output a voltage signal to the processing module 310; the processing module 310 is specifically configured to: determine whether the battery pack 330 is charging based on the received voltage signal; when the battery pack 330 is charging, determine whether the charging interface is docked with the charging docking interface.

[0091] It should be understood that when charging the battery pack 330, the voltage across the battery pack 330 gradually increases until it reaches a preset voltage, at which point charging of the battery pack 330 ceases. Therefore, whether the battery pack 330 is charging is determined by detecting the voltage signal output by the charging voltage detection circuit. If the charging voltage detection circuit detects an increase, it is assumed that the base station is charging the charging pack, and thus the charging interface and the charging docking interface are necessarily docked. For example, if the charging voltage detection circuit detects a voltage of 5V on the battery pack 330 at the first time, and the voltage increases to 10V at the second time, it is assumed that the battery pack 330 is charging.

[0092] In addition, the processing module is also configured to: determine whether the photoelectric receiver receives the information transmitted by the photoelectric transmitter; based on the judgment result, determine whether the cleaning device is docked with the base station or whether the charging interface is docked with the charging interface; when the charging interface is docked with the charging interface or the cleaning device is docked with the base station, activate the reversing circuit for driving the roller brush to reverse.

[0093] Specifically, the fuselage may be equipped with a photoelectric transmitter and the base station may be equipped with a photoelectric receiver; alternatively, the base station may be equipped with a photoelectric transmitter and the fuselage may be equipped with a photoelectric receiver. In this manner, the photoelectric transmitter transmits a signal to the photoelectric receiver. For example, after the fuselage is connected to the base, photoelectric signal transmission (e.g., signal transmission between copper wires) can be achieved between the fuselage and the base station.

[0094] Specifically, assuming that the photoelectric receiver can receive the photoelectric signal emitted by the photoelectric transmitter, it means that the charging interface is electrically connected to the charging docking interface.

[0095] The processing module is also configured to determine whether the charging interface is docked with the charging docking interface and whether the body of the cleaning device is in an upright state; when the charging interface is docked with the charging docking interface and the body of the cleaning device is in an upright state, the reversing circuit is activated.

[0096] It should be noted that whether the cleaning device's body is in an upright position can be detected by a sensor or a circuit. In this embodiment, when the body is in an upright position, the corresponding positions between the bottom of the main body above the body and the floor brush below the body will engage, triggering a micro switch, which will send a signal to the processing module. In this way, determining whether the cleaning device's body is in an upright position can be determined by determining whether the signal sent by the micro switch is received. If the signal sent by the micro switch is received, the cleaning device's body is in an upright position; otherwise, it is not in an upright position.

[0097] Specifically, the cleaning device also includes a switch circuit, see Figure 7 The switching circuit includes a first switching switch 341 and a second switching switch 342. The first switching switch 341 is connected to the reversing circuit to control the on and off of the reversing circuit, and the second switching switch is connected to the forward circuit to control the on and off of the forward circuit; accordingly, the processing module 310 is configured to control whether to turn on the first switching switch 341 or the second switching switch 342 when it is determined that the roller brush is installed to the base station to control the on and off of the reversing circuit or the forward circuit.

[0098] It should be understood that when the first switching switch 341 is turned on, the reverse circuit is activated, and the motor that drives the roller brush to rotate is allowed to reverse, so that the roller brush can be driven to reverse by the reverse rotation of the motor; when the second switching switch 342 is turned on, the forward circuit is activated, and the motor that drives the roller brush to rotate is allowed to rotate forward, so that the roller brush can be driven to rotate forward by the forward rotation of the motor.

[0099] More specifically, the switching circuit includes an H-bridge motor control circuit, the first switching switch 341 includes the upper left arm and the lower right arm of the H-bridge motor control circuit, and the reverse circuit is turned on when the upper left arm and the lower right arm of the H-bridge motor control circuit are connected; the second switching switch 342 includes the upper right arm and the lower left arm of the H-bridge motor control circuit, and the forward circuit is turned on when the upper right arm and the lower left arm of the H-bridge motor control circuit are connected.

[0100] In this embodiment, the transistors corresponding to the left upper arm, left lower arm, right upper arm, and right lower arm of the H-bridge motor control circuit are all NMOS transistors. In a specific implementation, the left upper arm and the right upper arm are also provided with a boost circuit.

[0101] Specifically, the left upper arm of the H-bridge motor control circuit includes a first NMOS transistor, the right upper arm of the H-bridge motor control circuit includes a second NMOS transistor, the left lower arm of the H-bridge motor control circuit includes a third NMOS transistor, and the right lower arm of the H-bridge motor control circuit includes a fourth NMOS transistor.

[0102] Furthermore, the cleaning equipment of the present invention is as follows: Figure 6 As shown, it includes at least one processor 401; and a memory 402 that is communicatively connected to the at least one processor 401; wherein the memory 402 stores instructions that can be executed by the at least one processor 401, and the instructions are executed by the at least one processor 401 so that the at least one processor 401 can execute the control method of the cleaning device described in the above embodiment.

[0103] Memory 402 and processor 401 are connected using a bus. The bus may include any number of interconnected buses and bridges, connecting various circuits of one or more processors 401 and memory 402. The bus may also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits. These are all well known in the art and, therefore, will not be described further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver may be a single component or multiple components, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by processor 401 is transmitted over a wireless medium via an antenna. Furthermore, the antenna receives data and transmits it to processor 401.

[0104] The processor 401 is responsible for managing the bus and general processing, and may also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. The memory 402 may be used to store data used by the processor 401 when performing operations.

[0105] The present invention also relates to a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-mentioned control method for cleaning equipment.

[0106] That is, those skilled in the art will understand that all or part of the steps in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a program, which is stored in a storage medium and includes a number of instructions for causing a device (which may be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc., various media that can store program code.

[0107] Obviously, the embodiments described above are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, those skilled in the art may make other different forms of changes or modifications without making any creative work, and all of these should fall within the scope of protection of the present invention.

Claims

1. A method for controlling a cleaning device, characterized in that: The cleaning device is matched with a base station for use, and the cleaning device includes a roller brush. When the cleaning device performs normal cleaning, the roller brush rotates forward, and when the cleaning device performs self-cleaning, the roller brush rotates forward and reverse. The method includes: determining whether the roller brush is installed on the base station; If the roller brush is mounted on the base station, activating a reversing circuit for driving the roller brush to reverse; If the roller brush is not mounted on the base station, activation of the reversing circuit is prohibited.

2. The control method of the cleaning equipment according to claim 1, characterized in that: The determining whether the roller brush is installed on the base station includes: determining whether a charging signal sent by a battery pack of the cleaning device is received; and determining whether the roller brush is installed on the base station based on the charging signal; Alternatively, the determining whether the roller brush is installed on the base station includes: determining whether a voltage signal output by a charging voltage detection circuit of the cleaning device is received; and determining whether the roller brush is installed on the base station based on the received voltage signal.

3. The control method of the cleaning equipment according to claim 2, characterized in that: The determining, based on the received voltage signal, whether the roller brush is installed on the base station includes: if the voltage signal gradually rises, the roller brush is installed on the base station.

4. The control method of the cleaning equipment according to claim 1, characterized in that: The step of activating a reversing circuit for driving the roller brush to reverse direction if the roller brush is mounted on the base station comprises: If the roller brush is installed on the base station, the self-cleaning circuit for driving the cleaning device to perform self-cleaning is activated, the self-cleaning circuit includes a reversing circuit for driving the roller brush to reverse, and activating the self-cleaning circuit includes activating the reversing circuit.

5. The control method of the cleaning equipment according to claim 1, characterized in that: The cleaning device includes a body, which is provided with a battery pack and a charging interface electrically connected to the battery pack, and the base station includes a charging docking interface matching the charging interface; wherein, determining whether the roller brush is installed on the base station includes determining whether the charging interface is electrically docked with the charging docking interface; if the charging interface is electrically docked with the charging docking interface, the roller brush is installed on the base station.

6. The control method of the cleaning equipment according to claim 5, characterized in that: One of the body and the base station is provided with a photoelectric transmitter, and the other is provided with a photoelectric receiver; accordingly, determining whether the charging interface is electrically docked with the charging docking interface includes: determining whether the photoelectric receiver receives information transmitted by the photoelectric transmitter; if the photoelectric receiver receives the information transmitted by the photoelectric transmitter, then the charging interface is electrically docked with the charging docking interface.

7. A cleaning device, characterized in that: The cleaning device is matched with the base station for use, and the cleaning device includes a roller brush. When the cleaning device performs normal cleaning, the roller brush rotates forward, and when the cleaning device performs self-cleaning, the roller brush can rotate forward and reverse; The cleaning device also includes a processing module, which is configured to determine whether the roller brush is installed on the base station; the processing module is also used to activate a reversing circuit for driving the roller brush to reverse when the roller brush is installed on the base station.

8. The cleaning device according to claim 7, wherein The cleaning device also includes a body, the body is provided with a battery pack and a charging interface electrically connected to the battery pack, the battery pack is electrically connected to the processing module, and the base station includes a charging docking interface that matches the charging interface; when the charging interface is docked with the charging docking interface, the battery pack is charged, and the battery pack is also configured to send a charging signal to the processing module during charging.

9. The cleaning device according to claim 8, characterized in that The cleaning device further includes a charging voltage detection circuit for detecting the voltage across the battery pack. The charging voltage detection circuit is electrically connected to the processing module and outputs a voltage signal to the processing module.

10. The cleaning device according to claim 7, wherein The cleaning device further includes a switching circuit, which includes: A first switch is connected to the inverting circuit and is used to control the on and off of the inverting circuit; and A second switch is connected to the forward rotation circuit and is used to control the on and off of the forward rotation circuit; Correspondingly, the processing module is configured to control whether to turn on the first switch or the second switch, so as to control the on and off of the reverse circuit or the forward circuit.

11. The cleaning device according to claim 10, wherein The switching circuit includes an H-bridge motor control circuit, the first switching switch includes the left upper arm and the right lower arm of the H-bridge motor control circuit, and the reverse circuit is turned on when the left upper arm and the right lower arm of the H-bridge motor control circuit are connected; the second switching switch includes the right upper arm and the left lower arm of the H-bridge motor control circuit, and the forward circuit is turned on when the right upper arm and the left lower arm of the H-bridge motor control circuit are connected.

12. The cleaning device according to claim 11, wherein The transistors corresponding to the left upper arm, the left lower arm, the right upper arm, and the right lower arm of the H-bridge motor control circuit are all NMOS transistors.

13. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by the processing module, the control method of the cleaning device according to any one of claims 1 to 6 is implemented.

Images