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

Abstract

The application relates to a control method of a cleaning device, the cleaning device and a storage medium, and belongs to the technical field of automatic control. The method comprises the following steps: acquiring a moving state of the cleaning device, the moving state comprising a forward state and a backward state, and the working modes of a cleaning mechanism and a wheel body in the forward state being different from the working modes of the cleaning mechanism and the wheel body in the backward state; selecting and determining the working mode of at least one of the cleaning mechanism and the wheel body on the cleaning device based on the moving state; and controlling the cleaning device to perform cleaning work in the selected and determined working mode. The method can solve the problem that the cleaning effect of the cleaning device in some moving states may be poor when a fixed working mode is used. Since different working modes can be selected and determined based on different moving states of the cleaning device, the cleaning effect of the cleaning device can be improved.

Description

Technical Field

[0001] This application belongs to the field of automatic control technology, specifically relating to a control method for cleaning equipment, cleaning equipment, and storage medium. Background Technology

[0002] Cleaning equipment refers to equipment that has the function of cleaning surfaces to be cleaned.

[0003] Taking floor scrubbers as an example of cleaning equipment, traditional floor scrubber control methods include controlling the cleaning mechanism to work according to a fixed working mode.

[0004] However, cleaning equipment using a fixed operating mode may not be effective when partially in motion. Summary of the Invention

[0005] This application provides a control method for cleaning equipment, cleaning equipment, and a storage medium, which can solve the problem that cleaning equipment may have poor cleaning effect when using a fixed working mode and during partial movement. This application provides the following technical solution:

[0006] In a first aspect, a method for controlling a cleaning device includes a cleaning mechanism and a wheel; the wheel is capable of driving the cleaning device forward or backward; the cleaning mechanism includes a cleaning component and a cleaning drive component connected to the cleaning component; when the cleaning device performs cleaning work on a surface to be cleaned, the cleaning drive component drives the cleaning component to rotate in the forward direction of the cleaning device; the method includes:

[0007] The movement state of the cleaning equipment is obtained, including a forward state and a backward state. The working modes of the cleaning mechanism and the wheels in the forward state are different from their working modes in the backward state.

[0008] Based on the movement state, select and determine the working mode of at least one of the cleaning mechanism and wheels on the cleaning equipment;

[0009] Control the cleaning equipment to perform cleaning work according to the selected working mode.

[0010] Optionally, the cleaning device further includes a moving drive mechanism connected to the wheel, the moving drive mechanism being used to drive the wheel to rotate, and the moving drive mechanism having different working modes in the forward and backward states; the method further includes:

[0011] Based on the acquired movement status, the operating mode of the movement drive mechanism is selected and determined.

[0012] Optionally, the operating modes of the mobile drive mechanism include:

[0013] The cleaning equipment is in the forward position, and the moving drive mechanism is not activated;

[0014] When the cleaning equipment is in a backward position, the mobile drive mechanism is activated, which drives the wheels to move in the backward direction of the cleaning equipment.

[0015] Optionally, the operating modes of the mobile drive mechanism include:

[0016] When the moving state is the forward state, the moving drive mechanism operates with a first drive power and a first drive direction, where the first drive direction is the forward direction of the cleaning device;

[0017] When the moving state is the backward state, the moving drive mechanism operates with a second drive power and a second drive direction, the second drive direction being opposite to the first drive direction and being the direction in which the cleaning device moves backward;

[0018] Wherein, the second driving power is greater than the first driving power.

[0019] Optionally, the cleaning equipment further includes a water spraying mechanism, and the method further includes: selecting and determining the operating mode of the water spraying mechanism based on the acquired movement state;

[0020] When the moving state is the forward state, the water spray volume of the water spraying mechanism is determined to be the first water volume;

[0021] When the movement state is the backward state, the water spray volume of the water spraying mechanism is determined to be the second water volume, which is less than the first water volume.

[0022] Optionally, the cleaning device further includes a water absorption mechanism, and the method further includes: selecting and determining the working mode of the water absorption mechanism based on the acquired movement state;

[0023] When the moving state is the forward state, the water absorption power of the water absorption mechanism is determined to be the first water absorption power;

[0024] When the moving state is the backward state, the water absorption power of the water absorption mechanism is determined to be the second water absorption power, which is greater than the first water absorption power.

[0025] Optionally, the operating modes of the cleaning drive include:

[0026] When the moving state is the forward state, the cleaning drive power of the cleaning drive unit is determined to be the third drive power;

[0027] When the moving state is the backward state, the cleaning drive power of the cleaning drive is determined to be the fourth drive power, which is less than the third drive power.

[0028] Optionally, after controlling the cleaning equipment to perform cleaning work according to the working mode, the method further includes:

[0029] Upon receiving a mode switching instruction, obtain the specified working mode corresponding to the mode switching instruction;

[0030] The working mode is updated to the specified working mode, which is the working mode to be used when the movement state is determined next time.

[0031] Secondly, a cleaning device is provided, the cleaning device comprising:

[0032] A cleaning mechanism, comprising a cleaning component and a cleaning drive component;

[0033] The wheel body is capable of driving the cleaning equipment forward or backward;

[0034] A processor and a memory; the processor is communicatively connected to a cleaning drive; the memory stores a program that is loaded and executed by the processor to implement the control method for the cleaning device provided in the first aspect.

[0035] Thirdly, a computer-readable storage medium is provided, characterized in that the storage medium stores a program, which, when executed by a processor, is used to implement the control method for the cleaning equipment provided in the first aspect.

[0036] The beneficial effects of this application include at least the following: by acquiring the movement state of the cleaning equipment, including a forward state and a backward state, the working modes of the cleaning mechanism and the wheels in the forward state are different from their respective working modes in the backward state; selecting and determining the working mode of at least one of the cleaning mechanism and the wheels on the cleaning equipment based on the movement state; controlling the cleaning equipment to perform cleaning work according to the selected working mode; solving the problem that the cleaning effect of the cleaning equipment may be poor in some movement states when using a fixed working mode; and improving the cleaning effect of the cleaning equipment because different working modes can be selected and determined based on different movement states of the cleaning equipment.

[0037] In addition, determining the working mode of the wheels on the cleaning equipment based on the movement state can solve the problem in traditional cleaning equipment where the working mode of the wheels is fixed, causing the direction of movement of the cleaning equipment to be opposite to the driving direction of the wheels in some movement states, thus hindering the movement of the cleaning equipment. Since the working mode of the wheels can be determined based on the movement state, the working mode of the wheels can be matched with the movement state, thereby assisting the movement of the cleaning equipment.

[0038] In addition, since the moving drive mechanism is activated only when the cleaning equipment moves backward, driving the wheels to rotate in the backward direction of the cleaning equipment, the driving direction of the wheels can be consistent with the moving direction of the cleaning equipment, and the wheels can assist the cleaning equipment in moving.

[0039] In addition, since the cleaning component rotates in the forward direction of the cleaning equipment, the rotation of the cleaning component can assist the cleaning equipment in moving when the cleaning equipment is in the forward state. At this time, the rotation of the wheel body is not driven, which can save the power of the cleaning equipment.

[0040] In addition, since the moving drive mechanism drives the wheels to rotate in the forward direction of the cleaning equipment when the moving state is forward, and drives the wheels to rotate in the backward direction of the cleaning equipment when the moving state is backward, the driving direction of the wheels can be the same as the moving direction of the cleaning equipment. Therefore, the wheels can assist the cleaning equipment in moving.

[0041] In addition, since the rotation of the cleaning component can assist the cleaning equipment in moving forward, but will hinder its movement in moving backward, the driving power of the moving drive mechanism is less in the forward state than in the backward state. This allows the cleaning equipment to maintain a stable speed in both forward and backward states, thus improving its cleaning effect.

[0042] In addition, since the working mode of the cleaning drive is determined based on the movement state, the problem of excessive driving force required for the cleaning equipment to move backward, which is caused by the fixed working mode of the cleaning component in traditional cleaning equipment, can be solved. Since the cleaning drive power of the cleaning drive when the cleaning equipment is in the backward state is less than that when the cleaning equipment is in the forward state, the rotation speed of the cleaning component when the cleaning equipment is in the backward state can be reduced, thereby reducing the effect of the cleaning component rotation on the backward movement of the cleaning equipment and thus reducing the driving force required for the backward movement of the cleaning equipment.

[0043] Furthermore, by selecting and determining the operating mode of the water spray mechanism based on the acquired movement state, the problem of fixed operating modes of the water spray mechanism in traditional cleaning equipment, which results in more water stains being generated in the backward state than in the forward state, leading to poor cleaning effect in the backward state, can be solved. Since the water spray volume in the backward state is less than that in the forward state, the water stains generated when the cleaning equipment is in the backward state can be reduced, thereby enhancing the cleaning effect of the cleaning equipment.

[0044] Furthermore, by selecting and determining the operating mode of the water suction mechanism based on the acquired movement state, the problem of poor cleaning effect in the backward state can be solved in traditional cleaning equipment, where the operating mode of the water suction mechanism is fixed and the cleaning equipment generates more water stains in the backward state than in the forward state. Since the water suction power in the backward state is greater than that in the forward state, the amount of sewage absorbed by the cleaning equipment in the backward state can be increased, thereby reducing the water stains generated in the backward state and enhancing the cleaning effect of the cleaning equipment.

[0045] In addition, since the working mode corresponding to the movement state is updated according to the mode switching command, the problem of the working mode corresponding to the movement state not conforming to the user's usage habits can be solved. After receiving the mode switching command, the cleaning equipment will update the working mode corresponding to the current movement state to the specified working mode corresponding to the mode switching command. In order to control the cleaning equipment to work in the specified working mode when the movement state is determined again, the intelligence of the cleaning process can be improved. Attached Figure Description

[0046] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0047] Figure 1 This is a schematic diagram of the structure of a cleaning device provided in one embodiment of this application;

[0048] Figure 2 This is a flowchart of a control method for a cleaning device provided in one embodiment of this application;

[0049] Figure 3 This is a block diagram of a control device for a cleaning equipment provided in one embodiment of this application;

[0050] Figure 4 This is a block diagram of an electronic device provided in one embodiment of this application. Detailed Implementation

[0051] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. The application will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0052] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0053] In this application, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the attached drawings, or to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not used to limit the application.

[0054] Figure 1 This is a schematic diagram of the structure of a cleaning device provided in one embodiment of this application. The cleaning device includes, but is not limited to, floor scrubbers, sweepers, and sweeper-mop combos, etc., which can clean surfaces to be cleaned. This embodiment does not limit the type of cleaning device. The surface to be cleaned can be a floor, tabletop, wall, solar cell surface, etc., and this embodiment does not limit the type of surface to be cleaned. The cleaning device includes at least a cleaning base 1010, a cleaning mechanism 1020, wheels 1030, and a controller 1040.

[0055] The cleaning base 1010 is used to fix the wheel body 1030 and the cleaning mechanism 1020. The shape of the cleaning base 1010 can be a regular geometric shape, such as a circle or a square, or it can be set to other shapes according to the actual application scenario. This embodiment does not limit the shape of the cleaning base 1010.

[0056] The cleaning base 1010 primarily serves a protective and supportive function. The cleaning base 1010 can be integrally molded or have a detachable structure; this embodiment does not limit the implementation method of the cleaning base 1010.

[0057] The cleaning mechanism 1020 is a mechanism that comes into contact with the surface to be cleaned during the cleaning process.

[0058] Optionally, the cleaning mechanism 1020 includes a cleaning component 1021 and a cleaning drive component 1022. When the cleaning device performs cleaning work on the surface to be cleaned, the cleaning drive component 1022 drives the cleaning component 1021 to rotate in the forward direction of the cleaning device. In other words, in this embodiment, the rotation direction of the cleaning component 1021 is fixed, and the rotation direction of the cleaning component 1021 is the forward direction of the cleaning device.

[0059] In this embodiment, the forward direction of the cleaning equipment is taken as the front end of the cleaning equipment for illustration.

[0060] The cleaning drive 1022 can be a motor or any component with a driving function. This embodiment does not limit the type of the cleaning drive 1022.

[0061] In one example, the cleaning component 1021 is cylindrical, and in this case, the cleaning component 1021 can be a roller brush. When the cleaning device performs cleaning work on the surface to be cleaned, the side of the cleaning component 1021 contacts the surface to be cleaned.

[0062] Accordingly, the cleaning drive 1022 is mounted on the bottom surface of the cleaning component 1021 to drive the cleaning component 1021 to rotate about the axis of the cleaning component 1021 in the forward direction of the cleaning device.

[0063] Because the cleaning component 1021 rotates about its axis in the forward direction of the cleaning device, a forward frictional force is generated when the cleaning component 1021 comes into contact with the surface to be cleaned. In the forward movement state, since the direction of this frictional force is the same as the direction of movement of the cleaning device, the rotation of the cleaning component 1021 can assist the movement of the cleaning device; however, in the backward movement state, since the direction of this frictional force is opposite to the direction of movement of the cleaning device, the rotation of the cleaning component will hinder the movement of the cleaning device.

[0064] In actual implementation, the cleaning equipment may also include other types of cleaning mechanisms 1020, such as brushes or rags. This embodiment does not limit the number or implementation method of the cleaning mechanisms 1020.

[0065] The wheel 1030 is used to drive the cleaning equipment forward or backward. Generally, the wheel 1030 is installed at the bottom of the cleaning base 1010, such as at the center of the bottom, the front end of the bottom, and / or the edge of the bottom. This embodiment does not limit the installation position of the wheel 1030.

[0066] "Forward" here refers to the cleaning equipment moving in the forward direction.

[0067] "Backward" means that the cleaning equipment moves in the opposite direction to the forward direction.

[0068] Optionally, the wheel body 1030 can be circular or spherical. This embodiment does not limit the implementation of the wheel body 1030.

[0069] In one example, the wheel 1030 is circular in shape. In this case, the wheel 1030 can rotate in the forward direction of the cleaning equipment to drive the cleaning equipment forward, or it can rotate in the backward direction of the cleaning equipment to drive the cleaning equipment backward.

[0070] The backward direction refers to the direction opposite to the forward direction.

[0071] Optionally, the number of wheels 1030 installed on the cleaning equipment can be one or at least two. This embodiment does not limit the number of wheels 1030.

[0072] The controller 1040 can be a microcontroller unit installed inside the cleaning equipment, or any component with control functions. This embodiment does not limit the type of controller 1040.

[0073] In this embodiment, the controller 1040 is used to: acquire the movement state of the cleaning equipment, which includes a forward state and a backward state, wherein the working modes of the cleaning mechanism 1020 and the wheel 1030 in the forward state are different from their respective working modes in the backward state; select and determine the working mode of at least one of the cleaning mechanism 1020 and the wheel 1030 on the cleaning equipment based on the movement state; and control the cleaning equipment to perform cleaning work according to the selected working mode.

[0074] In one example, the cleaning drive 1022 is connected to the controller 1040 to drive the cleaning component to rotate under the control of the controller 1040.

[0075] Optionally, in order to control the working mode of the wheel 1030, the cleaning device also includes a mobile drive mechanism 1050 connected to the wheel 1030. The mobile drive mechanism 1050 is connected to the controller 1040 to drive the wheel 1030 to rotate under the control of the controller 1040.

[0076] The mobile drive mechanism 1050 can be a motor or any mechanism with a drive function. This embodiment does not limit the type of the mobile drive mechanism 1050.

[0077] Optionally, the cleaning equipment also includes a water spray mechanism 1060 and a clean water tank 1070. The clean water tank 1070 is used to contain cleaning fluid for cleaning the surface to be cleaned. The clean water tank 1070 includes one or at least two receiving cavities, and when there are at least two receiving cavities, the cleaning fluid stored in the different receiving cavities may be the same or different.

[0078] The cleaning solution can be water or a mixture of water and cleaning agent. This embodiment does not limit the type of cleaning solution.

[0079] One end of the water spraying mechanism 1060 is connected to the clean water tank 1070, and the other end faces the cleaning mechanism 1020 to deliver the liquid in the clean water tank 1070 to the cleaning mechanism 1020.

[0080] Schematic illustration: The water spraying mechanism 1060 includes a water pump and a water delivery pipe connected to the water pump. The water pump is located in the water delivery pipe, one end of which is connected to the clean water tank 1070 and the other end faces the cleaning mechanism 1020.

[0081] In one example, the water spray mechanism 1060 is connected to the controller 1040 to control the water spray mechanism 1060 to spray water onto the cleaning mechanism 1020 or the surface to be cleaned when the cleaning equipment is performing cleaning work, so as to improve the cleaning effect on the surface to be cleaned.

[0082] Optionally, the cleaning equipment also includes a water suction mechanism 1080 and a wastewater tank 1090. The wastewater tank 1090 is used to hold wastewater after cleaning the surface to be cleaned. The water suction mechanism 1080 is used to suck up the wastewater from the surface to be cleaned and transport it to the wastewater tank 1090.

[0083] Schematic illustration: The water suction mechanism 1080 includes a water suction motor (or main motor) and a water suction pipe that cooperates with the water suction motor. The water suction motor is connected to a wastewater tank 1090 and is used to draw air from the wastewater tank 1090, creating a negative pressure inside the wastewater tank 1090. One end of the water suction pipe is connected to the wastewater tank 1090, and the other end faces the cleaning mechanism 1020. When the air pressure inside the wastewater tank is lower than the air pressure in the external environment, the water suction pipe draws wastewater from the surface to be cleaned and transports it to the wastewater tank 1090.

[0084] In one example, the suction mechanism 1080 is connected to the controller 1040 to control the suction mechanism 1080 to suck up the wastewater from the surface to be cleaned and transport it to the wastewater tank 1090 when the cleaning equipment is performing cleaning work, so as to improve the cleaning effect on the surface to be cleaned.

[0085] Optionally, the cleaning equipment also includes an operating lever 1100 with one end connected to the cleaning base 1010, and a handle at the other end. The operating lever 1100 is used to push the cleaning equipment forward under the action of an external force, or to pull the cleaning equipment backward.

[0086] Optionally, the operating lever 1100 is rotatably connected to the cleaning base 1010, meaning that the angle between the operating lever 1100 and the cleaning base 1010 is variable.

[0087] In one example, the angle between the operating lever 1100 and the rear side of the cleaning base 1010 ranges from 30° to 100°. In actual implementation, the range of the angle between the operating lever 1100 and the cleaning base 1010 can be set according to actual needs. This embodiment does not limit the range of the angle between the operating lever 1100 and the cleaning base 1010.

[0088] The operating lever 1100 can be installed on the top of the cleaning base 1010, for example, at the top center, the top rear end, and / or the top edge. This embodiment does not limit the installation position of the operating lever 1100.

[0089] In actual implementation, the cleaning equipment may also include other components, such as batteries and heating components. This embodiment will not list all the components included in the cleaning equipment.

[0090] In this embodiment, by acquiring the movement state of the cleaning equipment, which includes forward and backward states, the working modes of the cleaning mechanism and wheels in the forward state are different from their respective working modes in the backward state. Based on the movement state, the working mode of at least one of the cleaning mechanism and wheels on the cleaning equipment is selected and determined. The cleaning equipment is controlled to perform cleaning work according to the selected working mode. This can solve the problem that the cleaning effect may be poor in some movement states when the cleaning equipment uses a fixed working mode. Since different working modes can be selected and determined based on different movement states of the cleaning equipment, the cleaning effect of the cleaning equipment can be improved.

[0091] The control method of the cleaning equipment provided in this application will be described in detail below.

[0092] This embodiment provides a control method for cleaning equipment, such as... Figure 2 As shown. This embodiment uses this method for... Figure 1 The cleaning equipment shown is used as an example for illustration. In other embodiments, it can also be performed by other devices that are communicatively connected to the cleaning equipment, such as remotely controlling the cleaning equipment via a mobile phone, computer, tablet, or other device. This embodiment does not limit the implementation method of other devices or the execution subject of each embodiment. The control method of this cleaning equipment includes at least the following steps:

[0093] Step 201: Obtain the movement status of the cleaning equipment.

[0094] The movement state includes forward and backward states. The working modes of the cleaning mechanism and the wheels in the forward state are different from their working modes in the backward state.

[0095] Optionally, the methods for obtaining the movement status of cleaning equipment include, but are not limited to, the following:

[0096] The first method: The cleaning equipment determines its movement status based on the collected sensor information.

[0097] Optionally, the sensing information may be environmental information of the working environment of the cleaning equipment, or it may be the working information of the equipment components in the cleaning equipment. This embodiment does not limit the type of sensing information.

[0098] Accordingly, the acquisition components for different types of sensor information may be the same or different, and this embodiment does not limit the type of acquisition component.

[0099] The second method involves the cleaning equipment receiving information about its movement status from other devices. These other devices are communicatively connected to the cleaning equipment and can be remote controls, mobile phones, tablets, wearable devices, etc. This embodiment does not limit the type of these other devices.

[0100] In one example, the other device is a camera. In this case, the camera is used to capture area images of the area to be cleaned, and the movement status of the cleaning equipment is determined based on the area images captured at different times. The movement status is then sent to the cleaning equipment.

[0101] In another example, other devices are mobile phones or tablets. In this case, the mobile phone or tablet is used to acquire area images of the area to be cleaned, determine the movement status of the cleaning equipment based on the area images at different times, and send the movement status to the cleaning equipment.

[0102] In actual implementation, the cleaning equipment may obtain its movement status in other ways, and this embodiment does not limit the way the movement status is obtained.

[0103] Step 202: Based on the movement status, select and determine the working mode of at least one of the cleaning mechanism and wheels on the cleaning equipment.

[0104] In this embodiment, the cleaning mechanism includes a cleaning component and a cleaning drive component, which drives the cleaning component to rotate in the forward direction of the cleaning equipment.

[0105] In traditional cleaning equipment, the working mode of the wheels is fixed. This leads to a problem where, in some moving states, the direction of movement of the cleaning equipment is opposite to the driving direction of the wheels, and the wheels hinder the movement of the cleaning equipment.

[0106] Based on the above problems, in this embodiment, the working mode of the wheels on the cleaning equipment is determined based on the movement state.

[0107] In this embodiment, the cleaning device also includes a moving drive mechanism connected to the wheel body, which is used to drive the wheel body to rotate.

[0108] The mobile drive mechanism has different working modes in the forward and backward states.

[0109] Accordingly, the working mode of the wheels on the cleaning equipment is selected and determined based on the movement state, including: selecting and determining the working mode of the movement drive mechanism based on the acquired movement state.

[0110] Optionally, the operating modes of the motion drive mechanism include, but are not limited to, the following:

[0111] The first scenario: When the cleaning equipment is in the forward position, the moving drive mechanism is not activated; when the cleaning equipment is in the reverse position, the moving drive mechanism is activated, and the moving drive mechanism drives the wheels to move in the reverse direction of the cleaning equipment.

[0112] Since the moving drive mechanism is activated only when the cleaning equipment moves backward, driving the wheels to rotate in the backward direction of the cleaning equipment, the driving direction of the wheels can be consistent with the moving direction of the cleaning equipment, and the wheels can assist the cleaning equipment in moving backward.

[0113] In addition, since the cleaning components rotate in the forward direction of the cleaning equipment, when the cleaning equipment is in the forward state, the rotation of the cleaning components can assist the cleaning equipment in moving. At this time, the drive wheels do not rotate, which can save the power of the cleaning equipment. However, when the cleaning equipment is in the backward state, the rotation of the cleaning components will hinder the movement of the cleaning equipment. At this time, the drive wheels rotate in the backward direction of the cleaning equipment to provide assistance for the movement of the cleaning equipment and help the cleaning equipment move backward.

[0114] The second type: When the movement is in the forward state, the movement drive mechanism operates with the first drive power and the first drive direction; when the movement is in the backward state, the movement drive mechanism operates with the second drive power and the second drive direction.

[0115] The first driving direction is the forward direction of the cleaning equipment, the second driving direction is opposite to the first driving direction and is the backward direction of the cleaning equipment, and the second driving power is greater than the first driving power.

[0116] Optionally, the first drive direction, the second drive direction, the first drive power, and the second drive power are pre-stored in the cleaning device.

[0117] Since the driving mechanism drives the wheels to rotate in the forward direction of the cleaning equipment when the moving state is forward, and drives the wheels to rotate in the backward direction of the cleaning equipment when the moving state is backward, the driving direction of the wheels can be the same as the moving direction of the cleaning equipment. Therefore, the wheels can assist the cleaning equipment in moving.

[0118] In addition, when the moving state is forward, the rotation of the cleaning component can assist the cleaning equipment in moving, while when the moving state is backward, the rotation of the cleaning component will hinder the movement of the cleaning equipment. Therefore, the driving power of the moving drive mechanism in the forward state is less than the driving power in the backward state, which can keep the moving speed of the cleaning equipment stable in both the forward and backward states and improve the cleaning effect of the cleaning equipment.

[0119] Because the cleaning components assist the cleaning equipment in moving forward during rotation, they also hinder the cleaning equipment from moving backward. In traditional cleaning equipment, the working mode of the cleaning components is fixed, which leads to the problem of excessive driving force required for the cleaning equipment to move backward.

[0120] In view of the above problems, in this embodiment, the working mode of the cleaning mechanism on the cleaning device is determined based on the movement state, including: determining the working mode of the cleaning drive component based on the movement state.

[0121] The cleaning drive unit has different working modes in the forward and backward states.

[0122] Optionally, the operating modes of the cleaning drive include: when the movement state is forward, determining the cleaning drive power of the cleaning drive as a third drive power; and when the movement state is backward, determining the cleaning drive power of the cleaning drive as a fourth drive power.

[0123] The fourth driving power is less than the third driving power.

[0124] Optionally, the third and fourth drive powers are pre-stored in the cleaning device.

[0125] In this embodiment, since the cleaning drive power of the cleaning drive component when the cleaning device is in the backward state is less than the cleaning drive power when the cleaning device is in the forward state, the rotation speed of the cleaning component when the cleaning device is in the backward state can be reduced to weaken the effect of the cleaning component rotation hindering the backward movement of the cleaning device, thereby reducing the driving force required for the backward movement of the cleaning device.

[0126] In this embodiment, the cleaning mechanism includes a water spraying mechanism. The water spraying mechanism supplies water to the cleaning components when the cleaning equipment performs cleaning work. Since the cleaning components rotate in the forward direction of the cleaning equipment, the water stains generated during the cleaning process are located at the front end of the cleaning equipment. In traditional cleaning equipment, the operating mode of the water spraying mechanism is fixed, which results in more water stains being generated when the cleaning equipment is in the reverse state than when it is in the forward state, leading to poor cleaning effectiveness in the reverse state.

[0127] Based on the above problems, in this embodiment, the working mode of the water spraying mechanism is selected and determined based on the acquired movement state; when the movement state is forward, the water spraying volume of the water spraying mechanism is determined to be the first water volume; when the movement state is backward, the water spraying volume of the water spraying mechanism is determined to be the second water volume.

[0128] The second water volume is less than the first water volume.

[0129] Optionally, the first and second water volumes are pre-stored in the cleaning equipment.

[0130] In this embodiment, since the water spray volume in the backward state is less than that in the forward state, the water stains generated when the cleaning equipment is in the backward state can be reduced, thereby enhancing the cleaning effect of the cleaning equipment.

[0131] In this embodiment, the cleaning equipment also includes a water suction mechanism. The water suction mechanism is used to absorb wastewater from the surface to be cleaned when the cleaning equipment performs cleaning work. In traditional cleaning equipment, the working mode of the water suction mechanism is fixed, and the cleaning equipment generates more water stains in the reverse state than in the forward state. This leads to the problem of poor cleaning effect when the cleaning equipment is in the reverse state.

[0132] Based on the above problems, in this embodiment, the working mode of the water absorption mechanism is selected and determined based on the acquired movement state; when the movement state is forward, the water absorption power of the water absorption mechanism is determined to be the first water absorption power; when the movement state is backward, the water absorption power of the water absorption mechanism is determined to be the second water absorption power.

[0133] The second water absorption power is greater than the first water absorption power.

[0134] Optionally, the first and second water absorption powers are pre-stored in the cleaning device.

[0135] In this embodiment, since the water absorption power in the backward state is greater than that in the forward state, the amount of sewage absorbed by the cleaning device in the backward state can be increased, thereby reducing water stains generated in the backward state and enhancing the cleaning effect of the cleaning device.

[0136] Step 203: Control the cleaning equipment to perform cleaning work according to the selected working mode.

[0137] Optionally, controlling the cleaning equipment to perform cleaning work according to a selected mode includes controlling at least one of the cleaning components, wheels, water spraying mechanism, and wheels to perform cleaning work according to a selected working mode.

[0138] Optionally, after controlling the cleaning equipment to perform cleaning work according to the working mode, the method further includes: upon receiving a mode switching instruction, obtaining the specified working mode corresponding to the mode switching instruction; and updating the working mode to the specified working mode.

[0139] The specified working mode is the working mode to be used when the movement status is determined next time.

[0140] Optionally, the working modes corresponding to different movement states are pre-stored in the cleaning equipment.

[0141] Optionally, the cleaning equipment may receive mode switching commands in the following ways, including but not limited to:

[0142] The first type: The cleaning equipment is equipped with a mode switching button. Accordingly, when the cleaning equipment receives a trigger operation on the mode switching button, it generates a mode switching command.

[0143] The mode switching button can be a physical button installed on the cleaning equipment, or it can be a virtual button displayed on the touch screen. This embodiment does not limit the implementation method of the mode switching button.

[0144] The second method involves the cleaning device receiving a mode switching command from another device. This other device is communicatively connected to the cleaning device and can be a remote control, mobile phone, tablet computer, wearable device, etc. This embodiment does not limit the type of other device.

[0145] In actual implementation, the cleaning equipment may receive mode switching instructions in other ways, and this embodiment does not limit the way mode switching instructions are received.

[0146] Since the working mode corresponding to the movement state may not conform to the user's usage habits, the user may send a mode switching command to the cleaning device during use. After receiving the mode switching command, the cleaning device will update the working mode corresponding to the current movement state to the specified working mode corresponding to the mode switching command. In order to control the cleaning device to work in the specified working mode when the movement state is determined again, the cleaning device can be improved to enhance the intelligence of the cleaning process.

[0147] In summary, the control method for the cleaning equipment provided in this embodiment obtains the movement state of the cleaning equipment, including forward and backward states. The working modes of the cleaning mechanism and wheels in the forward state are different from their respective working modes in the backward state. Based on the movement state, the method selects and determines the working mode of at least one of the cleaning mechanism and wheels on the cleaning equipment. The method controls the cleaning equipment to perform cleaning work according to the selected working mode. This solves the problem that the cleaning effect may be poor in some movement states when the cleaning equipment uses a fixed working mode. Since different working modes can be selected and determined based on different movement states of the cleaning equipment, the cleaning effect of the cleaning equipment can be improved.

[0148] In addition, determining the working mode of the wheels on the cleaning equipment based on the movement state can solve the problem in traditional cleaning equipment where the working mode of the wheels is fixed, causing the direction of movement of the cleaning equipment to be opposite to the driving direction of the wheels in some movement states, thus hindering the movement of the cleaning equipment. Since the working mode of the wheels can be determined based on the movement state, the working mode of the wheels can be matched with the movement state, thereby assisting the movement of the cleaning equipment.

[0149] In addition, since the moving drive mechanism is activated only when the cleaning equipment moves backward, driving the wheels to rotate in the backward direction of the cleaning equipment, the driving direction of the wheels can be consistent with the moving direction of the cleaning equipment, and the wheels can assist the cleaning equipment in moving.

[0150] In addition, since the cleaning component rotates in the forward direction of the cleaning equipment, the rotation of the cleaning component can assist the cleaning equipment in moving when the cleaning equipment is in the forward state. At this time, the rotation of the wheel body is not driven, which can save the power of the cleaning equipment.

[0151] In addition, since the moving drive mechanism drives the wheels to rotate in the forward direction of the cleaning equipment when the moving state is forward, and drives the wheels to rotate in the backward direction of the cleaning equipment when the moving state is backward, the driving direction of the wheels can be the same as the moving direction of the cleaning equipment. Therefore, the wheels can assist the cleaning equipment in moving.

[0152] In addition, since the rotation of the cleaning component can assist the cleaning equipment in moving forward, but will hinder its movement in moving backward, the driving power of the moving drive mechanism is less in the forward state than in the backward state. This allows the cleaning equipment to maintain a stable speed in both forward and backward states, thus improving its cleaning effect.

[0153] In addition, since the working mode of the cleaning drive is determined based on the movement state, the problem of excessive driving force required for the cleaning equipment to move backward, which is caused by the fixed working mode of the cleaning component in traditional cleaning equipment, can be solved. Since the cleaning drive power of the cleaning drive when the cleaning equipment is in the backward state is less than that when the cleaning equipment is in the forward state, the rotation speed of the cleaning component when the cleaning equipment is in the backward state can be reduced, thereby reducing the effect of the cleaning component rotation on the backward movement of the cleaning equipment and thus reducing the driving force required for the backward movement of the cleaning equipment.

[0154] Furthermore, by selecting and determining the operating mode of the water spray mechanism based on the acquired movement state, the problem of fixed operating modes of the water spray mechanism in traditional cleaning equipment, which results in more water stains being generated in the backward state than in the forward state, leading to poor cleaning effect in the backward state, can be solved. Since the water spray volume in the backward state is less than that in the forward state, the water stains generated when the cleaning equipment is in the backward state can be reduced, thereby enhancing the cleaning effect of the cleaning equipment.

[0155] Furthermore, by selecting and determining the operating mode of the water suction mechanism based on the acquired movement state, the problem of poor cleaning effect in the backward state can be solved in traditional cleaning equipment, where the operating mode of the water suction mechanism is fixed and the cleaning equipment generates more water stains in the backward state than in the forward state. Since the water suction power in the backward state is greater than that in the forward state, the amount of sewage absorbed by the cleaning equipment in the backward state can be increased, thereby reducing the water stains generated in the backward state and enhancing the cleaning effect of the cleaning equipment.

[0156] In addition, since the working mode corresponding to the movement state is updated according to the mode switching command, the problem of the working mode corresponding to the movement state not conforming to the user's usage habits can be solved. After receiving the mode switching command, the cleaning equipment will update the working mode corresponding to the current movement state to the specified working mode corresponding to the mode switching command. In order to control the cleaning equipment to work in the specified working mode when the movement state is determined again, the intelligence of the cleaning process can be improved.

[0157] This embodiment provides a control device for cleaning equipment, such as... Figure 3 As shown. This embodiment applies the device to... Figure 1 The controller in the cleaning equipment shown includes at least the following modules: status acquisition module 310, mode determination module 320, and cleaning control module 330.

[0158] The status acquisition module 310 is used to acquire the movement status of the cleaning equipment. The movement status includes forward and backward states. The working modes of the cleaning mechanism and the wheels in the forward state are different from their working modes in the backward state.

[0159] The mode determination module 320 is used to select and determine the working mode of at least one of the cleaning mechanism and wheels on the cleaning equipment based on the movement state.

[0160] The cleaning control module 330 is used to control the cleaning equipment to perform cleaning work according to the selected working mode. For related details, please refer to the above-described method and equipment embodiments.

[0161] It should be noted that the control device for the cleaning equipment provided in the above embodiments is only illustrated by the division of the above functional modules. 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 embodiments and the control method embodiments for the cleaning equipment belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0162] This embodiment provides an electronic device, such as... Figure 4 As shown. Electronic devices can be Figure 1 Cleaning equipment. The electronic device includes at least a processor 401 and a memory 402.

[0163] Processor 401 may include one or more processing cores, such as a quad-core processor or an octa-core processor. Processor 401 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 401 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 401 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 401 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0164] Memory 402 may include one or more computer-readable storage media, which may be non-transitory. Memory 402 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in memory 402 is used to store at least one instruction, which is executed by processor 401 to implement the control method of the cleaning device provided in the method embodiments of this application.

[0165] In some embodiments, the electronic device may also optionally include: a peripheral device interface and at least one peripheral device. The processor 401, memory 402, and peripheral device interface can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface via a bus, signal line, or circuit board. Indicatively, peripheral devices include, but are not limited to: radio frequency circuitry, a touch display screen, audio circuitry, and a power supply.

[0166] Of course, electronic devices may also include fewer or more components, and this embodiment does not limit this.

[0167] Optionally, this application also provides a cleaning device, which includes: a cleaning mechanism, wheels, a processor, and a memory; the cleaning mechanism includes a cleaning component and a cleaning drive component; the wheels are capable of driving the cleaning device forward or backward; the processor is communicatively connected to the cleaning drive component; the memory stores a program, which is loaded and executed by the processor to implement the control method of the cleaning device described in the above method embodiment.

[0168] Optionally, this application also provides a computer-readable storage medium storing a program that is loaded and executed by a processor to implement the control method of the cleaning device described in the above method embodiments.

[0169] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above 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.

[0170] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A control method for cleaning equipment, characterized in that, The cleaning equipment includes a cleaning mechanism and wheels; the wheels are capable of driving the cleaning equipment forward or backward; the cleaning mechanism includes a cleaning component and a cleaning drive component connected to the cleaning component. When the cleaning equipment performs cleaning work on the surface to be cleaned, the cleaning drive component drives the cleaning component to rotate in the forward direction of the cleaning equipment; the method includes: The movement state of the cleaning equipment is obtained, including a forward state and a backward state. The working modes of the cleaning mechanism and the wheels in the forward state are different from their working modes in the backward state. Based on the movement state, select and determine the working mode of at least one of the cleaning mechanism and wheels on the cleaning equipment; Control the cleaning equipment to perform cleaning work according to the selected working mode; The cleaning device further includes a moving drive mechanism connected to the wheel, the moving drive mechanism being used to drive the wheel to rotate, and the moving drive mechanism having different working modes in the forward and backward states; the method further includes: Based on the acquired movement status, the working mode of the movement drive mechanism is selected and determined; The working modes of the mobile drive mechanism include: The cleaning equipment is in the forward position, and the moving drive mechanism is not activated; When the cleaning equipment is in a backward position, the mobile drive mechanism is activated, which drives the wheels to move in the backward direction of the cleaning equipment.

2. The method according to claim 1, characterized in that, The cleaning equipment also includes a water spraying mechanism, and the method further includes: selecting and determining the working mode of the water spraying mechanism based on the acquired movement state; When the moving state is the forward state, the water spray volume of the water spraying mechanism is determined to be the first water volume; When the movement state is the backward state, the water spray volume of the water spraying mechanism is determined to be the second water volume, which is less than the first water volume.

3. The method according to claim 1, characterized in that, The cleaning equipment further includes a water absorption mechanism, and the method further includes: selecting and determining the working mode of the water absorption mechanism based on the acquired movement state; When the moving state is the forward state, the water absorption power of the water absorption mechanism is determined to be the first water absorption power; When the moving state is the backward state, the water absorption power of the water absorption mechanism is determined to be the second water absorption power, which is greater than the first water absorption power.

4. The method according to claim 1, characterized in that, The operating modes of the cleaning drive include: When the moving state is the forward state, the cleaning drive power of the cleaning drive unit is determined to be the third drive power; When the moving state is the backward state, the cleaning drive power of the cleaning drive is determined to be the fourth drive power, which is less than the third drive power.

5. The method according to claim 1, characterized in that, After controlling the cleaning equipment to perform cleaning work according to the working mode, the method further includes: Upon receiving a mode switching instruction, obtain the specified working mode corresponding to the mode switching instruction; The working mode is updated to the specified working mode, which is the working mode to be used when the movement state is determined next time.

6. A cleaning device, characterized in that, The cleaning equipment includes: A cleaning mechanism, comprising a cleaning component and a cleaning drive component; The wheel body is capable of driving the cleaning equipment forward or backward; A processor and a memory; the processor is communicatively connected to a cleaning drive; the memory stores a program that is loaded and executed by the processor to implement the control method of the cleaning device as described in any one of claims 1 to 5.

7. A computer-readable storage medium, characterized in that, The storage medium stores a program that, when executed by a processor, is used to implement the control method for the cleaning equipment as described in any one of claims 1 to 5.

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