Cleaning apparatus, and control method and device therefor

Abstract

The application discloses a cleaning device and a control method and device thereof. The control method of the cleaning device comprises: in response to a stop working instruction of the cleaning device, controlling the cleaning assembly to move; acquiring working information of the cleaning assembly, judging whether the cleaning assembly reaches a stop moving condition according to the working information; and when the cleaning assembly reaches the stop moving condition, controlling the cleaning assembly to stop moving. In the application, when the cleaning device receives the stop working instruction, the cleaning assembly continues to move for a distance to wipe and scrape residual water on a nearby cleaning surface, and the residual water can be sucked into a sewage tank by cooperating with negative pressure of a suction assembly, so that the residual water on the cleaning surface is reduced, and thus the water stain residual condition of the cleaning surface after the cleaning device stops working is improved.

Description

Technical Field

[0001] This invention belongs to the field of cleaning appliance technology, specifically relating to a cleaning device and its control method and apparatus. Background Technology

[0002] Floor scrubbers have become an indispensable household cleaning appliance, capable of cleaning both dry and wet stains. Their main working principle involves spraying liquid from a storage tank onto the surface to be cleaned, followed by a rotating brush assembly at the bottom. After cleaning, a blower pump draws the wastewater into a wastewater tank via a suction pipe. However, with existing cleaning equipment, users often find residual wastewater on the floor after turning off the machine and removing it. Summary of the Invention

[0003] Therefore, the present invention aims to provide a cleaning device and its control method and apparatus that can improve the water stain residue on the cleaning surface near the cleaning device after the cleaning device is shut down.

[0004] To solve the above-mentioned technical problems, the present invention provides a control method for cleaning equipment, comprising:

[0005] In response to a stop operation command from the cleaning equipment, the cleaning components are controlled to move;

[0006] Obtain the working information of the cleaning component, and determine whether the cleaning component has reached the condition to stop moving based on the working information;

[0007] When the cleaning component reaches the stop movement condition, the cleaning component is controlled to stop moving.

[0008] Further, prior to the step of controlling the movement of the cleaning component in response to the stop operation command of the cleaning equipment, the control method of the cleaning equipment includes:

[0009] If the cleaning component is in a moving operation state when the cleaning equipment stops operating, the moving direction of the cleaning component when the cleaning equipment stops operating is received shall be used as the reference moving direction.

[0010] The step of controlling the movement of the cleaning component in response to a stop operation command from the cleaning equipment includes:

[0011] In response to the stop operation command of the cleaning equipment, the cleaning component is controlled to move in the opposite direction to the reference movement direction.

[0012] Furthermore, prior to the step of controlling the movement of the cleaning component in response to the stop operation command of the cleaning equipment, the control method of the cleaning equipment includes:

[0013] If the cleaning component is in a stationary working state when the cleaning equipment stops operating, the nearest moving direction of the cleaning component before receiving the cleaning equipment's stop operating command shall be used as the reference moving direction.

[0014] The step of controlling the movement of the cleaning component in response to a stop operation command from the cleaning equipment includes:

[0015] In response to the stop operation command of the cleaning equipment, the cleaning component is controlled to move in the opposite direction to the reference movement direction.

[0016] Further, prior to the step of controlling the movement of the cleaning component in response to the stop operation command of the cleaning equipment, the control method of the cleaning equipment includes:

[0017] Receive a stop operation command from the cleaning equipment and identify the current operating mode of the cleaning equipment;

[0018] The step of controlling the movement of the cleaning component in response to a stop operation command from the cleaning equipment includes:

[0019] In response to a stop command from the cleaning equipment, when the current operating mode is forward operating mode, the cleaning component is controlled to move backward; or,

[0020] In response to a stop command from the cleaning equipment, when the current operating mode is backward operation mode, the cleaning component is controlled to move forward; or,

[0021] In response to the stop operation command of the cleaning equipment, when the current operating mode is stationary or paused, the cleaning component is controlled to move backward and then forward, or forward and then backward.

[0022] Further, the step of obtaining the working information of the cleaning component and determining whether the cleaning component has reached the stop-movement condition based on the working information includes:

[0023] Upon receiving a stop command from the cleaning equipment, the system acquires the movement distance of the cleaning component as the working information. When the movement distance is greater than or equal to a preset distance threshold, it determines that the cleaning component has reached the stop movement condition.

[0024] Further, the step of obtaining the working information of the cleaning component and determining whether the cleaning component has reached the condition to stop moving based on the working information includes:

[0025] After receiving the stop operation command of the cleaning equipment, the humidity value of the target area is obtained as the working information. When the humidity value is less than the preset humidity threshold, it is determined that the cleaning component has reached the stop movement condition.

[0026] Furthermore, the cleaning device includes a drive motor that drives the cleaning component to move. The step of acquiring the working information of the cleaning component and determining whether the cleaning component has reached the stop-movement condition based on the working information includes:

[0027] Upon receiving the stop operation command from the cleaning equipment, the number of rotations of the output shaft of the drive motor is obtained as the working information. When the number of rotations of the output shaft reaches a preset threshold, it is determined that the stop movement condition has been met.

[0028] Furthermore, the cleaning device includes a drive motor that drives the cleaning component to move. The step of acquiring the working information of the cleaning component and determining whether the cleaning component has reached the stop-movement condition based on the working information includes:

[0029] Upon receiving the stop operation command from the cleaning equipment, the system obtains the running time of the drive motor as the working information. When the running time reaches a preset running time threshold, it determines that the stop movement condition has been met.

[0030] Furthermore, the step of controlling the movement of the cleaning component in response to the stop operation command of the cleaning equipment includes:

[0031] In response to a stop command from the cleaning equipment, the cleaning component is controlled to move at a first moving speed, wherein the first moving speed is less than a prior moving speed. If the cleaning component is in a moving operation state when the stop command from the cleaning equipment is received, the prior moving speed is the instantaneous moving speed of the cleaning component when the stop command from the cleaning equipment is received. If the cleaning component is in a stationary operation state when the stop command from the cleaning equipment is received, the prior moving speed is the most recent moving speed of the cleaning component before the stop command from the cleaning equipment was received.

[0032] Furthermore, the cleaning device also includes a suction component, and the step of controlling the movement of the cleaning component in response to a stop operation command of the cleaning device includes:

[0033] In response to the stop operation command of the cleaning equipment, the cleaning component is controlled to move, and the suction component is controlled to continue working;

[0034] After the step of controlling the cleaning component to stop moving when the cleaning component reaches the stop moving condition, the control method of the cleaning equipment includes:

[0035] Control the suction component to stop working.

[0036] Furthermore, the step of controlling the movement of the cleaning component and controlling the suction component to continue operating in response to the stop operation command of the cleaning equipment includes:

[0037] In response to the stop operation command of the cleaning equipment, the cleaning component is controlled to move, and the suction component is controlled to continue working with a first suction power, wherein the first suction power is greater than the prior suction power, and the prior suction power is the instantaneous suction power of the suction component when the stop operation command of the cleaning equipment is received.

[0038] Furthermore, the cleaning assembly includes a booster wheel and a roller brush, and the step of controlling the movement of the cleaning assembly in response to a stop command from the cleaning equipment includes:

[0039] In response to a stop command from the cleaning equipment, the assist wheel is controlled to rotate to drive the cleaning assembly to move, and the roller brush is controlled to rotate in the same direction as the assist wheel; or...

[0040] In response to the stop operation command of the cleaning equipment, the assist wheel is controlled to rotate to drive the cleaning components to move, and the roller brush is controlled to stop rotating.

[0041] In addition, to achieve the above objectives, the present invention also provides a control device, including a memory, a processor, and a control program for a cleaning device stored in the memory and executable on the processor, the control program for the cleaning device being configured to implement the steps of the control method for the cleaning device as described above.

[0042] Furthermore, to achieve the above objectives, the present invention also provides a cleaning device, comprising:

[0043] main body;

[0044] A suction component, disposed on the main body, is used to provide suction to draw liquid from the target area;

[0045] A cleaning component, rotatably connected to the lower end of the main body, is used to adsorb liquid in the target area during movement within the target area; and,

[0046] As described above, the control device is electrically connected to the suction component and the cleaning component.

[0047] The technical solution provided by this invention has the following advantages:

[0048] This invention provides a control method and apparatus for a cleaning device. The control method includes: controlling the movement of a cleaning component in response to a stop operation command of the cleaning device; acquiring the working information of the cleaning component and determining whether the cleaning component has reached a stop movement condition based on the working information; and controlling the cleaning component to stop moving when the stop movement condition is reached. In an embodiment provided by this invention, when the cleaning device receives a stop operation command, the cleaning component continues to move a certain distance to scrape and absorb residual water on the nearby cleaning surface, thereby reducing the residual sewage on the cleaning surface and improving the water stain residue condition on the cleaning surface after the cleaning device stops operating. Preferably, it can also be combined with the negative pressure of the suction component to suck the remaining water into the sewage tank, further improving the dryness of the cleaning surface after the cleaning device stops operating. Attached Figure Description

[0049] 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.

[0050] Figure 1 A schematic diagram of an embodiment of the control method for cleaning equipment provided by the present invention;

[0051] Figure 2 A schematic diagram of an optional embodiment of the control method for cleaning equipment provided by the present invention;

[0052] Figure 3 A schematic diagram of an optional embodiment of the control method for cleaning equipment provided by the present invention;

[0053] Figure 4 A schematic diagram of an optional embodiment of the control method for cleaning equipment provided by the present invention;

[0054] Figure 5 A schematic diagram of an optional embodiment of the control method for cleaning equipment provided by the present invention;

[0055] Figure 6 A schematic diagram of an optional embodiment of the control method for cleaning equipment provided by the present invention;

[0056] Figure 7A schematic diagram of an optional embodiment of the control method for cleaning equipment provided by the present invention;

[0057] Figure 8 A schematic diagram of an embodiment of the control device provided by the present invention. Detailed Implementation

[0058] The technical solution of the present invention 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 the present invention. The present invention 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 the present invention can be combined with each other.

[0059] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0060] In this invention, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation 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 intended to limit this invention.

[0061] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details are presented in the embodiments of the present invention to facilitate a better understanding of the invention. However, the technical solutions claimed in the present invention can be implemented even without these technical details and various variations and modifications based on the following embodiments. The division of the following embodiments is for ease of description and should not constitute any limitation on the specific implementation of the present invention. The various embodiments can be combined with and referenced by each other without contradiction.

[0062] This invention provides a cleaning device that primarily uses a cleaning component to clean the surface to be cleaned, and combines this with a suction component to adsorb dirt and foreign matter from the surface. Specifically, the cleaning device includes a main body, a suction component, a cleaning component, and a control device.

[0063] The form of the cleaning equipment is not limited. In practical applications, the cleaning equipment can operate in a vertical position, a horizontal position, or a position that can switch between vertical and horizontal. The cleaning equipment can be handheld and operated by the user, or it can autonomously plan its path under the coordinated action of a pre-set control program and related drives. The cleaning equipment can perform dry cleaning of the surface to be cleaned, such as a robotic vacuum cleaner, or wet cleaning, such as a robotic mop, floor scrubber, or window cleaner. The cleaning equipment provided by this invention has at least the function of adsorbing residual liquid on the surface to be cleaned. Specifically, in one embodiment, the cleaning equipment can spray cleaning liquid or water onto the surface to be cleaned during operation. The cleaning liquid or water mixes with the dirt on the surface to form wastewater, and then the suction component provides negative pressure to suck up the wastewater from the surface to be cleaned, thereby achieving the purpose of wet cleaning. In another embodiment, the cleaning equipment may not have a spraying function, but can use the suction component to provide negative pressure to adsorb the wastewater already present on the surface to be cleaned, thereby achieving the function of suction cleaning.

[0064] The suction component, located in the main body, includes a fan and an air duct. The fan drives airflow from the suction port into the air duct to provide negative pressure for adsorbing dirt and debris from the surface to be cleaned. The main body also includes a wastewater tank and a suction pipe. Specifically, the wastewater tank has a suction port and a wastewater inlet. The fan connects to the suction port via the air duct, creating negative pressure within the wastewater tank. The suction pipe connects the wastewater inlet to the suction port located near the surface to be cleaned. When the cleaning equipment is operating, wastewater, under the negative pressure within the wastewater tank, flows from the suction port into the suction pipe and then into the wastewater tank.

[0065] The cleaning assembly includes cleaning components, which may include roller brushes, cloths, and / or adhesive strips, etc., to have water absorption and mopping functions. The cleaning components are used to absorb wastewater from the surface to be cleaned. Preferably, the suction port faces the cleaning components so that the wastewater absorbed by the cleaning components is sucked into the wastewater tank through the suction port. It can be understood that the suction provided by the suction assembly can also drive the wastewater on the cleaning surface to flow towards the cleaning components for absorption, and then be sucked into the wastewater tank. Of course, some wastewater on the cleaning surface can also be sucked directly into the suction port without passing through the cleaning components and then flow into the wastewater tank. Preferably, the cleaning components are rotatably mounted at the lower end of the main body, so that when the cleaning equipment is in a vertical state, the main body rotates to be substantially perpendicular to the cleaning surface, or the angle between the main body and the cleaning surface is greater than 60 degrees; and when the cleaning equipment is in a horizontal state, the main body and the cleaning components rotate to be substantially parallel to the cleaning surface, or the angle between the main body and the cleaning surface is less than 30 degrees.

[0066] Furthermore, the cleaning assembly may also include a drive mechanism for moving the cleaning component, thereby enabling the cleaning device to move. Specifically, in one embodiment, the cleaning assembly may include a booster wheel, which is driven by the drive mechanism to rotate, thus moving the cleaning component. If the cleaning component is a roller brush, it can rotate autonomously or passively under the action of the booster wheel. In another embodiment, the cleaning component includes a roller brush, which is driven by the drive mechanism to rotate, utilizing the rolling friction of the roller brush to mop or scrape the surface to be cleaned and to drive the cleaning device to move. To drive the booster wheel and roller brush to rotate relative to the main body, the drive mechanism may be directly composed of a driver, such as a drive motor; or, the drive mechanism may be composed of a driver and a transmission assembly, which can reverse, speed up, or transmit the rotational output of the driver in a linear fashion, such as a gear assembly or a worm gear assembly; or it can convert the linear output of the driver into a rotational output for transmission, such as a rack and pinion assembly, a lead screw and nut mechanism, or a rocker mechanism.

[0067] Please see Figure 8 The present invention also provides a control device 10, which can be set up separately in a modular manner and is universally compatible with cleaning equipment of various specifications; or, the control device can be installed in a specific type of cleaning equipment.

[0068] In practical applications, the control device is electrically connected to the suction component and the drive mechanism, respectively. The control device includes a control unit, which includes a memory 102, a processor 101, and a control program for the cleaning device stored in the memory and executable on the processor. The control program for the cleaning device is configured to implement the steps of the control method for the cleaning device described in the following embodiments.

[0069] The memory 102 and processor 101 are connected via a bus, which may include any number of interconnecting buses and bridges. The bus connects various circuits of one or more processors 101 and memory 102 together. The bus can also connect various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver can be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by processor 101 is transmitted over a wireless medium via an antenna, which further receives data and transmits it to processor 101.

[0070] Processor 101 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory 102 can be used to store data used by processor 101 during operation.

[0071] Based on the above, the implementation details of the control method for the cleaning equipment according to an embodiment of the present invention will be described below. The following implementation details are provided for ease of understanding only and are not necessary for implementing this solution.

[0072] Please see Figure 1 The control method for the cleaning equipment includes:

[0073] Step S10: In response to the stop operation command of the cleaning equipment, control the movement of the cleaning component.

[0074] In this embodiment, the stop operation command for the cleaning equipment refers to the command to control the cleaning equipment to stop. In another embodiment, it may also include a command to control the cleaning equipment to pause operation. The method of generating this stop operation command is not limited. For example, it can be triggered by various input units, such as buttons on the equipment, buttons on a remote control, input commands on a remote operating device, etc. It can also be based on a preset control program, such as reaching a preset operation time, receiving a full wastewater tank signal, receiving a low battery signal, etc., or it can be received from a user's voice control command to stop operation in a voice interaction function.

[0075] In practice, the timing of receiving the stop command is based on the control device receiving the corresponding electrical signal. Generally, during operation, the suction component continuously provides negative pressure, while the cleaning equipment may be in a moving or stationary state. Upon receiving the stop command, the cleaning component is controlled to move, causing the cleaning element to absorb water from the nearby cleaning surface. In one embodiment, the suction component can stop working simultaneously upon receiving the stop command, relying solely on the cleaning element to absorb water. In another embodiment, the suction component can continue working to provide negative pressure to assist in suctioning water from the target area, the cleaning element, and the suction pipe after receiving the stop command.

[0076] In practice, the way the cleaning components are controlled to move varies depending on the specific type of the cleaning component.

[0077] For example, in one embodiment, the cleaning component does not include a booster wheel, but the cleaning component is moved by directly driving the cleaning component to rotate through a drive mechanism. This controls the cleaning component to rotate directly and move the cleaning component. While moving the cleaning component, the pressure rolling action of the cleaning component can better clean the cleaning surface.

[0078] In another embodiment, the cleaning component includes a booster wheel and a roller brush. In this case, the booster wheel can be driven to rotate via a drive mechanism to move the cleaning component. In this embodiment, while driving the booster wheel to rotate, it is preferable to control the roller brush to stop rotating, thereby causing the cleaning component to move at a lower speed. Alternatively, the roller brush and the booster wheel can be controlled to rotate synchronously, so that the rotational friction of the roller brush can absorb more liquid on the cleaning surface, further improving the effect of removing water residue from the cleaning surface.

[0079] Step S20: Obtain the working information of the cleaning component, and determine whether the cleaning component has reached the condition to stop moving based on the working information.

[0080] In this step, the working information of the cleaning component includes its direction of movement and / or distance of movement, speed, etc. In an optional embodiment, the working information of the cleaning component includes the distance the cleaning component has moved after receiving a stop command from the cleaning equipment; when the moving distance reaches a preset distance threshold, the cleaning component can be controlled to stop moving. In another embodiment, the working information of the cleaning component may further include the residual wastewater status on the surface to be cleaned; when there is essentially no wastewater residue on the surface to be cleaned, the cleaning component is controlled to stop moving.

[0081] Step S30: When the cleaning component reaches the stop movement condition, control the cleaning component to stop moving.

[0082] In this step, the cleaning component can be stopped by de-energizing its drive motor. If the suction component continues to operate while the cleaning component is moving, it can either stop operating simultaneously with the cleaning component, or continue operating for a preset time period before stopping. Specifically, the suction component can be de-energized by cutting off the power to its fan. In this embodiment, the suction can stop simultaneously with the cleaning component's movement, or it can stop operating after a certain period of time following the cleaning component's cessation of movement, thus effectively removing residual water from the cleaning component and better preventing water stains.

[0083] It is understandable that when cleaning equipment stops operating, residual water often accumulates nearby and cannot be sucked into the wastewater tank in time, resulting in wastewater residue on the cleaning surface. In this embodiment, when the cleaning equipment receives a stop command, the cleaning component continues to move a certain distance to scrape off the residual water on the nearby cleaning surface, reducing wastewater residue. Preferably, the suction component can also be used in conjunction with negative pressure to suck the remaining water into the wastewater tank, further reducing wastewater residue on the cleaning surface, thereby improving the water stain residue situation on the cleaning surface after the cleaning equipment stops operating and enhancing the user experience.

[0084] Based on the above embodiments, the following implementation details are provided for ease of understanding only and are not necessary for implementing this solution.

[0085] Please see Figure 2 Optionally, prior to step S10, the control method for the cleaning equipment further includes:

[0086] Step S01: Receive the stop operation command of the cleaning equipment. If the cleaning component is in a moving operation state when the stop operation command of the cleaning equipment is received, the moving direction of the cleaning component when the stop operation command of the cleaning equipment is received shall be used as the reference moving direction.

[0087] In this embodiment, the reference movement direction is used to indicate the direction of movement of the cleaning component after receiving the stop operation command, causing the cleaning component to move in the opposite direction to the previous movement of the cleaning equipment, so as to more effectively absorb residual water in the area traversed by the cleaning component. Specifically, the reference movement direction can be obtained from the movement travel record of the cleaning equipment, or from the data recorded by the displacement sensor on the cleaning equipment.

[0088] However, when a stop command is received from the cleaning equipment, the cleaning components may still be in place. Therefore, in the parallel embodiments, before step S10, the control method for the cleaning equipment further includes:

[0089] Step 1: Receive the stop operation command of the cleaning equipment. If the cleaning component is in a stationary operation state when the stop operation command of the cleaning equipment is received, the nearest movement direction of the cleaning component before receiving the stop operation command of the cleaning equipment shall be used as the reference movement direction.

[0090] The steps in S10 include:

[0091] S11 responds to the stop operation command of the cleaning equipment by controlling the cleaning component to move in the opposite direction to the reference movement direction.

[0092] In this embodiment, considering that wastewater often exists in the area through which the cleaning component moves during the operation of the cleaning equipment, by detecting the direction of movement of the cleaning equipment at the moment or before receiving the stop operation command, and using this direction as a reference direction, and then controlling the cleaning component to move in the opposite direction after receiving the stop operation command, the residual water in the vicinity of the area through which the cleaning component moves can be effectively adsorbed. In addition, the suction component provides suction force to draw the residual water into the wastewater tank, which can effectively improve the water stain residue on the cleaning surface after the cleaning equipment stops operating and improve the user experience.

[0093] Based on the above embodiments, the following implementation details are provided for ease of understanding only and are not necessary for implementing this solution.

[0094] Please see Figure 3 Optionally, prior to step S10, the control method for the cleaning equipment includes:

[0095] Step S02: Receive the stop operation command of the cleaning equipment and identify the current operating mode of the cleaning equipment.

[0096] In this step, the current operating mode can be forward operating mode, backward operating mode, or in-place operating mode.

[0097] The steps in S10 include:

[0098] Step S12: In response to the stop operation command of the cleaning equipment, when the current operating mode is forward operating mode, control the cleaning component to move backward; or,

[0099] In response to a stop command from the cleaning equipment, when the current operating mode is backward operation mode, the cleaning component is controlled to move forward; or,

[0100] In response to the stop operation command of the cleaning equipment, when the current operating mode is stationary or paused, the cleaning component is controlled to move backward and then forward, or forward and then backward.

[0101] In this step, the operating mode of the cleaning equipment when it receives a stop operation command is identified to confirm its operating direction before receiving the stop operation command. Then, after receiving the stop operation command, the cleaning components are controlled to move in the opposite direction to the previous operating direction.

[0102] In this embodiment, considering that wastewater often exists in the area through which the cleaning components move during the operation of the cleaning equipment, by identifying the operating mode of the cleaning equipment when it receives a stop operation command, the direction in which the cleaning equipment moves when it receives the stop operation command or before is used as a reference direction. After receiving the stop operation command, the cleaning components are controlled to move in the opposite direction to the reference direction. This can effectively adsorb residual water in the vicinity of the area through which the cleaning components have moved. Combined with the suction component to provide suction force, the residual water is sucked into the wastewater tank. This can effectively improve the water stain residue on the cleaning surface after the cleaning equipment stops operating, and enhance the user experience.

[0103] Based on the above embodiments, the following implementation details are provided for ease of understanding only and are not necessary for implementing this solution.

[0104] Optionally, in order to control the cleaning component to move a set distance after receiving a stop command from the cleaning equipment, in one embodiment, please refer to... Figure 4 The steps in S20 include:

[0105] Step S21: After receiving the stop operation command of the cleaning equipment, the detection obtains the movement distance of the cleaning component as the working information. When the movement distance is greater than or equal to a preset distance threshold, it is determined that the cleaning component has reached the stop movement condition.

[0106] In this embodiment, a displacement sensor or similar device detects the distance the cleaning component moves after receiving a stop command from the cleaning equipment. When this distance is greater than or equal to a preset distance threshold, it is determined that the cleaning component has met the stop condition. This preset distance threshold can be 1-30cm.

[0107] Alternatively, in another embodiment, step S20 includes:

[0108] Step 1: After receiving the stop operation command of the cleaning equipment, obtain the humidity value of the target area as the working information. When the humidity value is less than the preset humidity threshold, determine that the cleaning component has reached the stop movement condition.

[0109] In this step, the target area refers to the region that the cleaning component will soon pass through, thus determining whether to continue moving to absorb the water in the target area. When there is no water in the target area, or the target humidity level has not been reached, the cleaning component can be stopped. In this way, by controlling the cleaning component to move the appropriate distance based on the actual water residue on the cleaning surface, the treatment of residual wastewater on the cleaning surface is more precise.

[0110] Alternatively, in another embodiment, the cleaning device includes a drive motor that drives the cleaning assembly to move, and step S20 includes:

[0111] Step 1: After receiving the stop operation command of the cleaning equipment, obtain the number of rotations of the output shaft of the drive motor as the working information. When the number of rotations of the output shaft reaches a preset threshold, determine that the stop movement condition has been met.

[0112] In this step, the number of rotations of the drive motor output shaft can be obtained by a counter installed in the drive motor. The counter starts counting after receiving a stop command from the cleaning equipment. When a preset threshold number of rotations is reached, the cleaning component moves a preset distance, thus stopping the cleaning component. Preferably, when the cleaning component includes a roller brush, the roller brush can be controlled to rotate 1-3 times and then stop rotating, thereby driving the cleaning component to move the corresponding distance.

[0113] Alternatively, in another embodiment, the cleaning device includes a drive motor that drives the cleaning assembly to move, and step S20 includes:

[0114] Step 1: After receiving the stop operation command of the cleaning equipment, obtain the running time of the drive motor as the working information. When the running time reaches the preset running time threshold, determine that the stop movement condition has been met.

[0115] In this step, the movement distance of the cleaning component is controlled by timing. Specifically, the timing module can be set in the control device. After receiving the stop operation command of the cleaning equipment, the timing starts. When the preset running time threshold is reached, the movement of the cleaning component reaches the preset distance, and then it can be determined that the cleaning component has reached the stop movement condition.

[0116] In this embodiment, the movement of the cleaning component after receiving the stop command from the cleaning equipment is reliably controlled, so that the cleaning component continues to move a distance nearby after the cleaning equipment stops, preferably retreating a distance, to effectively absorb residual water in the area near the cleaning component. Then, the suction component provides suction force to draw the residual water into the wastewater tank, which can effectively improve the water stain residue on the cleaning surface after the cleaning equipment stops operating and enhance the user experience.

[0117] Based on any of the above embodiments, the following implementation details are provided for ease of understanding only and are not necessary for implementing this solution.

[0118] Optionally, step S10 includes:

[0119] The step involves controlling the cleaning component to move at a first moving speed in response to a stop command from the cleaning equipment. This first moving speed is less than a prior moving speed. If the cleaning component is in a moving state when the stop command is received, the prior moving speed is the instantaneous moving speed of the cleaning component at the time of receiving the stop command. If the cleaning component is in a stationary state when the stop command is received, the prior moving speed is the most recent moving speed of the cleaning component before receiving the stop command. Preferably, the first moving speed is approximately 1 / 5 to 1 / 4 of the moving speed of the cleaning component in normal operating mode. For example, when the cleaning component includes a roller brush, and the cleaning equipment is moved by the rotation of the roller brush, the roller brush rotates at 400 r / min in normal operating mode, but after receiving the stop command, the roller brush rotates at 100 r / min to drive the cleaning equipment to move slowly.

[0120] In this embodiment, upon receiving a stop command from the cleaning equipment, the cleaning component is controlled to move at a lower speed, and finally, the cleaning component stops moving. This lower speed movement of the cleaning component after receiving the stop command prevents the cleaning equipment from tipping over without external support. Thus, when the cleaning equipment receives a stop command, controlling the cleaning component to move at a reduced speed makes it less likely to tip over without external support, effectively scraping away residual water on the nearby cleaning surface to reduce wastewater residue. This improves the water residue situation on the cleaning surface after the cleaning equipment stops operating, enhancing the user experience.

[0121] Based on any of the above embodiments, the following implementation details are provided for ease of understanding only and are not necessary for implementing this solution.

[0122] Optionally, please refer to Figure 5 The steps in S10 include:

[0123] Step S101: In response to the stop operation command of the cleaning equipment, control the cleaning component to move and control the suction component to continue working.

[0124] In this step, after receiving the stop operation command, the suction component is controlled to continue working, continuously sucking up residual water from the cleaning component and the cleaning surface as the cleaning component moves.

[0125] Following step S30, the following is included:

[0126] Step S31: Control the suction component to stop working.

[0127] In this step, the suction component can either stop suction simultaneously with the cleaning component's movement, or it can resume operation after a preset time period following the cleaning component's cessation of movement, suctioning for a period before stopping again. The preset time period can be pre-programmed into the cleaning equipment's control program, or it can be controlled by other conditions to stop the suction component. The main point is that the suction component stops after the cleaning component has stopped moving, allowing it to continue adsorbing some wastewater during this delayed stop. This further removes residual water from the cleaning surface, improving the cleaning effect and reducing water residue on the cleaning surface after the cleaning equipment stops operating.

[0128] Preferably, step S101 may further include:

[0129] Please see Figure 6Step S102: In response to the stop operation command of the cleaning equipment, control the cleaning component to move and control the suction component to continue working with a first suction power, wherein the first suction power is greater than the prior suction power, and the prior suction power is the instantaneous suction power of the suction component when the stop operation command of the cleaning equipment is received.

[0130] In this embodiment, in response to the cleaning device's stop command, the cleaning component is controlled to move, and the suction component is controlled to operate at a higher speed to provide greater suction force, enabling it to absorb more residual water near the cleaning device. During this period, the cleaning component can move at a lower speed to prevent the cleaning device from tipping over without external support. Thus, when the cleaning device receives a stop command, the cleaning component continues to move a certain distance, during which the suction component is controlled to operate at a higher speed, controlling the cleaning component to move and scrape residual water on the nearby cleaning surface. Simultaneously, the negative pressure of the suction component draws the remaining water into the wastewater tank, reducing wastewater residue on the cleaning surface and improving the water stain residue on the cleaning surface after the cleaning device stops operating, thereby enhancing the user experience.

[0131] Based on any of the above embodiments, optional embodiments of the control method for the cleaning equipment of the present invention are proposed. The following implementation details are provided only for ease of understanding and are not necessary for implementing this solution.

[0132] In this embodiment, please refer to Figure 7 Prior to step S10, the control method for the cleaning equipment includes:

[0133] S1. During the operation of the cleaning equipment, in response to the pause operation command of the cleaning equipment, control the cleaning component to stop moving.

[0134] In this step, the movement of the cleaning component stops immediately upon receiving a pause command from the cleaning equipment. If the cleaning component includes a roller brush and a booster wheel, when the cleaning component stops moving, the rotation of the booster wheel and the roller brush also stop.

[0135] The pause command for cleaning equipment can be generated in various ways. For example, it can be triggered by various input units, such as buttons on the equipment, buttons on a remote control, or input commands from remote operation devices. It can also be based on a preset control program, such as reaching a preset operating time, receiving a full wastewater tank signal, or receiving a low battery signal. Alternatively, it can be generated through a voice interaction function, receiving a voice command from the user to stop the operation. In a preferred embodiment, the pause command can be generated by an upright limit switch located between the main body and the cleaning component. When the user intends to pause the operation, they can rotate the main body to achieve an upright position with the cleaning component, at which point the upright limit switch is triggered to issue the pause command.

[0136] S2. After the cleaning component stops moving, and a second time period has elapsed, the suction component stops working.

[0137] In this step, the second time period can be preset in the control program of the cleaning equipment, or it can be set by the manufacturer or the user. After the cleaning component stops moving, the cleaning equipment continues to work in place, and the suction component continues to work for a period of time to suck the residual water in the cleaning component into the sewage tank before stopping after a delay.

[0138] S3. In response to the restart operation command of the cleaning equipment, control the suction component and the cleaning component to start working.

[0139] In this step, the restart command refers to the instruction to resume operation after the cleaning equipment has paused. It can be generated in various ways, which will not be elaborated here. In a preferred embodiment, it can be generated by an upright limit switch located between the main body and the cleaning component. When the user wants to restart the operation, they can rotate the main body to achieve an inclined state between it and the cleaning component, at which point the upright limit switch is triggered to issue the restart command.

[0140] In this embodiment, the stop command for the cleaning equipment only includes a stop command. When a stop command is received, the cleaning component stops moving, and then the suction component stops working. The user can restart the cleaning equipment shortly after receiving the stop command to absorb residual water on the cleaning surface. However, when the cleaning equipment receives a stop command, the user will not continue cleaning for a short period. Therefore, it is necessary to control the cleaning component to move within a certain range, while the suction component works to absorb residual water on the cleaning surface, improving the situation where water stains remain on the cleaning surface near the stop command. In this embodiment, different actions are taken for the stop and pause commands received by the cleaning equipment, improving the user experience. In a preferred embodiment, the stop and restart commands are generated by an upright limit switch. The user only needs to rotate the upright unit or tilt and lower the unit according to normal operating habits; no additional operation is required, and the cleaning equipment will perform the corresponding actions according to the commands, improving the user experience.

[0141] Obviously, the embodiments described above are merely some, not all, embodiments of the present invention. Based on the embodiments of the present invention, those skilled in the art can make other variations or modifications without creative effort, and all such variations or modifications should fall within the scope of protection of the present invention.

Claims

1. A control method for cleaning equipment, characterized in that, The cleaning device includes a cleaning component and a main body. The cleaning component is disposed at the lower end of the main body, and a suction component is disposed inside the main body. The control method of the cleaning device includes: In response to a stop operation command from the cleaning equipment, the cleaning components are controlled to move; Obtain the working information of the cleaning component, and determine whether the cleaning component has reached the condition to stop moving based on the working information; When the cleaning component reaches the stop movement condition, the cleaning component is controlled to stop moving. Before the step of controlling the movement of the cleaning component in response to the stop operation command of the cleaning equipment, the control method of the cleaning equipment includes: If the cleaning component is in a moving operation state when the cleaning equipment stops operating, the moving direction of the cleaning component when the cleaning equipment stops operating is received shall be used as the reference moving direction. The step of controlling the movement of the cleaning component in response to a stop operation command from the cleaning equipment includes: In response to the stop operation command of the cleaning equipment, when the reference movement direction is forward, the cleaning component is controlled to move backward, and the suction component is controlled to maintain suction, and the suction component is controlled to stop suction after the cleaning component stops moving.

2. The control method for the cleaning equipment as described in claim 1, characterized in that, Prior to the step of controlling the movement of the cleaning components in response to a stop operation command from the cleaning equipment, the control method for the cleaning equipment includes: If the cleaning component is in a stationary working state when the cleaning equipment stops operating, the nearest moving direction of the cleaning component before receiving the cleaning equipment's stop operating command shall be used as the reference moving direction. The step of controlling the movement of the cleaning component in response to a stop operation command from the cleaning equipment includes: In response to the stop operation command of the cleaning equipment, the cleaning component is controlled to move in the opposite direction to the reference movement direction.

3. The control method for the cleaning equipment as described in claim 1, characterized in that, Prior to the step of controlling the movement of the cleaning component in response to the stop operation command of the cleaning equipment, the control method of the cleaning equipment includes: Receive a stop operation command from the cleaning equipment and identify the current operating mode of the cleaning equipment; The step of controlling the movement of the cleaning component in response to a stop operation command from the cleaning equipment includes: In response to a stop command from the cleaning equipment, when the current operating mode is forward operating mode, the cleaning component is controlled to move backward; or, In response to a stop command from the cleaning equipment, when the current operating mode is backward operation mode, the cleaning component is controlled to move forward; or, In response to the stop operation command of the cleaning equipment, when the current operating mode is stationary or paused, the cleaning component is controlled to move backward and then forward, or forward and then backward.

4. The control method for the cleaning equipment as described in any one of claims 1 to 3, characterized in that, The step of obtaining the working information of the cleaning component and determining whether the cleaning component has reached the condition to stop moving based on the working information includes: Upon receiving a stop command from the cleaning equipment, the system acquires the movement distance of the cleaning component as the working information. When the movement distance is greater than or equal to a preset distance threshold, it determines that the cleaning component has reached the stop movement condition.

5. The control method for the cleaning equipment as described in any one of claims 1 to 3, characterized in that, The step of obtaining the working information of the cleaning component and determining whether the cleaning component has reached the condition to stop moving based on the working information includes: After receiving the stop operation command of the cleaning equipment, the humidity value of the target area is obtained as the working information. When the humidity value is less than the preset humidity threshold, it is determined that the cleaning component has reached the stop movement condition.

6. The control method for the cleaning equipment as described in any one of claims 1 to 3, characterized in that, The cleaning equipment includes a drive motor that drives the cleaning component to move. The step of acquiring the working information of the cleaning component and determining whether the cleaning component has reached the stop-movement condition based on the working information includes: Upon receiving the stop operation command from the cleaning equipment, the number of rotations of the output shaft of the drive motor is obtained as the working information. When the number of rotations of the output shaft reaches a preset threshold, it is determined that the stop movement condition has been met.

7. The control method for the cleaning equipment as described in any one of claims 1 to 3, characterized in that, The cleaning equipment includes a drive motor that drives the cleaning component to move. The step of acquiring the working information of the cleaning component and determining whether the cleaning component has reached the stop-movement condition based on the working information includes: Upon receiving the stop operation command from the cleaning equipment, the system obtains the running time of the drive motor as the working information. When the running time reaches a preset running time threshold, it determines that the stop movement condition has been met.

8. The control method for the cleaning equipment as described in any one of claims 1 to 3, characterized in that, The step of controlling the movement of the cleaning component in response to a stop operation command from the cleaning equipment includes: In response to a stop command from the cleaning equipment, the cleaning component is controlled to move at a first moving speed, wherein the first moving speed is less than a prior moving speed. If the cleaning component is in a moving operation state when the stop command from the cleaning equipment is received, the prior moving speed is the instantaneous moving speed of the cleaning component when the stop command from the cleaning equipment is received. If the cleaning component is in a stationary operation state when the stop command from the cleaning equipment is received, the prior moving speed is the most recent moving speed of the cleaning component before the stop command from the cleaning equipment was received.

9. The control method for the cleaning equipment as described in claim 8, characterized in that, The steps of controlling the cleaning component to move and controlling the suction component to continue operating in response to the stop operation command of the cleaning equipment include: In response to the stop operation command of the cleaning equipment, the cleaning component is controlled to move, and the suction component is controlled to continue working with a first suction power, wherein the first suction power is greater than the prior suction power, and the prior suction power is the instantaneous suction power of the suction component when the stop operation command of the cleaning equipment is received.

10. The control method for the cleaning equipment as described in any one of claims 1 to 3, characterized in that, The cleaning component includes a power wheel and a roller brush, and the step of controlling the movement of the cleaning component in response to a stop operation command of the cleaning equipment includes: In response to a stop command from the cleaning equipment, the assist wheel is controlled to rotate to drive the cleaning assembly to move, and the roller brush is controlled to rotate in the same direction as the assist wheel; or... In response to the stop operation command of the cleaning equipment, the assist wheel is controlled to rotate to drive the cleaning components to move, and the roller brush is controlled to stop rotating.

11. A control device, characterized in that, The device includes a memory, a processor, and a control program for a cleaning device stored in the memory and executable on the processor, the control program being configured to implement the steps of the control method for the cleaning device as claimed in any one of claims 1 to 10.

12. A cleaning device, characterized in that, include: main body; A suction component, disposed on the main body, is used to provide suction to draw liquid from the target area; A cleaning component, disposed on the main body, is used to adsorb liquid in the target area during movement in the target area; as well as, The control device as claimed in claim 11, wherein the control device is electrically connected to the suction component and the cleaning component respectively.

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